Build normalized Xbot character and label developing grips

packages/posecode-render/src/contacts.ts

@@ -245,34 +245,6 @@ export function swingArms(
   if (changed) m.root.updateMatrixWorld(true);
 }
 
-const GRIP_FRAME = new THREE.Quaternion().setFromAxisAngle(
-  new THREE.Vector3(0, 1, 0),
-  Math.PI,
-);
-
-/**
- * Give gripping wrists a complete overhand contact frame. Arm IK only
- * constrains wrist position, leaving hand orientation underdetermined; without
- * this pass the fingers inherit the forearm direction and can point above the
- * bar. In root space the palm faces back (-Z), the fingers extend down (-Y),
- * and the wrist remains exactly on its solved anchor.
- */
-export function orientBarGrips(m: Mannequin, grips: readonly GripTarget[]): void {
-  let changed = false;
-  for (const g of grips) {
-    const side = /_(left|right)$/.exec(g.effector)?.[1];
-    if (!side) continue;
-    const wrist = m.bones.get(`wrist_${side}`);
-    if (!wrist?.parent) continue;
-    const rootWorld = m.root.getWorldQuaternion(new THREE.Quaternion());
-    const desiredWorld = rootWorld.multiply(GRIP_FRAME);
-    const parentWorld = wrist.parent.getWorldQuaternion(new THREE.Quaternion());
-    wrist.quaternion.copy(parentWorld.invert().multiply(desiredWorld));
-    changed = true;
-  }
-  if (changed) m.root.updateMatrixWorld(true);
-}
-
 /** Max head turn toward a look target (radians) so the neck never over-rotates. */
 export const MAX_LOOK = 55 * (Math.PI / 180);
 const LOOK_FWD = new THREE.Vector3(0, 0, 1);

packages/posecode-render/src/index.ts

@@ -27,7 +27,7 @@ import {
   type ClipSource,
 } from "./clips.js";
 import { depenetrate } from "./depenetrate.js";
-import { alignFloorPalms, levelPlantedFeet, wrapGrip, relaxHands, swingArms, aimHead, orientBarGrips } from "./contacts.js";
+import { alignFloorPalms, levelPlantedFeet, wrapGrip, relaxHands, swingArms, aimHead } from "./contacts.js";
 
 const DEG = Math.PI / 180;
 
@@ -549,9 +549,8 @@ export function createViewer(
       if (joints.length === 0) continue;
       solveCCD({ joints, limits, effector, target }, 12);
     }
-    // 3. Resolve the wrist roll left underdetermined by positional arm IK.
-    orientBarGrips(mannequin, grips);
-    // 4. Finger wrap.
+    // 3. Finger wrap. Wrist orientation remains inherited until the semantic
+    // contact-frame solver can account for this character's calibrated axes.
     wrapGrip(mannequin, grips);
   }
 
@@ -869,10 +868,13 @@ export function createViewer(
         if (lastIR) api.load(lastIR);
         else char.sync(mannequin);
       })
-      .catch(() => {
+      .catch((error: unknown) => {
         // Character failed (offline embed, blocked/404 CDN): reveal the
         // procedural figure we may have hidden, so the scene degrades to the
-        // working fallback instead of staying blank. Deliberately silent.
+        // working fallback instead of staying blank. Keep a developer-facing
+        // diagnostic because malformed or incompatible rigs otherwise look
+        // exactly like a network fallback and are impossible to calibrate.
+        console.warn("Posecode character load failed; using procedural fallback", error);
         if (deferProceduralMeshes) setMeshVisibility(mannequin.root, true);
       });
   }

packages/posecode-render/test/contacts.test.ts

@@ -1,7 +1,7 @@
 import { describe, it, expect } from "vitest";
 import * as THREE from "three";
 import { buildMannequin } from "../src/mannequin.js";
-import { levelPlantedFeet, relaxHands, swingArms, aimHead, orientBarGrips } from "../src/contacts.js";
+import { levelPlantedFeet, relaxHands, swingArms, aimHead } from "../src/contacts.js";
 import { groundFigure } from "../src/groundlock.js";
 
 const DEG = Math.PI / 180;
@@ -127,34 +127,6 @@ describe("swingArms (L4.2)", () => {
   });
 });
 
-describe("orientBarGrips", () => {
-  it("resolves wrist roll without moving a hand off its grip point", () => {
-    const m = buildMannequin();
-    const wrist = m.bones.get("wrist_left")!;
-    wrist.rotation.y = 1.7;
-    m.root.updateMatrixWorld(true);
-    const position = wrist.getWorldPosition(new THREE.Vector3()).clone();
-    orientBarGrips(m, [{ effector: "hand_left", anchor: "bar_left" }]);
-    expect(wrist.getWorldPosition(new THREE.Vector3()).distanceTo(position)).toBeLessThan(1e-6);
-
-    const palm = new THREE.Vector3(0, 0, 1)
-      .applyQuaternion(wrist.getWorldQuaternion(new THREE.Quaternion()));
-    const fingers = new THREE.Vector3(0, -1, 0)
-      .applyQuaternion(wrist.getWorldQuaternion(new THREE.Quaternion()));
-    expect(palm.dot(new THREE.Vector3(0, 0, -1))).toBeGreaterThan(0.999);
-    expect(fingers.dot(new THREE.Vector3(0, -1, 0))).toBeGreaterThan(0.999);
-  });
-
-  it("is stable when applied repeatedly", () => {
-    const m = buildMannequin();
-    const grips = [{ effector: "hand_right", anchor: "bar_right" }];
-    orientBarGrips(m, grips);
-    const once = m.bones.get("wrist_right")!.quaternion.clone();
-    for (let frame = 0; frame < 60; frame++) orientBarGrips(m, grips);
-    expect(m.bones.get("wrist_right")!.quaternion.angleTo(once)).toBeLessThan(1e-6);
-  });
-});
-
 describe("aimHead (L4.3 look-at)", () => {
   it("turns the head toward a focus point (face +Z tracks the target)", () => {
     const m = buildMannequin();

playground/src/main.ts

@@ -337,10 +337,18 @@ function renderLibraryList(): void {
     if (p.id === currentPresetId) item.setAttribute("aria-current", "true");
     const name = document.createElement("span");
     name.className = "li-name";
-    name.textContent = p.label;
+    const label = document.createElement("span");
+    label.textContent = p.label;
+    name.append(label);
+    if (p.status === "development") {
+      const status = document.createElement("span");
+      status.className = "li-status";
+      status.textContent = "In development";
+      name.append(status);
+    }
     const meta = document.createElement("span");
     meta.className = "li-meta";
-    meta.textContent = `${p.target} · ${p.equipment} · ${p.difficulty}`;
+    meta.textContent = p.developmentNote ?? `${p.target} · ${p.equipment} · ${p.difficulty}`;
     item.append(name, meta);
     item.addEventListener("click", () => {
       loadPreset(p.id);

playground/src/presets.ts

@@ -112,6 +112,10 @@ export interface Preset {
   /** What it renders with: Body weight, Chair, Wall, or Bar. */
   equipment: string;
   difficulty: Difficulty;
+  /** Optional product-readiness marker shown in the movement library. */
+  status?: "development";
+  /** Short user-facing explanation of the unfinished animation area. */
+  developmentNote?: string;
   source: string;
 }
 
@@ -138,9 +142,9 @@ export const PRESETS: Preset[] = [
   { id: "calf-raise", label: "Single-leg calf raise", domain: "Fitness", bodyPart: "Lower legs", target: "Calves", equipment: "Body weight", difficulty: "Intermediate", source: calfRaise },
   { id: "jumping-jacks", label: "Jumping jacks", domain: "Warm-up", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", source: jumpingJacks },
   { id: "box-step-taps", label: "Box step taps", domain: "Warm-up", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Box", difficulty: "Beginner", source: boxStepTaps },
-  { id: "pull-up", label: "Pull-up", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Bar", difficulty: "Advanced", source: pullUp },
+  { id: "pull-up", label: "Pull-up", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Bar", difficulty: "Advanced", status: "development", developmentNote: "Hand grip and wrist contact are still being refined", source: pullUp },
   { id: "step-up", label: "Step-up (box)", domain: "Functional", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Box", difficulty: "Intermediate", source: stepUp },
-  { id: "triceps-dips", label: "Triceps dips (chair)", domain: "Fitness", bodyPart: "Upper arms", target: "Triceps", equipment: "Chair", difficulty: "Intermediate", source: tricepsDips },
+  { id: "triceps-dips", label: "Triceps dips (chair)", domain: "Fitness", bodyPart: "Upper arms", target: "Triceps", equipment: "Chair", difficulty: "Intermediate", status: "development", developmentNote: "Hand support and wrist contact are still being refined", source: tricepsDips },
   { id: "quad-stretch", label: "Standing quad stretch", domain: "Mobility", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", source: quadStretch },
 
   // --- Education / anatomy: single-joint ROM demos ---
@@ -198,14 +202,14 @@ export const PRESETS: Preset[] = [
   { id: "sit-to-stand", label: "Sit to stand (chair)", domain: "Functional", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Chair", difficulty: "Beginner", source: sitToStand },
   { id: "box-squat", label: "Box squat (chair)", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Chair", difficulty: "Beginner", source: boxSquat },
   { id: "wall-sit", label: "Wall sit (wall)", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Wall", difficulty: "Beginner", source: wallSit },
-  { id: "dead-hang", label: "Dead hang (bar)", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Bar", difficulty: "Beginner", source: deadHang },
-  { id: "hanging-knee-raise", label: "Hanging knee raise (bar)", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Bar", difficulty: "Intermediate", source: hangingKneeRaise },
+  { id: "dead-hang", label: "Dead hang (bar)", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Bar", difficulty: "Beginner", status: "development", developmentNote: "Hand grip and wrist contact are still being refined", source: deadHang },
+  { id: "hanging-knee-raise", label: "Hanging knee raise (bar)", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Bar", difficulty: "Intermediate", status: "development", developmentNote: "Hand grip and wrist contact are still being refined", source: hangingKneeRaise },
 
   // --- Hand / finger rig ---
-  { id: "make-a-fist", label: "Make a fist", domain: "Hand therapy", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", source: makeAFist },
-  { id: "pinch-grip", label: "Pinch grip", domain: "Hand therapy", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", source: pinchGrip },
-  { id: "finger-spell", label: "Finger-spelling (approx.)", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", source: fingerSpell },
-  { id: "hand-wave", label: "Hand wave", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", source: handWave },
+  { id: "make-a-fist", label: "Make a fist", domain: "Hand therapy", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "development", developmentNote: "Finger articulation is still being refined", source: makeAFist },
+  { id: "pinch-grip", label: "Pinch grip", domain: "Hand therapy", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "development", developmentNote: "Finger articulation is still being refined", source: pinchGrip },
+  { id: "finger-spell", label: "Finger-spelling (approx.)", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "development", developmentNote: "Finger articulation is still being refined", source: fingerSpell },
+  { id: "hand-wave", label: "Hand wave", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "development", developmentNote: "Wrist and finger articulation are still being refined", source: handWave },
   { id: "pirouette", label: "Pirouette (full turn)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", source: pirouette },
   { id: "box-step", label: "Box step (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", source: boxStep },
   { id: "grapevine", label: "Grapevine (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", source: grapevine },

playground/src/style.css

@@ -1119,11 +1119,29 @@ select:hover {
   box-shadow: inset 2px 0 0 0 var(--accent);
 }
 .lib-item .li-name {
+  display: flex;
+  align-items: center;
+  gap: 7px;
+  flex-wrap: wrap;
   font-family: var(--sans);
   font-size: 13.5px;
   font-weight: 600;
   color: var(--text);
 }
+.lib-item .li-status {
+  flex: none;
+  font-family: var(--mono);
+  font-size: 9px;
+  font-weight: 700;
+  line-height: 1;
+  letter-spacing: 0.45px;
+  text-transform: uppercase;
+  color: #f0bd68;
+  background: rgba(240, 189, 104, 0.1);
+  border: 1px solid rgba(240, 189, 104, 0.3);
+  border-radius: 999px;
+  padding: 4px 6px 3px;
+}
 .lib-item .li-meta {
   font-size: 11.5px;
   color: var(--muted);