diff --git a/.changeset/gait-travel-planting.md b/.changeset/gait-travel-planting.md
deleted file mode 100644
index 326a138..0000000
--- a/.changeset/gait-travel-planting.md
+++ /dev/null
@@ -1,5 +0,0 @@
----
-"posecode-render": patch
----
-
-Carry the body to its authored travel waypoints in gait moves. A floor foot-pin in a clip that travels and alternates both feet is now solved as a stance foot (leg IK to the fixed plant) while the travelled root stays put, instead of translating the whole body back onto the plant and cancelling the travel. Same-foot travel pins and vertical supports keep the body-translate behaviour.
diff --git a/.changeset/motion-export-bvh-gltf.md b/.changeset/motion-export-bvh-gltf.md
deleted file mode 100644
index 2e8c44b..0000000
--- a/.changeset/motion-export-bvh-gltf.md
+++ /dev/null
@@ -1,5 +0,0 @@
----
-"posecode-render": patch
----
-
-Add motion export. `exportBVH(ir, options?)` bakes a movement's authored joint motion and root travel/turn into a standard Biovision Hierarchy (`.bvh`) file, and `exportGLTF(ir, options?)` / `buildAnimatedRig(ir, options?)` export the mannequin rig plus a baked `AnimationClip` as a glTF/GLB asset that loads with Three.js `GLTFLoader`. Both sample the timeline headlessly (no WebGL) at a configurable frame rate and bake the full looped runtime; they export authored motion, not the contact/IK-solved motion.
diff --git a/packages/posecode-embed/CHANGELOG.md b/packages/posecode-embed/CHANGELOG.md
index b1a265b..622109c 100644
--- a/packages/posecode-embed/CHANGELOG.md
+++ b/packages/posecode-embed/CHANGELOG.md
@@ -1,5 +1,15 @@
 # posecode-embed
 
+## 0.4.2
+
+### Patch Changes
+
+- Updated dependencies [094d453]
+- Updated dependencies [94399be]
+  - posecode-render@0.4.2
+  - posecode-parser@0.4.2
+  - posecode-share@0.4.2
+
 ## 0.4.1
 
 ### Patch Changes
diff --git a/packages/posecode-embed/package.json b/packages/posecode-embed/package.json
index 1fb7513..82b8bf5 100644
--- a/packages/posecode-embed/package.json
+++ b/packages/posecode-embed/package.json
@@ -1,6 +1,6 @@
 {
   "name": "posecode-embed",
-  "version": "0.4.1",
+  "version": "0.4.2",
   "description": "Embed a live 3D Posecode movement anywhere with one <script> tag — the <posecode-player> web component.",
   "license": "AGPL-3.0-only",
   "type": "module",
@@ -38,9 +38,9 @@
     "three.js"
   ],
   "dependencies": {
-    "posecode-parser": "0.4.1",
-    "posecode-render": "0.4.1",
-    "posecode-share": "0.4.1"
+    "posecode-parser": "0.4.2",
+    "posecode-render": "0.4.2",
+    "posecode-share": "0.4.2"
   },
   "devDependencies": {
     "esbuild": "^0.28.1"
diff --git a/packages/posecode-embed/src/compat.ts b/packages/posecode-embed/src/compat.ts
index a6a8987..ab905a0 100644
--- a/packages/posecode-embed/src/compat.ts
+++ b/packages/posecode-embed/src/compat.ts
@@ -4,7 +4,7 @@ import { parse, POSECODE_VERSION } from "posecode-parser";
 import type { ParseResult } from "posecode-parser";
 
 /** Version of the posecode-embed package/bundle. */
-export const version = "0.4.1";
+export const version = "0.4.2";
 
 /** Version of the Posecode language understood by this bundle. */
 export const languageVersion = POSECODE_VERSION;
diff --git a/packages/posecode-eval/package.json b/packages/posecode-eval/package.json
index 364d8fb..4423e58 100644
--- a/packages/posecode-eval/package.json
+++ b/packages/posecode-eval/package.json
@@ -11,8 +11,8 @@
     ".": "./src/index.ts"
   },
   "dependencies": {
-    "posecode-parser": "0.4.1",
-    "posecode-render": "0.4.1",
+    "posecode-parser": "0.4.2",
+    "posecode-render": "0.4.2",
     "three": "^0.171.0"
   },
   "devDependencies": {
diff --git a/packages/posecode-language/package.json b/packages/posecode-language/package.json
index 375f631..db69a34 100644
--- a/packages/posecode-language/package.json
+++ b/packages/posecode-language/package.json
@@ -11,6 +11,6 @@
     ".": "./src/index.ts"
   },
   "dependencies": {
-    "posecode-parser": "0.4.1"
+    "posecode-parser": "0.4.2"
   }
 }
diff --git a/packages/posecode-mcp/CHANGELOG.md b/packages/posecode-mcp/CHANGELOG.md
index 61e8031..db8fa1a 100644
--- a/packages/posecode-mcp/CHANGELOG.md
+++ b/packages/posecode-mcp/CHANGELOG.md
@@ -1,5 +1,12 @@
 # posecode-mcp
 
+## 0.4.2
+
+### Patch Changes
+
+- posecode-parser@0.4.2
+- posecode-share@0.4.2
+
 ## 0.4.1
 
 ### Patch Changes
diff --git a/packages/posecode-mcp/package.json b/packages/posecode-mcp/package.json
index 869028c..a3238e8 100644
--- a/packages/posecode-mcp/package.json
+++ b/packages/posecode-mcp/package.json
@@ -1,6 +1,6 @@
 {
   "name": "posecode-mcp",
-  "version": "0.4.1",
+  "version": "0.4.2",
   "description": "Model Context Protocol server for Posecode: let any LLM agent validate, ROM-check, and get a render link for a .posecode movement, natively.",
   "mcpName": "io.github.posecode-dev/posecode-mcp",
   "license": "AGPL-3.0-only",
@@ -46,8 +46,8 @@
   ],
   "dependencies": {
     "@modelcontextprotocol/sdk": "^1.12.0",
-    "posecode-parser": "0.4.1",
-    "posecode-share": "0.4.1",
+    "posecode-parser": "0.4.2",
+    "posecode-share": "0.4.2",
     "zod": "^4.4.3"
   },
   "devDependencies": {
diff --git a/packages/posecode-mcp/server.json b/packages/posecode-mcp/server.json
index 4202f62..b128112 100644
--- a/packages/posecode-mcp/server.json
+++ b/packages/posecode-mcp/server.json
@@ -6,12 +6,12 @@
     "url": "https://github.com/posecode-dev/posecode",
     "source": "github"
   },
-  "version": "0.4.1",
+  "version": "0.4.2",
   "packages": [
     {
       "registryType": "npm",
       "identifier": "posecode-mcp",
-      "version": "0.4.1",
+      "version": "0.4.2",
       "transport": {
         "type": "stdio"
       },
diff --git a/packages/posecode-mcp/src/server.ts b/packages/posecode-mcp/src/server.ts
index f9c4ef4..8765322 100644
--- a/packages/posecode-mcp/src/server.ts
+++ b/packages/posecode-mcp/src/server.ts
@@ -21,7 +21,7 @@ export interface PosecodeServerOptions {
 }
 
 /** Package/server identity kept in sync by `version-packages`. */
-export const POSECODE_MCP_VERSION = "0.4.1";
+export const POSECODE_MCP_VERSION = "0.4.2";
 
 export function createPosecodeServer(opts: PosecodeServerOptions = {}): McpServer {
   const baseUrl = opts.baseUrl ?? DEFAULT_BASE_URL;
diff --git a/packages/posecode-parser/CHANGELOG.md b/packages/posecode-parser/CHANGELOG.md
index 7e6d559..4bbd1ff 100644
--- a/packages/posecode-parser/CHANGELOG.md
+++ b/packages/posecode-parser/CHANGELOG.md
@@ -1,5 +1,7 @@
 # posecode-parser
 
+## 0.4.2
+
 ## 0.4.1
 
 ### Patch Changes
diff --git a/packages/posecode-parser/package.json b/packages/posecode-parser/package.json
index 481246a..676c408 100644
--- a/packages/posecode-parser/package.json
+++ b/packages/posecode-parser/package.json
@@ -1,6 +1,6 @@
 {
   "name": "posecode-parser",
-  "version": "0.4.1",
+  "version": "0.4.2",
   "description": "Parse the .posecode kinematic motion DSL into a validated, ROM-clamped intermediate representation.",
   "license": "Apache-2.0",
   "type": "module",
diff --git a/packages/posecode-render/CHANGELOG.md b/packages/posecode-render/CHANGELOG.md
index f86a206..996d548 100644
--- a/packages/posecode-render/CHANGELOG.md
+++ b/packages/posecode-render/CHANGELOG.md
@@ -1,5 +1,12 @@
 # posecode-render
 
+## 0.4.2
+
+### Patch Changes
+
+- 094d453: Carry the body to its authored travel waypoints in gait moves. A floor foot-pin in a clip that travels and alternates both feet is now solved as a stance foot (leg IK to the fixed plant) while the travelled root stays put, instead of translating the whole body back onto the plant and cancelling the travel. Same-foot travel pins and vertical supports keep the body-translate behaviour.
+- 94399be: Add motion export. `exportBVH(ir, options?)` bakes a movement's authored joint motion and root travel/turn into a standard Biovision Hierarchy (`.bvh`) file, and `exportGLTF(ir, options?)` / `buildAnimatedRig(ir, options?)` export the mannequin rig plus a baked `AnimationClip` as a glTF/GLB asset that loads with Three.js `GLTFLoader`. Both sample the timeline headlessly (no WebGL) at a configurable frame rate and bake the full looped runtime; they export authored motion, not the contact/IK-solved motion.
+
 ## 0.4.1
 
 ## 0.4.0
diff --git a/packages/posecode-render/package.json b/packages/posecode-render/package.json
index 2cc5a09..8127cbf 100644
--- a/packages/posecode-render/package.json
+++ b/packages/posecode-render/package.json
@@ -1,6 +1,6 @@
 {
   "name": "posecode-render",
-  "version": "0.4.1",
+  "version": "0.4.2",
   "description": "Render a Posecode IR as an animated 3D human figure (skinned character or procedural mannequin) with Three.js.",
   "license": "AGPL-3.0-only",
   "type": "module",
diff --git a/packages/posecode-share/CHANGELOG.md b/packages/posecode-share/CHANGELOG.md
index 431f027..63cb0d2 100644
--- a/packages/posecode-share/CHANGELOG.md
+++ b/packages/posecode-share/CHANGELOG.md
@@ -1,5 +1,7 @@
 # posecode-share
 
+## 0.4.2
+
 ## 0.4.1
 
 ## 0.4.0
diff --git a/packages/posecode-share/package.json b/packages/posecode-share/package.json
index 02a05b2..7f6387e 100644
--- a/packages/posecode-share/package.json
+++ b/packages/posecode-share/package.json
@@ -1,6 +1,6 @@
 {
   "name": "posecode-share",
-  "version": "0.4.1",
+  "version": "0.4.2",
   "description": "Encode/decode .posecode documents to URL-safe share tokens — the distribution primitive for Posecode permalinks and embeds.",
   "license": "Apache-2.0",
   "type": "module",
diff --git a/playground/package.json b/playground/package.json
index a6a425e..fb69abf 100644
--- a/playground/package.json
+++ b/playground/package.json
@@ -20,9 +20,9 @@
     "@lezer/highlight": "^1.2.1",
     "@vercel/analytics": "^2.0.1",
     "posecode-language": "0.2.2",
-    "posecode-parser": "0.4.1",
-    "posecode-render": "0.4.1",
-    "posecode-share": "0.4.1",
+    "posecode-parser": "0.4.2",
+    "posecode-render": "0.4.2",
+    "posecode-share": "0.4.2",
     "three": "^0.171.0"
   },
   "devDependencies": {