feat(v0.4.0): vNext — closed-loop world model + settlement contract

Implements the vNext architecture from the research doc: demote the noisy
multi-rail planner in favour of a closed loop (world truth → invariant check)
plus a single utility-driven goal authority.

L1 services (fix no_drop / silent pathfinder hang first):
- InventoryLedger: diff-based "did I actually get it" verifier; acquire-food
  now confirms via ledger.gainedSince instead of the unreliable count/event.
- MotionService.gotoSafe: wall-clock timeout + progress watchdog +
  path_update(noPath/timeout) → structured {reached|stuck|timeout|nopath}.

L3 plan — unify the three competing rails (curriculum/manifesto/storyline):
- Settlement Contract: ordered M0–M9 milestones, each invariant-checked
  against an authoritative world view (early steps delegate to the proven
  curriculum; late game adds farming).
- InvariantChecker + predicate library; GoalManager selects the lowest unmet
  milestone via utility argmax (food-urgency preempts, DEPS-style).
- Wired into the scheduler: bot.js precomputes snapshot.contract; reflex.js
  consumes it in place of the storyline rail. Manifesto L0 still preempts.

Eval + robustness:
- Village Score (single 0..1 metric) on the snapshot + TUI "build" line.
- survive.dig-in skill + dusk_dig_in mode (exposed at night, no bed → cover).
- approach_block helper (GoalNear + lookAt, avoids GoalLookAtBlock #341).

+28 new tests (450 total green). LLM remains entirely off the tick path.

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pepa-pi-bot",
-  "version": "0.3.0-rc.3",
+  "version": "0.4.0",
   "private": true,
   "description": "An autonomous, self-extending Minecraft player powered by Pi and Mineflayer.",
   "license": "MIT",
@@ -17,7 +17,7 @@
     "tui:legacy": "tsx tui/tui.tsx",
     "propose:apply": "node scripts/propose-apply.js",
     "stop": "bash scripts/stop.sh",
-    "test": "node --test runtime/skills/contract.test.js runtime/skills/groups.test.js runtime/skills/compat.test.js runtime/skills/recovery-tunnel-out.test.js runtime/skills/pillar-up.test.js runtime/curriculum.test.js runtime/social/social.test.js runtime/social/conversation.test.js runtime/social/chat-history.test.js runtime/social/reply-pi.test.js runtime/stuck-incident.test.js runtime/compat.test.js runtime/reflex.test.js runtime/base-site.test.js runtime/locations.test.js runtime/watch-filter.test.js runtime/world-journal.test.js runtime/scenario-memory.test.js runtime/critic.test.js runtime/skill-library.test.js runtime/skill-registry.test.js runtime/modes.test.js runtime/pathfinder-watchdog.test.js runtime/manifesto/needs.test.js runtime/manifesto/state.test.js runtime/goal/storyline.test.js runtime/awareness/events.test.js runtime/awareness/wedge-detector.test.js runtime/biome-affordances.test.js runtime/knowledge/knowledge.test.js runtime/llm/provider.test.js runtime/coach/postmortem.test.js runtime/coach/advice.test.js runtime/coach/reflect.test.js runtime/coach/fast-advisor.test.js runtime/coach/advisor-trigger.test.js runtime/coach/trigger-tuner.test.js runtime/persona/chatter.test.js scripts/edit-scope.test.js scripts/lint-patch.test.js"
+    "test": "node --test runtime/skills/contract.test.js runtime/skills/groups.test.js runtime/skills/compat.test.js runtime/skills/recovery-tunnel-out.test.js runtime/skills/pillar-up.test.js runtime/skills/dig-in.test.js runtime/skills/_common.test.js runtime/curriculum.test.js runtime/social/social.test.js runtime/social/conversation.test.js runtime/social/chat-history.test.js runtime/social/reply-pi.test.js runtime/stuck-incident.test.js runtime/compat.test.js runtime/reflex.test.js runtime/base-site.test.js runtime/locations.test.js runtime/watch-filter.test.js runtime/world-journal.test.js runtime/scenario-memory.test.js runtime/critic.test.js runtime/skill-library.test.js runtime/skill-registry.test.js runtime/modes.test.js runtime/pathfinder-watchdog.test.js runtime/services/inventory-ledger.test.js runtime/services/motion.test.js runtime/manifesto/needs.test.js runtime/manifesto/state.test.js runtime/goal/storyline.test.js runtime/goal/goal-manager.test.js runtime/goal/village-score.test.js runtime/awareness/events.test.js runtime/awareness/wedge-detector.test.js runtime/biome-affordances.test.js runtime/knowledge/knowledge.test.js runtime/llm/provider.test.js runtime/coach/postmortem.test.js runtime/coach/advice.test.js runtime/coach/reflect.test.js runtime/coach/fast-advisor.test.js runtime/coach/advisor-trigger.test.js runtime/coach/trigger-tuner.test.js runtime/persona/chatter.test.js scripts/edit-scope.test.js scripts/lint-patch.test.js"
   },
   "dependencies": {
     "better-sqlite3": "^11.10.0",