John Smith

The stacked-geometry point is the one I keep coming back to as well — height snapping on a 2D lattice seems fine until you hit a map with overlapping floors and the bot commits to a jump it can't finish. On the radar question, I'd lean toward it being a debug view first, but live path and weapon state is also what you'd study when tuning roles on a custom map. The reconnect limit matters more than it looks: staggered delays in the launch script only work if the swarm actually respects them.