Ground Xbot across every movement

[a-baran-orhan]

What changed

• make every phase floor-bound unless a bar grip or non-floor prop pin explicitly supports it above the ground
• add a fast sampled skinned-surface reconciler that grounds the visible Xbot surface after FK, IK, and mocap layers
• restore declared foot/hand contacts after clip blending
• immediately clear stale mocap when switching to a procedural movement
• extend the headless evaluator's grounding invariant to every floor-bound phase
• add a development-only real-viewer audit over all 72 presets and 201 phases
• add permanent CI coverage that validates Xbot's exact full skinned bounds across every canonical floor-bound phase

Root cause

The hidden procedural driver could be perfectly grounded while Xbot's segmented skinned surface had a different lowest point, especially in supine and rotated poses. Mocap was also applied after floor solving, and a stale clip could briefly carry into a newly selected procedural movement.

Validation

• real browser audit: 201/201 phases checked; zero floor-bound phases more than 1 cm above or below the floor
• visually verified clip-driven jumping jacks and the previously floating lying-leg-raise case
• npm run typecheck
• npm test -- --run — 248 tests passed
• npm run build
• no browser console errors or warnings

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Project	Deployment	Actions	Updated (UTC)
posecode	Ready	Preview, Comment	Jul 12, 2026 10:12pm