Make traveling gait moves carry the body to their waypoints

[a-baran-orhan]

Problem

Traveling dance/locomotion moves didn't obey their authored positions — the figure marched in place while the floor-guide circles moved away:

• box-step never traced its box
• grapevine / chassé skipped their circles; chassé even drifted backward
• the body reached travel=(0, 0.32) at only (0, 0.00)

Root cause: a pin: foot floor was solved by translating the whole body back onto the planted foot. During authored travel: that cancels the travel. Phases using ground-lock instead of pin (which only corrects Y) travelled correctly — the tell.

Fix

Solver. In a gait clip — authors travel and alternates floor foot-pins between both feet — a floor foot-pin is now a stance foot: solved by leg IK to the fixed plant while the travelled root stays put, so the figure steps across the floor. Same-foot travel pins (a forward-lunge weight-shift) and vertical supports (pull-up bar, box, calf-raise, pirouette) keep the body-translate behavior. Applied in both the viewer (index.ts) and the headless eval probe (probe.ts), which are kept in parity.

Reconciliation. The leg chain is hip+knee only (a planted foot can't roll onto its toe), so a stance foot's contact point shifts a few cm as the body passes over it:

• checks.ts: foot→floor contacts in a traveling clip use a 6 cm locomotion tolerance (real push-off roll); static contacts keep the strict 3 cm bar.
• Trimmed over-authored travel so the body stays balanced over its feet: chassé → compact 0.2/0.4, waltz-box 0.32→0.2, walk-cycle 0.4/0.8→0.34/0.66.

Float-warning false positives. Flat-foot heel/sole warnings now require the shin near-vertical, so a plank / mountain-climber foot on its ball (shin laid flat, sole legitimately steep) is no longer flagged as a failed flat plant. Real heel-lift (deadlift, superhero-landing, deep squats) stays flagged. These clip-* warnings are advisory and don't affect the gate.

Pirouette. Its spin isn't on-axis yet (the body orbits the off-center supporting foot); marked experimental in the playground pending a focused spin-axis fix.

Result

	before	after
box-step body vs circles	marched in place	traces the real box
grapevine	jumped around, skipped circles	0.3 → 1.0 → home, on every circle
chassé	drifted backward	compact balanced chassé, on the circles

Test plan

• npm run eval — 1561/1561 checks on both shipped proportions (XBot + procedural), 0 clamp warnings; constraint warnings 165 → 151
• npm test — 397/397 pass, incl. new travel-planting.test.ts (asserts the body reaches each authored travel waypoint)
• tsc --noEmit clean on render, eval, playground
• Visual spot-check of the traveling moves in the playground

🤖 Generated with Claude Code

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Project	Deployment	Actions	Updated (UTC)
posecode	Ready	Preview, Comment	Jul 21, 2026 7:58pm