Reduce contact warnings: honest reach/ground-lock + locomotion-aware grounding#99
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…ock) 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.
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…oves
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.
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.
a-baran-orhan
changed the title
…t plant 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.
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.
…ental" This reverts commit d248af9.
…ssion) 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).
a-baran-orhan
changed the title
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Cuts advisory contact warnings 165 → 109 without weakening the gate. Two kinds of change, both principled.
1. Authoring:
reach, notground-lock, for relocating feetMany moves declared a foot a planted support while it was actually relocating — closing home, landing from a knee-drive, returning from a kick, brushing a tendu, pivoting a turn. The solver then correctly reported the "planted" feet drifting, sometimes hugely (walk-cycle about-face 0.95 m, high-knee-march switch 0.40 m). Fixed by declaring the moving foot
reach: foot floorand keeping only the true stance foot ground-locked.Now warning-free: box-step, grapevine, chassé, waltz-box, walk-cycle closes; high-knee-march, hip-abduction, hip-flexion-demo, front-kick, tendu, quarter-turns, plank-hold. Ready moves clean: 26 → 33.
2. Diagnostics: don't measure a locomotion foot against static thresholds
The clip grounding checks assume a statically-held flat foot. A stance foot in a traveling clip is never that: 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 down (both corners briefly airborne = swing). Measured earlier this session — box-step's stance foot: toe
0.000, heel0.06→0.12, sole19→33°— that's push-off, not a defect.In a locomotion clip (
isLocomotion, threaded from the probe):feetswing skip to pins.toe-heighton shin orientation like heel/sole, so a foot on its ball — plank — isn't a flat foot with a lifted toe.)Safety: all exemptions are gated on a traveling clip; static clips (squat, deadlift, plank, plié) keep the strict bar. The endpoint
contact-positiongate check still validates every pin at phase end, so a genuinely-failed pin cannot hide. Verified: box-step's ~0.12 m handoff float is gone; superhero-landing/deadlift static heel-lift still flags.Not in this PR (left ready with advisory notes, by decision)
14 moves still carry minor advisory warnings and were deliberately not demoted — demoting empties the curated Dance category and the featured Jumping-jacks move. They split into: gait settle-roll (small, could take one more locomotion threshold), deep-pose heel-lift past the 15° ankle ROM (breaks coupled checks when eased — needs solver/visual work), jumping-jacks (airborne jump), calf-raise (on-toe), quad-stretch (arm clearance).
Verification
npm run eval— 1555/1555 checks on both shipped proportions, 0 clamp warnings; constraint warnings 165 → 109npm test— 399/399, incl. newlocomotion-grounding.test.ts(exemption works; no static over-suppression)posecode-evalpackage + fixtures changed → no changeset🤖 Generated with Claude Code