fix(runtime): wander/explore.far probe-then-go (bot actually moves)
Ground-truth finding (diag.physics): forward N:0.03 E:3.38 S:0 W:3.26 → forward WORKS in unobstructed dirs jump ΔY=1.25 → jump WORKS (vanilla height) dig untested (no soft block within 6 of spawn) So the bot CAN move and jump — the previous "stands still" symptom was our wander/explore code picking blocked random angles and trusting a pathfinder that times out on this server's terrain. Each retry just picked another random direction, often the same blocked one. - runtime/actions.js wander: probe 4 cardinal yaws for 800ms each, measure actual Δ, commit to the best one for the remaining budget. Falls back to "wedged-jump" (forward+jump 2.5s) only when ALL four cardinals are <0.5 blocks. - runtime/skills/explore-far.js: same probe-then-go shape, scaled to a ~48-block long walk in the best direction. Replaces the static NE/SE/SW/NW quadrant rotation that ignored what was actually walkable. - runtime/movement-profiles.js: canDig back to true on gather/travel/ flee. The earlier "everything false" defensive default was based on a wrong hypothesis (silent dig failure) — diag.physics + server-side inspection (no anti-cheat plugin, spawn-protection=0) showed dig is fine. - runtime/compat.test.js: assertions follow profile defaults. - runtime/skills/diagnose-physics.js: forward probe now tries 4 cardinals and returns trials + bestDir + bestDist so it can be used to debug "wedged" reports later. Verified live: bot now actually walks 47 blocks north after probe.cardinal showed N:2.4 free. First end-to-end real movement on play.xmatic.team since this session started. npm test 124/124. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Claude Opus 4.7
+69
-35
@@ -412,59 +412,93 @@ export async function chopNearestTree(bot) {
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// ---- exploration -----------------------------------------------------------
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// wander — probe-then-go. Old version picked a random angle and trusted
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// pathfinder; on this server pathfinder routinely times out (the bot is
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// in a 3-block corridor, on a tree, in spawn area without good graph)
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// and the blind-walk fallback then went in the SAME direction the
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// pathfinder couldn't solve. 2026-05-26 fix: try every cardinal
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// direction for 800 ms each, measure the actual Δ in-world, then commit
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// to the best one for the rest of the budget.
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export async function wander(bot, radius = 12) {
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ensurePathfinder(bot);
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setMovementsForTravel(bot);
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// Pick a random offset that's at least 6 blocks away — small enough to be
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// safe, large enough to not be a no-op when we're stuck on the same block.
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const trials = await probeCardinalSteps(bot, 800);
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const best = trials.reduce((b, t) => (t.dist > b.dist ? t : b), { dist: 0 });
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// If nothing moved at all, the bot is wedged in all four cardinal
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// directions (corner of a corridor, surrounded by leaves, hole). Try
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// to jump + go in the most-promising direction (>0 movement) — gravity
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// will help us drop to a lower y where there's space.
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if (best.dist < 0.5) {
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const fallback = trials.reduce((b, t) => (t.dist > b.dist ? t : b), { dist: 0, yaw: 0 });
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info("action", `wander: all cardinals blocked, jumping fallback yaw=${fallback.yaw?.toFixed?.(2)}`);
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try { await bot.look(fallback.yaw ?? 0, 0, true); } catch {}
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bot.setControlState("forward", true);
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bot.setControlState("jump", true);
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try {
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await new Promise((r) => setTimeout(r, 2_500));
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} finally {
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bot.setControlState("forward", false);
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bot.setControlState("jump", false);
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}
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return { ok: true, detail: { mode: "wedged-jump", trials } };
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}
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// Commit to best direction.
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const wantDist = Math.max(6, Math.min(radius, best.dist * 4 + 2));
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const here = bot.entity.position;
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const angle = Math.random() * Math.PI * 2;
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const dist = 6 + Math.random() * (radius - 6);
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const tx = Math.round(here.x + Math.cos(angle) * dist);
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const tz = Math.round(here.z + Math.sin(angle) * dist);
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const tx = Math.round(here.x + Math.sin(-best.yaw) * wantDist);
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const tz = Math.round(here.z + Math.cos(-best.yaw) * wantDist);
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const ty = Math.round(here.y);
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info("action", `wander: → ${tx},${ty},${tz} (dist=${dist.toFixed(1)})`);
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info("action", `wander: best=${best.name}(Δ=${best.dist.toFixed(1)}) → ${tx},${ty},${tz}`);
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try {
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await withTimeout(
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bot.pathfinder.goto(new goals.GoalNear(tx, ty, tz, 2)),
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15_000,
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12_000,
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`wander(${tx},${tz})`,
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);
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return { ok: true, detail: { to: { x: tx, y: ty, z: tz } } };
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return { ok: true, detail: { to: { x: tx, y: ty, z: tz }, via: best.name } };
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} catch (e) {
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warn("action", `wander pathfinder failed: ${e.message} — falling back to blind walk`);
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// Blind walk fallback: hold `forward` + `jump` for 3 seconds in
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// the chosen direction. Pathfinder sometimes refuses to find a path
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// when the bot is wedged in leaves/sand/water or sitting on a tree
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// canopy — without this fallback the scheduler would loop wander →
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// fail → wander → fail forever. The blind step at least unsticks
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// the bot and lets the next tick re-scan blocks.
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warn("action", `wander pathfinder failed: ${e.message} — continuing blind in ${best.name}`);
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try { await bot.look(best.yaw, 0, true); } catch {}
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bot.setControlState("forward", true);
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bot.setControlState("jump", true);
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try {
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await blindStepToward(bot, tx, tz, 3_000);
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return { ok: true, detail: { to: { x: tx, y: ty, z: tz }, mode: "blind" } };
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} catch (e2) {
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warn("action", `wander blind walk also failed: ${e2.message}`);
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return { ok: false, detail: `pathfinder: ${e.message}; blind: ${e2.message}` };
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await new Promise((r) => setTimeout(r, 2_500));
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} finally {
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bot.setControlState("forward", false);
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bot.setControlState("jump", false);
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}
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return { ok: true, detail: { to: { x: tx, y: ty, z: tz }, mode: "blind", via: best.name } };
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}
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}
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async function blindStepToward(bot, targetX, targetZ, durationMs) {
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try {
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const here = bot.entity.position;
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const dx = targetX - here.x;
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const dz = targetZ - here.z;
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// Yaw such that +Z is south (0) and angles go clockwise looking down.
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// Mineflayer uses radians.
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const yaw = Math.atan2(-dx, -dz);
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await bot.look(yaw, 0, true);
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const CARDINAL_YAWS = [
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{ name: "N", yaw: Math.PI },
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{ name: "E", yaw: -Math.PI / 2 },
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{ name: "S", yaw: 0 },
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{ name: "W", yaw: Math.PI / 2 },
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];
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async function probeCardinalSteps(bot, durationMs = 800) {
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const trials = [];
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for (const { name, yaw } of CARDINAL_YAWS) {
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try { await bot.look(yaw, 0, true); } catch {}
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const before = bot.entity.position.clone();
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bot.setControlState("forward", true);
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bot.setControlState("jump", true);
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await new Promise((r) => setTimeout(r, durationMs));
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} finally {
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bot.setControlState("forward", false);
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bot.setControlState("jump", false);
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try {
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await new Promise((r) => setTimeout(r, durationMs));
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} finally {
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bot.setControlState("forward", false);
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}
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const after = bot.entity.position;
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const dist = Math.hypot(after.x - before.x, after.z - before.z);
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trials.push({ name, yaw, dist });
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// settle physics
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await new Promise((r) => setTimeout(r, 150));
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}
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return trials;
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}
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// ---- crafting --------------------------------------------------------------
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