From 43827d16f77b4d151f2b9e6ba120d5fffbfb18ba Mon Sep 17 00:00:00 2001
From: a-baran-orhan <a.baranorhan@gmail.com>
Date: Tue, 14 Jul 2026 13:32:18 +0300
Subject: [PATCH] Smooth root travel with Hermite interpolation and update
 choreography

---
 packages/posecode-render/src/timeline.ts     | 62 ++++++++++++++---
 packages/posecode-render/test/render.test.ts | 32 +++++++++
 spec/examples/box-step.posecode              | 57 +++++++++-------
 spec/examples/chasse.posecode                | 70 ++++++++++++++------
 spec/examples/dance-phrase.posecode          |  4 +-
 spec/examples/demi-plie.posecode             |  4 +-
 spec/examples/grapevine.posecode             | 63 ++++++++++++++----
 spec/examples/pirouette.posecode             | 23 +++++--
 spec/examples/port-de-bras.posecode          | 14 +++-
 spec/examples/releve.posecode                |  4 +-
 spec/examples/tendu.posecode                 |  4 +-
 spec/examples/waltz-box.posecode             | 58 +++++++++++-----
 12 files changed, 293 insertions(+), 102 deletions(-)

diff --git a/packages/posecode-render/src/timeline.ts b/packages/posecode-render/src/timeline.ts
index 852e729..ba1d8a2 100644
--- a/packages/posecode-render/src/timeline.ts
+++ b/packages/posecode-render/src/timeline.ts
@@ -106,6 +106,33 @@ const REST_MODE: Record<TimingMode, boolean> = {
   linear: false,
 };
 
+/** Cubic Hermite interpolation with endpoint velocities expressed per second. */
+function hermite(a: number, b: number, va: number, vb: number, span: number, t: number): number {
+  const t2 = t * t;
+  const t3 = t2 * t;
+  return (
+    (2 * t3 - 3 * t2 + 1) * a +
+    (t3 - 2 * t2 + t) * span * va +
+    (-2 * t3 + 3 * t2) * b +
+    (t3 - t2) * span * vb
+  );
+}
+
+/**
+ * Time-aware centered velocity at an interior root keyframe. Rest keyframes
+ * deliberately have zero velocity; flowing keyframes carry momentum through.
+ */
+function rootVelocity(
+  prev: Keyframe,
+  current: Keyframe,
+  next: Keyframe,
+  read: (keyframe: Keyframe) => number,
+): number {
+  if (current.rest) return 0;
+  const span = next.time - prev.time;
+  return span > 1e-6 ? (read(next) - read(prev)) / span : 0;
+}
+
 export function buildTimeline(ir: PosecodeIR): BuiltTimeline {
   const basePose = poseFor(ir.startPose);
   const baseJoints = new Map<string, EulerDegTuple>(
@@ -248,14 +275,33 @@ export function buildTimeline(ir: PosecodeIR): BuiltTimeline {
           : squadControl(q0, q1, kNext.quats.get(bone)!);
         squad(q0, s0, s1, q1, eased, node.quaternion);
       }
-      // Root facing/position: linear interpolation of the raw values so a large
-      // turn (e.g. 360°) sweeps the whole way round rather than taking a short
-      // arc. Uses the same eased param as the joints so everything moves as one.
-      const rootYaw = a.yaw + (b.yaw - a.yaw) * eased;
-      const rootOffset = {
-        x: a.pos.x + (b.pos.x - a.pos.x) * eased,
-        z: a.pos.z + (b.pos.z - a.pos.z) * eased,
-      };
+      // Root facing/position use the scalar analogue of the joint squad spline:
+      // cubic Hermite with time-aware centered tangents. This carries velocity
+      // through `flow` waypoints instead of hitting every travel point with a
+      // visible direction/speed kink (box steps, grapevines, waltz, chassé).
+      // Yaw remains a raw scalar rather than a quaternion so a 360° turn still
+      // sweeps the full revolution. Rest points receive zero tangent.
+      const yawA = rootVelocity(kPrev, a, b, (kf) => kf.yaw);
+      const yawB = rootVelocity(a, b, kNext, (kf) => kf.yaw);
+      const xA = rootVelocity(kPrev, a, b, (kf) => kf.pos.x);
+      const xB = rootVelocity(a, b, kNext, (kf) => kf.pos.x);
+      const zA = rootVelocity(kPrev, a, b, (kf) => kf.pos.z);
+      const zB = rootVelocity(a, b, kNext, (kf) => kf.pos.z);
+      // `linear` is an explicit authoring promise, so preserve a literal
+      // straight interpolation for that mode. The spline applies to the
+      // expressive timing modes, especially continuous `flow` choreography.
+      const rootYaw = b.easing === "linear"
+        ? a.yaw + (b.yaw - a.yaw) * eased
+        : hermite(a.yaw, b.yaw, yawA, yawB, span, eased);
+      const rootOffset = b.easing === "linear"
+        ? {
+            x: a.pos.x + (b.pos.x - a.pos.x) * eased,
+            z: a.pos.z + (b.pos.z - a.pos.z) * eased,
+          }
+        : {
+            x: hermite(a.pos.x, b.pos.x, xA, xB, span, eased),
+            z: hermite(a.pos.z, b.pos.z, zA, zB, span, eased),
+          };
       return {
         phaseName: b.name,
         ...(b.cue ? { cue: b.cue } : {}),
diff --git a/packages/posecode-render/test/render.test.ts b/packages/posecode-render/test/render.test.ts
index b9b45a5..ba8711c 100644
--- a/packages/posecode-render/test/render.test.ts
+++ b/packages/posecode-render/test/render.test.ts
@@ -197,6 +197,38 @@ describe("spatial choreography (turn & travel)", () => {
     expect(tl.travelExtent).toBeCloseTo(Math.hypot(0.5, 0.4), 3);
   });
 
+  it("carries root velocity smoothly through flow travel waypoints", () => {
+    const src = [
+      'posecode exercise "Corner"',
+      "  rig humanoid",
+      "  pose start = standing",
+      '  step "Across" 1s flow:',
+      "    travel: 1 0",
+      '  step "Forward" 1s flow:',
+      "    travel: 1 1",
+      "  repeat 1",
+    ].join("\n");
+    const { ir } = parse(src);
+    const tl = buildTimeline(ir!);
+    const m = buildMannequin();
+    const eps = 1e-3;
+    const before = tl.sample(1 - eps, m.bones).rootOffset;
+    const at = tl.sample(1, m.bones).rootOffset;
+    const after = tl.sample(1 + eps, m.bones).rootOffset;
+    const velocityBefore = {
+      x: (at.x - before.x) / eps,
+      z: (at.z - before.z) / eps,
+    };
+    const velocityAfter = {
+      x: (after.x - at.x) / eps,
+      z: (after.z - at.z) / eps,
+    };
+
+    expect(at).toEqual({ x: 1, z: 0 });
+    expect(velocityBefore.x).toBeCloseTo(velocityAfter.x, 2);
+    expect(velocityBefore.z).toBeCloseTo(velocityAfter.z, 2);
+  });
+
   it("leaves yaw and offset at home for movements that never turn/travel", () => {
     const src = [
       'posecode exercise "Curl"',
diff --git a/spec/examples/box-step.posecode b/spec/examples/box-step.posecode
index f145b7d..d8ccd19 100644
--- a/spec/examples/box-step.posecode
+++ b/spec/examples/box-step.posecode
@@ -2,42 +2,49 @@ posecode exercise "Box step"
   rig humanoid
   pose start = standing
 
-  step "Step forward-right" 0.9s flow:
-    hip_right: flex 35
-    knee_right: flex 40
-    ankle_right: plantarflex 40
-    shoulder_left: flex 25
-    shoulder_right: extend 15
-    travel: -0.35 0.35
+  step "Right foot forward" 0.9s flow:
+    hip_right: flex 30
+    knee_right: flex 32
+    ankle_right: plantarflex 24
+    shoulder_left: flex 22
+    shoulder_right: extend 12
+    travel: 0 0.32
     pin: foot_left floor
-    cue "Step the right foot forward and out to the corner"
+    cue "Step forward onto the right foot with an easy contralateral arm swing"
 
-  step "Close the feet" 0.7s flow:
+  step "Left foot side" 0.85s flow:
     hip_right: flex 0
     knee_right: flex 0
     ankle_right: plantarflex 0
-    shoulders: flex 0
-    travel: -0.35 0.35
-    ground-lock: feet
-    cue "Bring the left foot to meet it, standing tall on the corner"
-
-  step "Step back-left" 0.9s flow:
-    hip_left: flex 35
-    knee_left: flex 40
-    ankle_left: plantarflex 40
-    shoulder_right: flex 25
-    shoulder_left: extend 15
-    travel: 0 0
+    hip_left: abduct 24
+    knee_left: flex 22
+    ankle_left: plantarflex 20
+    shoulder_left: flex 0
+    shoulder_right: flex 20
+    travel: -0.32 0.32
     pin: foot_right floor
-    cue "Step the left foot back to the start on the diagonal"
+    cue "Transfer left to the side, keeping the torso lifted"
 
-  step "Close home" 0.7s settle:
-    hip_left: flex 0
+  step "Right foot back" 0.9s flow:
+    hip_left: abduct 0
     knee_left: flex 0
     ankle_left: plantarflex 0
+    hip_right: extend 18
+    knee_right: flex 30
+    ankle_right: plantarflex 24
+    shoulder_right: flex 0
+    shoulder_left: flex 22
+    travel: -0.32 0
+    pin: foot_left floor
+    cue "Step back onto the right foot to trace the third side of the box"
+
+  step "Left foot closes home" 0.85s settle:
+    hip_right: extend 0
+    knee_right: flex 0
+    ankle_right: plantarflex 0
     shoulders: flex 0
     travel: 0 0
     ground-lock: feet
-    cue "Close the feet together, back home and ready to repeat"
+    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 54ea937..0d93db9 100644
--- a/spec/examples/chasse.posecode
+++ b/spec/examples/chasse.posecode
@@ -2,46 +2,72 @@ posecode exercise "Chassé"
   rig humanoid
   pose start = standing
 
-  step "Reach & push" 0.8s settle:
-    hip_right: flex 30
-    knee_right: flex 25
-    ankle_right: plantarflex 25
+  step "Right foot reaches" 0.65s flow:
+    hip_right: abduct 26
+    knee_right: flex 20
+    ankle_right: plantarflex 24
     ankle_left: plantarflex 20
     shoulders: abduct 60
     elbows: flex 18
-    travel: 0.5 0
+    travel: 0.34 0
     pin: foot_left floor
     reach: foot_right floor
-    cue "Reach the lead foot out and push off to travel sideways"
+    cue "Reach the right foot sideways and push away from the left leg"
 
-  step "Gallop close" 0.6s drive:
-    hip_right: flex 0
+  step "Left foot chases" 0.5s flow:
+    hip_right: abduct 0
     knee_right: flex 0
     ankle_right: plantarflex 0
-    ankle_left: plantarflex 0
-    travel: 0.9 0
-    ground-lock: feet
-    cue "Chase the trailing foot to the lead: feet meet in the air"
+    hip_left: abduct 18
+    knee_left: flex 22
+    ankle_left: plantarflex 24
+    travel: 0.66 0
+    pin: foot_right floor
+    cue "Let the left foot chase under the body without breaking the sideways flow"
+
+  step "Right foot reaches again" 0.65s flow:
+    hip_left: abduct 0
+    knee_left: flex 0
+    ankle_left: plantarflex 18
+    hip_right: abduct 26
+    knee_right: flex 20
+    ankle_right: plantarflex 24
+    travel: 1 0
+    pin: foot_left floor
+    reach: foot_right floor
+    cue "Reach right once more and finish the outward chassé"
 
-  step "Reach & push back" 0.8s settle:
-    hip_left: flex 30
-    knee_left: flex 25
-    ankle_left: plantarflex 25
+  step "Left foot reaches back" 0.65s flow:
+    hip_right: abduct 0
+    knee_right: flex 0
     ankle_right: plantarflex 20
-    travel: 0.4 0
+    hip_left: abduct 26
+    knee_left: flex 20
+    ankle_left: plantarflex 24
+    travel: 0.66 0
     pin: foot_right floor
     reach: foot_left floor
-    cue "Change direction and travel back the other way"
+    cue "Reverse cleanly and reach the left foot back across the floor"
 
-  step "Gallop home" 0.6s drive:
-    hip_left: flex 0
+  step "Right foot chases" 0.5s flow:
+    hip_left: abduct 0
     knee_left: flex 0
     ankle_left: plantarflex 0
-    ankle_right: plantarflex 0
+    hip_right: abduct 18
+    knee_right: flex 22
+    ankle_right: plantarflex 24
+    travel: 0.34 0
+    pin: foot_left floor
+    cue "Let the right foot chase under the body on the return"
+
+  step "Left foot closes home" 0.7s settle:
+    hip_right: abduct 0
+    knee_right: flex 0
+    ankles: plantarflex 0
     shoulders: abduct 0
     elbows: flex 0
     travel: 0 0
     ground-lock: feet
-    cue "Close home, ready to chassé again"
+    cue "Close home over both feet and let the momentum resolve"
 
   repeat 4
diff --git a/spec/examples/dance-phrase.posecode b/spec/examples/dance-phrase.posecode
index 6216a99..625c6a8 100644
--- a/spec/examples/dance-phrase.posecode
+++ b/spec/examples/dance-phrase.posecode
@@ -13,7 +13,7 @@ posecode exercise "Dance phrase (8-count)"
   step "3-4 - demi-plié" 2s flow:
     hips: flex 18
     knees: flex 50
-    ankles: plantarflex 50
+    ankles: dorsiflex 12
     shoulders: flex 28
     elbows: flex 30
     ground-lock: feet
@@ -29,7 +29,7 @@ posecode exercise "Dance phrase (8-count)"
     ground-lock: feet
     cue "Press up to relevé and lift the arms into a frame overhead"
 
-  step "7-8 - close" 2s settle:
+  step "7-8 - close" 2.2s settle:
     ankles: plantarflex 0
     hips: rotate-out 0
     shoulders: flex 0
diff --git a/spec/examples/demi-plie.posecode b/spec/examples/demi-plie.posecode
index 18f4ada..c0e7e0f 100644
--- a/spec/examples/demi-plie.posecode
+++ b/spec/examples/demi-plie.posecode
@@ -2,7 +2,7 @@ posecode exercise "Demi-plié"
   rig humanoid
   pose start = standing
 
-  step "Plié" 2s flow:
+  step "Plié" 2.2s settle:
     hips: flex 20
     hips: rotate-out 30
     knees: flex 55
@@ -13,7 +13,7 @@ posecode exercise "Demi-plié"
     ground-lock: feet
     cue "Turn out from the hips and bend the knees over the toes: heels down"
 
-  step "Straighten" 2s settle:
+  step "Straighten" 2.2s settle:
     hips: flex 0
     hips: rotate-out 0
     knees: flex 0
diff --git a/spec/examples/grapevine.posecode b/spec/examples/grapevine.posecode
index ff179eb..84effd5 100644
--- a/spec/examples/grapevine.posecode
+++ b/spec/examples/grapevine.posecode
@@ -2,39 +2,76 @@ posecode exercise "Grapevine"
   rig humanoid
   pose start = standing
 
-  step "Step out" 0.7s flow:
-    hip_left: abduct 30
+  step "Left step side" 0.65s flow:
+    hip_left: abduct 28
     shoulders: abduct 40
-    travel: 0.4 0
+    travel: 0.3 0
     pin: foot_right floor
     reach: foot_left floor
-    cue "Step the leading foot out to the side"
+    cue "Step the left foot to the side and begin travelling"
 
-  step "Cross behind" 0.7s flow:
+  step "Right crosses behind" 0.65s flow:
     hip_left: abduct 0
     hip_right: rotate-in 20
     knee_right: flex 25
     ankle_right: plantarflex 25
-    travel: 0.8 0
+    travel: 0.6 0
     pin: foot_left floor
     reach: foot_right floor
-    cue "Cross the trailing foot behind and keep travelling"
+    cue "Cross the right foot behind without stopping the sideways momentum"
 
-  step "Step out again" 0.7s flow:
+  step "Left step side again" 0.65s flow:
     hip_right: rotate-in 0
     knee_right: flex 0
     ankle_right: plantarflex 0
-    hip_left: abduct 30
-    travel: 1.2 0
+    hip_left: abduct 28
+    travel: 0.9 0
     pin: foot_right floor
     reach: foot_left floor
-    cue "Step out to the side once more"
+    cue "Step left again and keep the shoulders quiet"
 
-  step "Return home" 1s settle:
+  step "Right touch" 0.55s flow:
     hip_left: abduct 0
+    knee_right: flex 16
+    ankle_right: plantarflex 20
+    travel: 1 0
+    ground-lock: feet
+    cue "Touch the right foot in lightly before reversing"
+
+  step "Right step side" 0.65s flow:
+    knee_right: flex 0
+    ankle_right: plantarflex 0
+    hip_right: abduct 28
+    travel: 0.7 0
+    pin: foot_left floor
+    reach: foot_right floor
+    cue "Step the right foot to the side to travel back"
+
+  step "Left crosses behind" 0.65s flow:
+    hip_right: abduct 0
+    hip_left: rotate-in 20
+    knee_left: flex 25
+    ankle_left: plantarflex 25
+    travel: 0.4 0
+    pin: foot_right floor
+    reach: foot_left floor
+    cue "Cross the left foot behind and continue through the beat"
+
+  step "Right step side again" 0.65s flow:
+    hip_left: rotate-in 0
+    knee_left: flex 0
+    ankle_left: plantarflex 0
+    hip_right: abduct 28
+    travel: 0.1 0
+    pin: foot_left floor
+    reach: foot_right floor
+    cue "Step right and arrive back near the starting place"
+
+  step "Close home" 0.65s settle:
+    hip_right: abduct 0
     shoulders: abduct 0
     travel: 0 0
     ground-lock: feet
-    cue "Travel back the other way to the starting spot"
+    cue "Close the left foot under the body and settle the phrase"
 
   repeat 3
diff --git a/spec/examples/pirouette.posecode b/spec/examples/pirouette.posecode
index 6f21f75..b63fe00 100644
--- a/spec/examples/pirouette.posecode
+++ b/spec/examples/pirouette.posecode
@@ -5,7 +5,7 @@ posecode exercise "Pirouette"
   step "Prep - plié" 1.2s flow:
     hips: rotate-out 25
     knees: flex 45
-    ankles: plantarflex 45
+    ankles: dorsiflex 12
     shoulders: flex 40
     elbows: flex 35
     ground-lock: feet
@@ -24,14 +24,27 @@ posecode exercise "Pirouette"
     pin: foot_left floor
     cue "Push up to relevé, pull the arms in, and spin a full turn"
 
-  step "Land" 1s settle:
+  step "Land through plié" 0.9s settle:
+    hip_right: flex 0
+    hip_right: rotate-out 0
+    knee_right: flex 28
+    ankle_right: dorsiflex 8
+    knee_left: flex 28
+    ankle_left: dorsiflex 8
+    shoulders: abduct 55
+    shoulders: flex 0
+    elbows: flex 18
+    ground-lock: feet
+    cue "Finish the turn and absorb the landing through a soft plié"
+
+  step "Recover" 1.1s settle:
     hips: flex 0
     hips: rotate-out 0
     knees: flex 0
-    ankles: plantarflex 0
-    shoulders: flex 0
+    ankles: dorsiflex 0
+    shoulders: abduct 0
     elbows: flex 0
     ground-lock: feet
-    cue "Land softly through the feet, arms floating back to the sides"
+    cue "Lengthen to standing and let the arms float back to the sides"
 
   repeat 3
diff --git a/spec/examples/port-de-bras.posecode b/spec/examples/port-de-bras.posecode
index af47938..e67c951 100644
--- a/spec/examples/port-de-bras.posecode
+++ b/spec/examples/port-de-bras.posecode
@@ -16,18 +16,26 @@ posecode stretch "Port de bras"
     ground-lock: feet
     cue "Open the arms out to the sides: second position, wrists lifted"
 
-  step "Fifth en haut" 2.2s flow:
+  step "Fifth en haut" 2.4s flow:
     shoulders: abduct 0
     shoulders: flex 160
     elbows: flex 20
     ground-lock: feet
     cue "Float the arms into a rounded frame overhead: fifth position"
 
-  step "Lower" 2s settle:
+  step "Open down through second" 2.2s flow:
+    shoulders: flex 0
+    shoulders: abduct 85
+    elbows: flex 16
+    ground-lock: feet
+    cue "Open from overhead through a wide second position, shoulders released"
+
+  step "Close low" 2s settle:
+    shoulders: abduct 0
     shoulders: flex 0
     elbows: flex 0
     hips: rotate-out 0
     ground-lock: feet
-    cue "Lower through second back to the start, eyes following the hands"
+    cue "Float the arms down to the start, eyes following the hands"
 
   repeat 3
diff --git a/spec/examples/releve.posecode b/spec/examples/releve.posecode
index aee5f32..44eb079 100644
--- a/spec/examples/releve.posecode
+++ b/spec/examples/releve.posecode
@@ -2,7 +2,7 @@ posecode exercise "Relevé"
   rig humanoid
   pose start = standing
 
-  step "Rise" 1.6s settle:
+  step "Rise" 1.8s settle:
     ankles: plantarflex 30
     hips: rotate-out 25
     knees: extend 0
@@ -12,7 +12,7 @@ posecode exercise "Relevé"
     ground-lock: feet
     cue "Turn out and rise onto the balls of the feet: lengthen up tall"
 
-  step "Lower" 1.8s drive:
+  step "Lower" 2s settle:
     ankles: plantarflex 0
     hips: rotate-out 0
     shoulders: abduct 0
diff --git a/spec/examples/tendu.posecode b/spec/examples/tendu.posecode
index 2dce22a..3857154 100644
--- a/spec/examples/tendu.posecode
+++ b/spec/examples/tendu.posecode
@@ -2,7 +2,7 @@ posecode exercise "Tendu"
   rig humanoid
   pose start = standing
 
-  step "Point front" 1.6s flow:
+  step "Brush and point" 1.8s settle:
     hip_right: flex 22
     hip_right: rotate-out 30
     knee_right: extend 0
@@ -12,7 +12,7 @@ posecode exercise "Tendu"
     pin: foot_left floor
     cue "Brush the right foot forward to a fully pointed tendu, leg turned out"
 
-  step "Close" 1.6s settle:
+  step "Close through the floor" 1.8s settle:
     hip_right: flex 0
     hip_right: rotate-out 0
     ankle_right: plantarflex 0
diff --git a/spec/examples/waltz-box.posecode b/spec/examples/waltz-box.posecode
index 05577b2..65ef9b7 100644
--- a/spec/examples/waltz-box.posecode
+++ b/spec/examples/waltz-box.posecode
@@ -2,40 +2,62 @@ posecode stretch "Waltz box step"
   rig humanoid
   pose start = standing
 
-  step "1 - forward, rise" 1s flow:
-    hip_right: flex 25
-    knee_right: flex 20
-    ankles: plantarflex 12
+  step "1 - right foot forward" 0.95s flow:
+    hip_right: flex 24
+    knee_right: flex 24
+    ankle_right: plantarflex 18
     shoulders: abduct 55
     elbows: flex 20
-    travel: 0 0.4
+    travel: 0 0.32
     pin: foot_left floor
-    cue "Step forward onto the right foot and rise, arms in a soft frame"
+    cue "Step forward onto the right foot and begin the waltz rise"
 
-  step "2 - side, lower" 1s flow:
+  step "2 - left foot side" 0.95s flow:
     hip_right: flex 0
     knee_right: flex 0
+    ankle_right: plantarflex 0
+    hip_left: abduct 22
+    knee_left: flex 16
+    ankles: plantarflex 22
+    travel: -0.32 0.32
+    pin: foot_right floor
+    cue "Step left to the side and continue rising through count two"
+
+  step "3 - close and lower" 1.05s flow:
+    hip_left: abduct 0
+    knee_left: flex 0
     ankles: plantarflex 0
-    travel: -0.4 0.4
+    travel: -0.32 0.32
     ground-lock: feet
-    cue "Side step to the corner and lower through the heels"
+    cue "Close the right foot to the left and lower softly through count three"
 
-  step "3 - back, rise" 1s flow:
-    hip_left: flex 25
-    knee_left: flex 20
-    ankles: plantarflex 12
-    travel: -0.4 0
+  step "4 - left foot back" 0.95s flow:
+    hip_left: extend 18
+    knee_left: flex 24
+    ankle_left: plantarflex 18
+    travel: -0.32 0
     pin: foot_right floor
-    cue "Step back onto the left foot and rise again"
+    cue "Step back onto the left foot and begin the second rise"
 
-  step "4 - close home" 1s settle:
-    hip_left: flex 0
+  step "5 - right foot side" 0.95s flow:
+    hip_left: extend 0
     knee_left: flex 0
+    ankle_left: plantarflex 0
+    hip_right: abduct 22
+    knee_right: flex 16
+    ankles: plantarflex 22
+    travel: 0 0
+    pin: foot_left floor
+    cue "Step right to the side, staying buoyant through count five"
+
+  step "6 - close and lower" 1.05s settle:
+    hip_right: abduct 0
+    knee_right: flex 0
     ankles: plantarflex 0
     shoulders: abduct 0
     elbows: flex 0
     travel: 0 0
     ground-lock: feet
-    cue "Close to the start, completing the box"
+    cue "Close the left foot and lower with control to complete the six-count box"
 
   repeat 3