Improve contact-aware motion quality

[a-baran-orhan]

What changed

• add side-specific pull-up and dip-bar anchors with stable overhand wrist orientation
• keep grounded and pinned soles flat, and correct squat-family ankle authoring
• restore solved visible contacts after mocap blending to prevent grip and foot skating
• select the most motion-rich embedded mocap take instead of blindly choosing the longest
• use smoother phase easing and preserve existing prop attachment behavior
• add regression metrics and tests for grips, palms, soles, walking stance, retargeting, and clip selection
• regenerate movement pages and update the specification/roadmap

Why

The renderer was interpolating sparse poses while pins only translated the root toward averaged contact points. This allowed both hands to target one bar point, left wrists without a surface orientation, authored toe-heavy squats, and let mocap overwrite already-solved contacts.

Impact

Pull-ups now use separate hand positions and visible cylindrical grips, grounded squat-family movements keep their feet flat, and mocap-driven motion retains solved contacts. Existing Posecode syntax remains compatible.

Validation

• npm test — 214/214 tests passed
• npm run typecheck — passed
• npm run build — passed
• npm run eval — 814/814 checks across 73 movements, with no parse failures or clamp warnings
• visually verified pull-up, squat, and walk in the local playground

[vercel]

The latest updates on your projects. Learn more about Vercel for GitHub.

Project	Deployment	Actions	Updated (UTC)
posecode	Ready	Preview, Comment	Jul 11, 2026 7:28am