Harden Posecode motion for launch

[a-baran-orhan]

Summary

• tighten the Posecode grammar, indentation rules, joint/action compatibility, and contact-target validation for LLM-authored movement
• add ROM-constrained reach IK, semantic palm/fist/sole/knee/pelvis contact surfaces, multi-contact refinement, stable support handoffs, and XBot-aware grounding
• rebuild the superhero landing around an explicit right-foot, left-knee, and left-fist contact sequence
• audit and correct contact-heavy canonical movements, including plank, cobra, crunch, mountain climber, pirouette, touch-toes, Superman, and glute bridge
• add a headless dual-rig evaluation gate, stricter movement diagnostics, generated-source parity coverage, and launch-ready versus experimental catalog status
• refresh the LLM guide, MCP guidance, generated movement pages, launch copy, and friendly local /play/:movement routing

Why

The previous pipeline allowed ambiguous or incompatible root solvers and measured several contacts from raw joint origins or stale targets. As a result, valid-looking LLM output could parse while producing crossed limbs, floating supports, foot skate, or a visibly incorrect multi-contact pose.

This change makes contacts explicit, solver ordering deterministic, final residuals measurable, and unsupported language fail early with actionable diagnostics.

Impact

Authors get a smaller, stricter protocol with better editor and MCP feedback. The renderer produces more lifelike grounded movement across both the default XBot character and procedural fallback. Public static pages now cover 48 launch-ready movements, while 25 experimental previews remain opt-in.

Validation

• npm test — 328/328 tests passed across 26 files
• npm run typecheck
• npm run build:packages
• npm run build
• npm run eval
  • XBot production path: 1,546/1,546 checks
  • procedural fallback: 1,546/1,546 checks
  • 74 movements, 0 parse failures, 0 clamp warnings

The Vite build still emits its existing non-failing advisory for a minified chunk over 500 kB.

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Project	Deployment	Actions	Updated (UTC)
posecode	Ready	Preview, Comment	Jul 17, 2026 2:13pm