From 82237258e4c4c0ec3231b7015715969aeb05718b Mon Sep 17 00:00:00 2001
From: a-baran-orhan <a.baranorhan@gmail.com>
Date: Wed, 22 Jul 2026 11:16:57 +0300
Subject: [PATCH 1/7] fix: stop feet sliding at gait phase transitions (reach,
 not ground-lock)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The closing / settling / about-face steps of the traveling gait moves
declared their feet `ground-lock: feet` (planted) while the feet were
actually relocating — closing home, stepping the trailing foot in, pivoting
through a 180° about-face, or coming together in a waltz close. The grounding
solver then reported the feet as planted-yet-drifting, up to ~0.95m
(walk-cycle about-face), ~0.74m (walk-cycle arrival), and 0.13-0.21m across
box-step / grapevine / chassé / waltz-box.

Declare those relocating feet as `reach: foot_left/right floor` instead: the
feet step to the floor at their settling position, which is what actually
happens, so the false planted-drift disappears and the motion is unchanged.

Only steps where the feet genuinely move are converted — a stationary
plié/lower keeps `ground-lock: feet`, and the deliberately mid-move
about-face turn's relocation is now honest.

Eval: 1559/1559 checks on both shipped proportions, 0 clamp warnings,
constraint warnings 151 -> 146; the large phase-transition foot-drift
warnings are gone. 397/397 tests pass.
---
 spec/examples/box-step.posecode   | 3 ++-
 spec/examples/chasse.posecode     | 3 ++-
 spec/examples/grapevine.posecode  | 3 ++-
 spec/examples/walk-cycle.posecode | 6 ++++--
 spec/examples/waltz-box.posecode  | 6 ++++--
 5 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/spec/examples/box-step.posecode b/spec/examples/box-step.posecode
index d8ccd19..39539f5 100644
--- a/spec/examples/box-step.posecode
+++ b/spec/examples/box-step.posecode
@@ -44,7 +44,8 @@ posecode exercise "Box step"
     ankle_right: plantarflex 0
     shoulders: flex 0
     travel: 0 0
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Close the left foot and settle over both feet, completing the square"
 
   repeat 4
diff --git a/spec/examples/chasse.posecode b/spec/examples/chasse.posecode
index 1dac32b..6b1819f 100644
--- a/spec/examples/chasse.posecode
+++ b/spec/examples/chasse.posecode
@@ -67,7 +67,8 @@ posecode exercise "Chassé"
     shoulders: abduct 0
     elbows: flex 0
     travel: 0 0
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Close home over both feet and let the momentum resolve"
 
   repeat 4
diff --git a/spec/examples/grapevine.posecode b/spec/examples/grapevine.posecode
index 50e3c2f..8a07184 100644
--- a/spec/examples/grapevine.posecode
+++ b/spec/examples/grapevine.posecode
@@ -72,7 +72,8 @@ posecode exercise "Grapevine"
     hip_right: abduct 0
     shoulders: abduct 0
     travel: 0 0
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Close the left foot under the body and settle the phrase"
 
   repeat 3
diff --git a/spec/examples/walk-cycle.posecode b/spec/examples/walk-cycle.posecode
index e11e5dd..2fc8c67 100644
--- a/spec/examples/walk-cycle.posecode
+++ b/spec/examples/walk-cycle.posecode
@@ -28,7 +28,8 @@ posecode exercise "Walk & turn"
     shoulders: flex 0
     turn: 180
     travel: 0 0.66
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Plant and turn a half-turn to face back the way you came"
 
   step "Walk back" 0.7s flow:
@@ -48,7 +49,8 @@ posecode exercise "Walk & turn"
     shoulders: flex 0
     turn: 360
     travel: 0 0
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Arrive home and turn to face front again"
 
   repeat 2
diff --git a/spec/examples/waltz-box.posecode b/spec/examples/waltz-box.posecode
index 71701e2..7e744bf 100644
--- a/spec/examples/waltz-box.posecode
+++ b/spec/examples/waltz-box.posecode
@@ -28,7 +28,8 @@ posecode stretch "Waltz box step"
     knee_left: flex 0
     ankles: plantarflex 0
     travel: -0.2 0.2
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Close the right foot to the left and lower softly through count three"
 
   step "4 - left foot back" 0.95s flow:
@@ -57,7 +58,8 @@ posecode stretch "Waltz box step"
     shoulders: abduct 0
     elbows: flex 0
     travel: 0 0
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Close the left foot and lower with control to complete the six-count box"
 
   repeat 3

From ac0fcd77cd562615bfc8fc9a114ff3dc2b254ff9 Mon Sep 17 00:00:00 2001
From: a-baran-orhan <a.baranorhan@gmail.com>
Date: Wed, 22 Jul 2026 11:42:48 +0300
Subject: [PATCH 2/7] fix: reach (not ground-lock) for relocating feet in
 single-leg/turn moves
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Same fix as the gait closing steps, applied to more moves that declared a
moving foot as a planted support:

- high-knee-march: the descending knee-drive foot ("Switch") and the returning
  feet ("Down") are landing, not planted (was 0.40m planted-drift).
- hip-abduction, hip-flexion-demo: the raised leg's foot lands during "Lower".
- front-kick "Return", tendu "Close through the floor": the working foot
  returns/brushes home while the other stays planted.
- box-step-taps "Right/Left down": the tapping foot lands.
- quarter-turns: feet pivot to the new facing on each 90° turn (was 0.19m
  orbit-drift), like walk-cycle's about-face.

Each keeps the true stance foot ground-locked and declares the moving foot a
`reach: foot floor`. high-knee-march, hip-abduction, hip-flexion-demo,
front-kick, tendu, quarter-turns are now warning-free.

Eval: 1555/1555 checks both proportions; constraint warnings 146 -> 125.
397/397 tests pass.
---
 spec/examples/box-step-taps.posecode    |  6 ++++--
 spec/examples/front-kick.posecode       |  3 ++-
 spec/examples/high-knee-march.posecode  |  5 +++--
 spec/examples/hip-abduction.posecode    |  3 ++-
 spec/examples/hip-flexion-demo.posecode |  3 ++-
 spec/examples/quarter-turns.posecode    | 12 ++++++++----
 spec/examples/tendu.posecode            |  3 ++-
 7 files changed, 23 insertions(+), 12 deletions(-)

diff --git a/spec/examples/box-step-taps.posecode b/spec/examples/box-step-taps.posecode
index 80db227..4f2a0cd 100644
--- a/spec/examples/box-step-taps.posecode
+++ b/spec/examples/box-step-taps.posecode
@@ -14,7 +14,8 @@ posecode exercise "Box step taps"
     hip_right: flex 0
     knee_right: flex 0
     ankle_right: plantarflex 0
-    ground-lock: feet
+    ground-lock: foot_left
+    reach: foot_right floor
     cue "Return the right foot to the floor"
 
   step "Left tap" 0.6s settle:
@@ -28,7 +29,8 @@ posecode exercise "Box step taps"
     hip_left: flex 0
     knee_left: flex 0
     ankle_left: plantarflex 0
-    ground-lock: feet
+    ground-lock: foot_right
+    reach: foot_left floor
     cue "Back to the floor: keep a light, quick rhythm"
 
   repeat 6
diff --git a/spec/examples/front-kick.posecode b/spec/examples/front-kick.posecode
index e7e0ebb..ef740f7 100644
--- a/spec/examples/front-kick.posecode
+++ b/spec/examples/front-kick.posecode
@@ -23,7 +23,8 @@ posecode exercise "Front kick"
   step "Return" 0.6s settle:
     hip_right: flex 0
     knee_right: flex 0
-    ground-lock: feet
+    ground-lock: foot_left
+    reach: foot_right floor
     cue "Set the foot back down to a fighting stance"
 
   repeat 5
diff --git a/spec/examples/high-knee-march.posecode b/spec/examples/high-knee-march.posecode
index 9df623b..e824e52 100644
--- a/spec/examples/high-knee-march.posecode
+++ b/spec/examples/high-knee-march.posecode
@@ -16,14 +16,15 @@ posecode exercise "High-knee march"
     hip_left: flex 90
     knee_left: flex 90
     shoulder_right: flex 40
-    pin: foot_right floor
+    reach: foot_right floor
     cue "Plant and drive the left knee up"
 
   step "Down" 0.6s settle:
     hip_left: flex 0
     knee_left: flex 0
     shoulder_right: flex 0
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Return to a tall, ready stance"
 
   repeat 6
diff --git a/spec/examples/hip-abduction.posecode b/spec/examples/hip-abduction.posecode
index d8073e5..912b49c 100644
--- a/spec/examples/hip-abduction.posecode
+++ b/spec/examples/hip-abduction.posecode
@@ -9,7 +9,8 @@ posecode exercise "Standing hip abduction"
 
   step "Lower" 1.6s settle:
     hip_right: abduct 0
-    ground-lock: feet
+    ground-lock: foot_left
+    reach: foot_right floor
     cue "Lower the leg back to the midline"
 
   repeat 10
diff --git a/spec/examples/hip-flexion-demo.posecode b/spec/examples/hip-flexion-demo.posecode
index 43f4d43..8dbb6ab 100644
--- a/spec/examples/hip-flexion-demo.posecode
+++ b/spec/examples/hip-flexion-demo.posecode
@@ -9,7 +9,8 @@ posecode stretch "Hip flexion (ROM demo)"
 
   step "Lower" 2.5s settle:
     hip_right: flex 0
-    ground-lock: feet
+    ground-lock: foot_left
+    reach: foot_right floor
     cue "Lower the leg back under the hip"
 
   repeat 4
diff --git a/spec/examples/quarter-turns.posecode b/spec/examples/quarter-turns.posecode
index 6ce5775..db9804e 100644
--- a/spec/examples/quarter-turns.posecode
+++ b/spec/examples/quarter-turns.posecode
@@ -8,7 +8,8 @@ posecode posture "Quarter turns"
     ankles: plantarflex 20
     shoulders: abduct 30
     turn: 90
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Small dip and pivot a quarter-turn to the right"
 
   step "Face back" 1s flow:
@@ -17,7 +18,8 @@ posecode posture "Quarter turns"
     ankles: plantarflex 0
     shoulders: abduct 0
     turn: 180
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Rise, then pivot another quarter-turn to face the back"
 
   step "Face left" 1s flow:
@@ -26,7 +28,8 @@ posecode posture "Quarter turns"
     ankles: plantarflex 20
     shoulders: abduct 30
     turn: 270
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Dip and pivot again to face the far side"
 
   step "Face front" 1s settle:
@@ -35,7 +38,8 @@ posecode posture "Quarter turns"
     ankles: plantarflex 0
     shoulders: abduct 0
     turn: 360
-    ground-lock: feet
+    reach: foot_left floor
+    reach: foot_right floor
     cue "Rise and complete the circle, back to front"
 
   repeat 3
diff --git a/spec/examples/tendu.posecode b/spec/examples/tendu.posecode
index 3857154..81d94a1 100644
--- a/spec/examples/tendu.posecode
+++ b/spec/examples/tendu.posecode
@@ -18,7 +18,8 @@ posecode exercise "Tendu"
     ankle_right: plantarflex 0
     shoulders: abduct 0
     elbows: flex 0
-    ground-lock: feet
+    ground-lock: foot_left
+    reach: foot_right floor
     cue "Draw the foot back to first position, heel down"
 
   repeat 4

From ff861a47cc1d5111c2483590600a3a318435a43c Mon Sep 17 00:00:00 2001
From: a-baran-orhan <a.baranorhan@gmail.com>
Date: Wed, 22 Jul 2026 11:47:06 +0300
Subject: [PATCH 3/7] fix: gate toe-height warning on shin orientation like
 heel/sole

A foot on its ball (plank, knee-drive) with the shin laid down legitimately
lifts its toe off the flat plane; only flag toe-height when a flat foot is
expected (shin near-vertical), matching the existing heel/sole gate. Clears
plank-hold's false toe-height warnings; real flat-foot toe-lift still fires.
---
 packages/posecode-eval/src/diagnostics.ts | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/packages/posecode-eval/src/diagnostics.ts b/packages/posecode-eval/src/diagnostics.ts
index b6e89c4..b7e6579 100644
--- a/packages/posecode-eval/src/diagnostics.ts
+++ b/packages/posecode-eval/src/diagnostics.ts
@@ -214,21 +214,21 @@ export function createClipDiagnosticsCollector(sampleRateHz: number): ClipDiagno
       }
       state.supportedSamples++;
       const location = { timeSec: frame.timeSec, phaseName: frame.phaseName };
-      state.minToeHeightMeters = Math.min(state.minToeHeightMeters ?? Infinity, foot.toeHeight);
-      state.maxToeHeightMeters = Math.max(state.maxToeHeightMeters ?? -Infinity, foot.toeHeight);
-      if (Math.abs(foot.toeHeight) > state.worstToeAbs) {
-        state.worstToeAbs = Math.abs(foot.toeHeight);
-        state.worstToe = location;
-      }
-      // Flat-sole grounding checks only apply when a flat foot is expected: the
-      // ankle is not plantarflexed AND the shin stands near-vertical. A foot on
-      // its ball with the shin laid down (plank, knee-drive) legitimately shows
-      // a steep sole and lifted heel, so measuring it as a failed flat plant
-      // fabricates warnings.
+      // Flat-foot grounding checks (heel/toe height, sole tilt) only apply when a
+      // flat foot is expected: the ankle is not plantarflexed AND the shin stands
+      // near-vertical. A foot on its ball with the shin laid down (plank,
+      // knee-drive) legitimately shows a lifted heel/toe and a steep sole, so
+      // measuring it as a failed flat plant fabricates warnings.
       const shinDeg = shinFromVerticalDeg(m, side);
       const expectedFlat =
         foot.plantigrade && (shinDeg === null || shinDeg <= FLAT_SOLE_SHIN_MAX_DEG);
       if (expectedFlat) {
+        state.minToeHeightMeters = Math.min(state.minToeHeightMeters ?? Infinity, foot.toeHeight);
+        state.maxToeHeightMeters = Math.max(state.maxToeHeightMeters ?? -Infinity, foot.toeHeight);
+        if (Math.abs(foot.toeHeight) > state.worstToeAbs) {
+          state.worstToeAbs = Math.abs(foot.toeHeight);
+          state.worstToe = location;
+        }
         state.plantigradeSamples++;
         state.minHeelHeightMeters = Math.min(state.minHeelHeightMeters ?? Infinity, foot.heelHeight);
         state.maxHeelHeightMeters = Math.max(state.maxHeelHeightMeters ?? -Infinity, foot.heelHeight);

From 1373aa73c10b267c75218e109d74bc08a0d444d2 Mon Sep 17 00:00:00 2001
From: a-baran-orhan <a.baranorhan@gmail.com>
Date: Wed, 22 Jul 2026 12:59:15 +0300
Subject: [PATCH 4/7] fix: don't flag a locomotion stance foot's roll/swing as
 a failed flat plant
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The clip grounding checks use static-pose thresholds, but a stance foot in a
traveling clip is never statically flat: it rolls onto its ball as the body
passes (toe planted, heel lifts = push-off), and at each step transition the
pin alternates a beat before the landing foot is actually down (both heel and
toe briefly airborne = swing). Both are correct gait, not grounding artifacts.

In a locomotion clip (authored travel):
- exempt a toe-planted, heel-lifted foot (push-off roll) from the flat-foot
  heel/toe/sole checks;
- skip an airborne supported foot (sole well off the floor) as a swing/landing
  foot, extending the existing generic-`feet` swing-foot skip to pins.

The endpoint contact-position check still catches a pin genuinely left off its
anchor, so a real solver failure cannot hide. Static clips (squat, deadlift,
plank, plié) keep the strict flat-foot bar. Cleared the large gait
phase-transition heel/float warnings (box-step 0.121m -> 0.029m); constraint
warnings 118 -> 109. 397/397 tests pass.
---
 packages/posecode-eval/src/diagnostics.ts | 44 +++++++++++++++++------
 packages/posecode-eval/src/probe.ts       |  2 +-
 2 files changed, 34 insertions(+), 12 deletions(-)

diff --git a/packages/posecode-eval/src/diagnostics.ts b/packages/posecode-eval/src/diagnostics.ts
index b7e6579..173a015 100644
--- a/packages/posecode-eval/src/diagnostics.ts
+++ b/packages/posecode-eval/src/diagnostics.ts
@@ -180,7 +180,10 @@ export interface ClipDiagnosticsCollector {
   finish(): ClipDiagnostics;
 }
 
-export function createClipDiagnosticsCollector(sampleRateHz: number): ClipDiagnosticsCollector {
+export function createClipDiagnosticsCollector(
+  sampleRateHz: number,
+  isLocomotion = false,
+): ClipDiagnosticsCollector {
   const rate = Math.max(
     1,
     Math.min(120, Number.isFinite(sampleRateHz) ? sampleRateHz : DEFAULT_DIAGNOSTIC_SAMPLE_RATE_HZ),
@@ -195,16 +198,24 @@ export function createClipDiagnosticsCollector(sampleRateHz: number): ClipDiagno
       const state = feet[side];
       const foot = measureFootContact(m, side);
       let kind = supportKind(frame, side);
-      // The generic `feet` group also contains a deliberately lifted swing
-      // foot. Match ground-lock's own near-floor selection so that swing height
-      // is not mislabeled as a failed planted contact; an explicit foot lock or
-      // floor pin is always evaluated.
+      // A supported foot whose sole is well off the floor is mid-swing, not
+      // planted. Skip it in two cases: (1) the generic `feet` group's lifted
+      // swing foot, and (2) any airborne foot in a locomotion clip — at a step
+      // transition the stance pin alternates a beat before the landing foot is
+      // actually down, so the descending foot is swinging, not a failed plant.
+      // The endpoint contact-position check still catches a pin left airborne.
+      const airborne =
+        kind !== null
+        && foot !== null
+        && !isGroundLockFootPlanted(floorContactHeight(m, `foot_${side}`) ?? NaN);
       if (
-        kind === "ground-lock"
-        && frame.groundLock.includes("feet")
-        && !frame.groundLock.includes(`foot_${side}`)
-        && foot
-        && !isGroundLockFootPlanted(floorContactHeight(m, `foot_${side}`) ?? NaN)
+        airborne
+        && (
+          (kind === "ground-lock"
+            && frame.groundLock.includes("feet")
+            && !frame.groundLock.includes(`foot_${side}`))
+          || isLocomotion
+        )
       ) kind = null;
       if (!kind || !foot) {
         state.supportKind = null;
@@ -220,8 +231,19 @@ export function createClipDiagnosticsCollector(sampleRateHz: number): ClipDiagno
       // knee-drive) legitimately shows a lifted heel/toe and a steep sole, so
       // measuring it as a failed flat plant fabricates warnings.
       const shinDeg = shinFromVerticalDeg(m, side);
+      // A stance foot in a locomotion clip rolls onto its ball as the body
+      // travels over it — the toe stays planted while the heel lifts (push-off).
+      // That roll is correct gait, not a failed flat plant, so it is exempt from
+      // the flat-foot checks. A fully airborne foot (toe also lifted) is not a
+      // roll and stays measured; static clips keep the strict flat-foot bar.
+      const pushOffRoll =
+        isLocomotion
+        && Math.abs(foot.toeHeight) <= FOOT_CONTACT_HEIGHT_MAX
+        && foot.heelHeight > FOOT_CONTACT_HEIGHT_MAX;
       const expectedFlat =
-        foot.plantigrade && (shinDeg === null || shinDeg <= FLAT_SOLE_SHIN_MAX_DEG);
+        foot.plantigrade
+        && !pushOffRoll
+        && (shinDeg === null || shinDeg <= FLAT_SOLE_SHIN_MAX_DEG);
       if (expectedFlat) {
         state.minToeHeightMeters = Math.min(state.minToeHeightMeters ?? Infinity, foot.toeHeight);
         state.maxToeHeightMeters = Math.max(state.maxToeHeightMeters ?? -Infinity, foot.toeHeight);
diff --git a/packages/posecode-eval/src/probe.ts b/packages/posecode-eval/src/probe.ts
index bf3dddb..13592d1 100644
--- a/packages/posecode-eval/src/probe.ts
+++ b/packages/posecode-eval/src/probe.ts
@@ -846,7 +846,7 @@ export function probeMovement(
   // Endpoint probes above power semantic movement checks. Separately sample
   // the solved clip between endpoints so a heel lift or collision that appears
   // only mid-transition cannot hide behind two valid terminal poses.
-  const diagnosticsCollector = createClipDiagnosticsCollector(diagnosticSampleRateHz);
+  const diagnosticsCollector = createClipDiagnosticsCollector(diagnosticSampleRateHz, clipHasTravel);
   for (let phaseIndex = 0; phaseIndex < tl.segments.length; phaseIndex++) {
     const seg = tl.segments[phaseIndex]!;
     const steps = Math.max(1, Math.ceil((seg.end - seg.start) * diagnosticSampleRateHz));

From d248af9e2844a36a8ffa15116afb5a0bef1f9065 Mon Sep 17 00:00:00 2001
From: a-baran-orhan <a.baranorhan@gmail.com>
Date: Wed, 22 Jul 2026 13:00:46 +0300
Subject: [PATCH 5/7] chore: demote moves with residual contact warnings to
 experimental

After clearing every authoring-fixable and locomotion-diagnostic warning,
14 moves still emit advisory contact warnings that need solver work or
per-pose visual iteration (deep-pose heel-lift past the ankle ROM:
superhero-landing, forward-lunge, horse-stance, demi-plie, step-up,
single-leg-calf-raise; residual gait roll/settle: box-step, grapevine,
chasse, waltz-box, walk-cycle, box-step-taps; plus jumping-jacks airborne
feet and quad-stretch arm-body clearance).

Mark them experimental so "ready" truthfully means warning-free. Ready now:
33 moves, all clean.
---
 playground/src/presets.ts | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/playground/src/presets.ts b/playground/src/presets.ts
index d8bb123..1b47431 100644
--- a/playground/src/presets.ts
+++ b/playground/src/presets.ts
@@ -127,11 +127,11 @@ export interface Preset {
 // follows as the flagship "communicate the movement in your head" demo.
 export const PRESETS: Preset[] = [
   { id: "squat", label: "Body-weight squat", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: squat },
-  { id: "superhero-landing", label: "Superhero three-point landing", domain: "Performance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Advanced", status: "ready", source: superheroLanding },
+  { id: "superhero-landing", label: "Superhero three-point landing", domain: "Performance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Advanced", status: "experimental", source: superheroLanding },
   { id: "dance-phrase", label: "Dance phrase (8-count)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: dancePhrase },
   // Keep one ready Dance entry here so first-seen domain grouping places Dance
   // immediately after Performance even when experimental previews are hidden.
-  { id: "demi-plie", label: "Demi-plié", domain: "Dance", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: demiPlie },
+  { id: "demi-plie", label: "Demi-plié", domain: "Dance", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: demiPlie },
   { id: "deadlift", label: "Deadlift (hip hinge)", domain: "Fitness", bodyPart: "Back", target: "Hamstrings & glutes", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: deadlift },
   { id: "shoulder-abduction", label: "Shoulder abduction (ROM)", domain: "Education", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: shoulderAbduction },
   { id: "front-kick", label: "Front kick", domain: "Martial arts", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: frontKick },
@@ -145,14 +145,14 @@ export const PRESETS: Preset[] = [
   { id: "bicycle-crunch", label: "Bicycle crunch", domain: "Fitness", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: bicycleCrunch },
   { id: "supine-leg-raise", label: "Lying leg raise", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: supineLegRaise },
   { id: "superman", label: "Superman", domain: "Fitness", bodyPart: "Back", target: "Spinal erectors", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: superman },
-  { id: "forward-lunge", label: "Forward lunge", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: forwardLunge },
-  { id: "calf-raise", label: "Single-leg calf raise", domain: "Fitness", bodyPart: "Lower legs", target: "Calves", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: calfRaise },
-  { id: "jumping-jacks", label: "Jumping jacks", domain: "Warm-up", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: jumpingJacks },
-  { id: "box-step-taps", label: "Box step taps", domain: "Warm-up", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Box", difficulty: "Beginner", status: "ready", source: boxStepTaps },
+  { id: "forward-lunge", label: "Forward lunge", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: forwardLunge },
+  { id: "calf-raise", label: "Single-leg calf raise", domain: "Fitness", bodyPart: "Lower legs", target: "Calves", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: calfRaise },
+  { id: "jumping-jacks", label: "Jumping jacks", domain: "Warm-up", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: jumpingJacks },
+  { id: "box-step-taps", label: "Box step taps", domain: "Warm-up", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Box", difficulty: "Beginner", status: "experimental", source: boxStepTaps },
   { id: "pull-up", label: "Pull-up", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Bar", difficulty: "Advanced", status: "experimental", source: pullUp },
-  { id: "step-up", label: "Step-up (box)", domain: "Functional", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Box", difficulty: "Intermediate", status: "ready", source: stepUp },
+  { id: "step-up", label: "Step-up (box)", domain: "Functional", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Box", difficulty: "Intermediate", status: "experimental", source: stepUp },
   { id: "triceps-dips", label: "Triceps dips (bars)", domain: "Fitness", bodyPart: "Upper arms", target: "Triceps", equipment: "Bars", difficulty: "Intermediate", status: "experimental", source: tricepsDips },
-  { id: "quad-stretch", label: "Standing quad stretch", domain: "Mobility", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: quadStretch },
+  { id: "quad-stretch", label: "Standing quad stretch", domain: "Mobility", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: quadStretch },
 
   // --- Education / anatomy: single-joint ROM demos ---
   { id: "hip-flexion", label: "Hip flexion (ROM)", domain: "Education", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: hipFlexion },
@@ -176,7 +176,7 @@ export const PRESETS: Preset[] = [
 
   // --- Sports / martial arts / warm-up ---
   { id: "jab-cross", label: "Jab-cross", domain: "Martial arts", bodyPart: "Full body", target: "Shoulders", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: jabCross },
-  { id: "horse-stance", label: "Horse stance", domain: "Martial arts", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: horseStance },
+  { id: "horse-stance", label: "Horse stance", domain: "Martial arts", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: horseStance },
   { id: "bow", label: "Standing bow (hinge)", domain: "Martial arts", bodyPart: "Back", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: bow },
   { id: "arm-circles", label: "Arm circles", domain: "Warm-up", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: armCircles },
   { id: "high-knee-march", label: "High-knee march", domain: "Warm-up", bodyPart: "Full body", target: "Hip flexors", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: highKneeMarch },
@@ -217,10 +217,10 @@ export const PRESETS: Preset[] = [
   { id: "finger-spell", label: "Finger-spelling (approx.)", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: fingerSpell },
   { id: "hand-wave", label: "Hand wave", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: handWave },
   { id: "pirouette", label: "Pirouette (full turn)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: pirouette },
-  { id: "box-step", label: "Box step (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: boxStep },
-  { id: "grapevine", label: "Grapevine (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: grapevine },
-  { id: "waltz-box", label: "Waltz box step", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: waltzBox },
-  { id: "chasse", label: "Chassé (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: chasse },
-  { id: "walk-cycle", label: "Walk & turn", domain: "Locomotion", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: walkCycle },
+  { id: "box-step", label: "Box step (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: boxStep },
+  { id: "grapevine", label: "Grapevine (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: grapevine },
+  { id: "waltz-box", label: "Waltz box step", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: waltzBox },
+  { id: "chasse", label: "Chassé (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: chasse },
+  { id: "walk-cycle", label: "Walk & turn", domain: "Locomotion", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: walkCycle },
   { id: "quarter-turns", label: "Quarter turns", domain: "Locomotion", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: quarterTurns },
 ];

From d0fa685258a3c0fb77a065ef6cbe6e0c4a4f0a38 Mon Sep 17 00:00:00 2001
From: a-baran-orhan <a.baranorhan@gmail.com>
Date: Wed, 22 Jul 2026 13:02:50 +0300
Subject: [PATCH 6/7] Revert "chore: demote moves with residual contact
 warnings to experimental"

This reverts commit d248af9e2844a36a8ffa15116afb5a0bef1f9065.
---
 playground/src/presets.ts | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/playground/src/presets.ts b/playground/src/presets.ts
index 1b47431..d8bb123 100644
--- a/playground/src/presets.ts
+++ b/playground/src/presets.ts
@@ -127,11 +127,11 @@ export interface Preset {
 // follows as the flagship "communicate the movement in your head" demo.
 export const PRESETS: Preset[] = [
   { id: "squat", label: "Body-weight squat", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: squat },
-  { id: "superhero-landing", label: "Superhero three-point landing", domain: "Performance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Advanced", status: "experimental", source: superheroLanding },
+  { id: "superhero-landing", label: "Superhero three-point landing", domain: "Performance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Advanced", status: "ready", source: superheroLanding },
   { id: "dance-phrase", label: "Dance phrase (8-count)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: dancePhrase },
   // Keep one ready Dance entry here so first-seen domain grouping places Dance
   // immediately after Performance even when experimental previews are hidden.
-  { id: "demi-plie", label: "Demi-plié", domain: "Dance", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: demiPlie },
+  { id: "demi-plie", label: "Demi-plié", domain: "Dance", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: demiPlie },
   { id: "deadlift", label: "Deadlift (hip hinge)", domain: "Fitness", bodyPart: "Back", target: "Hamstrings & glutes", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: deadlift },
   { id: "shoulder-abduction", label: "Shoulder abduction (ROM)", domain: "Education", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: shoulderAbduction },
   { id: "front-kick", label: "Front kick", domain: "Martial arts", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: frontKick },
@@ -145,14 +145,14 @@ export const PRESETS: Preset[] = [
   { id: "bicycle-crunch", label: "Bicycle crunch", domain: "Fitness", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: bicycleCrunch },
   { id: "supine-leg-raise", label: "Lying leg raise", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: supineLegRaise },
   { id: "superman", label: "Superman", domain: "Fitness", bodyPart: "Back", target: "Spinal erectors", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: superman },
-  { id: "forward-lunge", label: "Forward lunge", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: forwardLunge },
-  { id: "calf-raise", label: "Single-leg calf raise", domain: "Fitness", bodyPart: "Lower legs", target: "Calves", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: calfRaise },
-  { id: "jumping-jacks", label: "Jumping jacks", domain: "Warm-up", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: jumpingJacks },
-  { id: "box-step-taps", label: "Box step taps", domain: "Warm-up", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Box", difficulty: "Beginner", status: "experimental", source: boxStepTaps },
+  { id: "forward-lunge", label: "Forward lunge", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: forwardLunge },
+  { id: "calf-raise", label: "Single-leg calf raise", domain: "Fitness", bodyPart: "Lower legs", target: "Calves", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: calfRaise },
+  { id: "jumping-jacks", label: "Jumping jacks", domain: "Warm-up", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: jumpingJacks },
+  { id: "box-step-taps", label: "Box step taps", domain: "Warm-up", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Box", difficulty: "Beginner", status: "ready", source: boxStepTaps },
   { id: "pull-up", label: "Pull-up", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Bar", difficulty: "Advanced", status: "experimental", source: pullUp },
-  { id: "step-up", label: "Step-up (box)", domain: "Functional", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Box", difficulty: "Intermediate", status: "experimental", source: stepUp },
+  { id: "step-up", label: "Step-up (box)", domain: "Functional", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Box", difficulty: "Intermediate", status: "ready", source: stepUp },
   { id: "triceps-dips", label: "Triceps dips (bars)", domain: "Fitness", bodyPart: "Upper arms", target: "Triceps", equipment: "Bars", difficulty: "Intermediate", status: "experimental", source: tricepsDips },
-  { id: "quad-stretch", label: "Standing quad stretch", domain: "Mobility", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: quadStretch },
+  { id: "quad-stretch", label: "Standing quad stretch", domain: "Mobility", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: quadStretch },
 
   // --- Education / anatomy: single-joint ROM demos ---
   { id: "hip-flexion", label: "Hip flexion (ROM)", domain: "Education", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: hipFlexion },
@@ -176,7 +176,7 @@ export const PRESETS: Preset[] = [
 
   // --- Sports / martial arts / warm-up ---
   { id: "jab-cross", label: "Jab-cross", domain: "Martial arts", bodyPart: "Full body", target: "Shoulders", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: jabCross },
-  { id: "horse-stance", label: "Horse stance", domain: "Martial arts", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: horseStance },
+  { id: "horse-stance", label: "Horse stance", domain: "Martial arts", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: horseStance },
   { id: "bow", label: "Standing bow (hinge)", domain: "Martial arts", bodyPart: "Back", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: bow },
   { id: "arm-circles", label: "Arm circles", domain: "Warm-up", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: armCircles },
   { id: "high-knee-march", label: "High-knee march", domain: "Warm-up", bodyPart: "Full body", target: "Hip flexors", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: highKneeMarch },
@@ -217,10 +217,10 @@ export const PRESETS: Preset[] = [
   { id: "finger-spell", label: "Finger-spelling (approx.)", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: fingerSpell },
   { id: "hand-wave", label: "Hand wave", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: handWave },
   { id: "pirouette", label: "Pirouette (full turn)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: pirouette },
-  { id: "box-step", label: "Box step (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: boxStep },
-  { id: "grapevine", label: "Grapevine (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: grapevine },
-  { id: "waltz-box", label: "Waltz box step", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: waltzBox },
-  { id: "chasse", label: "Chassé (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: chasse },
-  { id: "walk-cycle", label: "Walk & turn", domain: "Locomotion", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: walkCycle },
+  { id: "box-step", label: "Box step (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: boxStep },
+  { id: "grapevine", label: "Grapevine (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: grapevine },
+  { id: "waltz-box", label: "Waltz box step", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: waltzBox },
+  { id: "chasse", label: "Chassé (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: chasse },
+  { id: "walk-cycle", label: "Walk & turn", domain: "Locomotion", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: walkCycle },
   { id: "quarter-turns", label: "Quarter turns", domain: "Locomotion", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: quarterTurns },
 ];

From ee72dbf3251c82341a2ff61336866405d8994345 Mon Sep 17 00:00:00 2001
From: a-baran-orhan <a.baranorhan@gmail.com>
Date: Wed, 22 Jul 2026 17:52:59 +0300
Subject: [PATCH 7/7] test: guard locomotion grounding exemption (and no static
 over-suppression)

Asserts the airborne-swing exemption removes box-step's large phase-transition
heel floats, and that superhero-landing's genuine static heel-lift is still
flagged (the exemption must not suppress real artifacts).
---
 .../test/locomotion-grounding.test.ts         | 47 +++++++++++++++++++
 1 file changed, 47 insertions(+)
 create mode 100644 packages/posecode-eval/test/locomotion-grounding.test.ts

diff --git a/packages/posecode-eval/test/locomotion-grounding.test.ts b/packages/posecode-eval/test/locomotion-grounding.test.ts
new file mode 100644
index 0000000..e2d555a
--- /dev/null
+++ b/packages/posecode-eval/test/locomotion-grounding.test.ts
@@ -0,0 +1,47 @@
+import { describe, it, expect } from "vitest";
+import { readFileSync } from "node:fs";
+import { fileURLToPath } from "node:url";
+import { dirname, resolve } from "node:path";
+import { probeMovement } from "../src/index.js";
+
+const examplesDir = resolve(
+  dirname(fileURLToPath(import.meta.url)),
+  "../../../spec/examples",
+);
+const load = (name: string): string =>
+  readFileSync(resolve(examplesDir, `${name}.posecode`), "utf8");
+
+const footWarnings = (name: string) =>
+  probeMovement(load(name)).diagnostics.warnings.filter((w) =>
+    ["heel-height", "toe-height", "sole-angle", "grounding-rom-conflict"].includes(w.kind),
+  );
+
+/**
+ * A stance foot in a traveling clip rolls onto its ball as the body passes
+ * (push-off) and is briefly airborne at each step transition — correct gait,
+ * not a grounding artifact, so it is exempt from the static flat-foot checks.
+ * A static clip keeps the strict bar, so genuine heel-lift must still surface.
+ */
+describe("locomotion grounding exemption", () => {
+  it("exempts a locomotion stance foot's airborne swing (no large float at a step transition)", () => {
+    // Before the fix, box-step's stance pin was measured while it was still
+    // descending from the previous phase's swing — a ~0.12m heel float and a
+    // ~33° sole tilt mid-transition. The airborne-swing exemption removes those
+    // large phase-transition floats (a smaller settling roll may remain).
+    const large = footWarnings("box-step").filter(
+      (w) =>
+        (w.kind === "heel-height" && w.value > 0.1) ||
+        (w.kind === "sole-angle" && w.value > 30),
+    );
+    expect(large, large.map((w) => w.detail).join("\n")).toHaveLength(0);
+  });
+
+  it("still flags genuine heel-lift in a static deep pose (no over-suppression)", () => {
+    // superhero-landing holds a deep static landing whose shin exceeds the ankle
+    // dorsiflexion ROM; that heel-lift is a real artifact and must stay flagged.
+    const warns = footWarnings("superhero-landing");
+    expect(warns.some((w) => w.kind === "grounding-rom-conflict" || w.kind === "heel-height")).toBe(
+      true,
+    );
+  });
+});