Support single-foot ground locking

[a-baran-orhan]

Summary

• add parser-owned validation for supported ground-lock effectors
• support per-side foot_left / foot_right locks (plus per-side hand and elbow aliases) throughout rendering and evaluation
• update editor completions, language documentation, generated docs, and focused tests

Why

ground-lock: foot_right and ground-lock: foot_left were silently accepted by the parser but ignored by the renderer. That made single-foot pivots such as the reported standing crossover turn look like turn: was broken.

The root cause was twofold:

1. ground-lock stored arbitrary strings without validating them against an implemented effector vocabulary.
2. the renderer exposed only grouped ground-lock mappings and contact helpers assumed both feet or both hands.

This change makes unsupported values line-anchored parser errors and carries per-side effectors through grounding, sole leveling, mocap contact preservation, floor-hand handling, and evaluation support checks.

User impact

Authors can now plant one foot while moving the opposite leg:

step "Pivot" 0.65s ease-in-out:
  turn: 180
  ground-lock: foot_right

Typos and unsupported values no longer produce a false “parses clean, no warnings” result.

Validation

• npm test — 19 files, 263 tests passed
• npm run typecheck
• npm run build
• git diff --check

Closes #60

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Project	Deployment	Actions	Updated (UTC)
posecode	Ready	Preview, Comment	Jul 15, 2026 7:56am