diff --git a/.changeset/heroic-owls-land.md b/.changeset/heroic-owls-land.md
new file mode 100644
index 0000000..4ac6c01
--- /dev/null
+++ b/.changeset/heroic-owls-land.md
@@ -0,0 +1,7 @@
+---
+"posecode-parser": patch
+"posecode-render": patch
+"posecode-mcp": patch
+---
+
+Strengthen Posecode motion authoring and playback with strict contact validation, grounded multi-contact solving, continuous sparse transitions, and more lifelike canonical movement guidance.
diff --git a/README.md b/README.md
index 07beac0..acaf96e 100644
--- a/README.md
+++ b/README.md
@@ -426,7 +426,7 @@ It explains biomechanical problems in natural language and proposes specific rev
 | Package | Purpose |
 | --- | --- |
 | [`posecode-language`](packages/posecode-language) | Language definitions and editor support |
-| [`posecode-parser`](packages/posecode-parser) | Converts `.posecode` text into validated, ROM-constrained intermediate representation |
+| [`posecode-parser`](packages/posecode-parser) | Converts `.posecode` text into a validated, range-constrained intermediate representation |
 | [`posecode-render`](packages/posecode-render) | Renders animated figures with Three.js, forward kinematics, and IK |
 | [`posecode-share`](packages/posecode-share) | Encodes Posecode documents into URL-safe share tokens |
 | [`posecode-mcp`](packages/posecode-mcp) | Exposes Posecode capabilities to AI agents through MCP |
@@ -482,7 +482,7 @@ Posecode currently focuses on:
 The following are outside the current scope:
 
 - two-person or partner motion,
-- collision detection,
+- comprehensive collision detection and rigid-body dynamics,
 - detailed object physics,
 - advanced equipment simulation,
 - multi-joint finger animation,
diff --git a/ROADMAP.md b/ROADMAP.md
index b861453..481e65d 100644
--- a/ROADMAP.md
+++ b/ROADMAP.md
@@ -1,8 +1,9 @@
 # Posecode: domains & roadmap
 
-Posecode's vision is broad: **describe any single-person movement as text and render it
-safely in 3D.** The *protocol* is general; the *current renderer* is deliberately
-scoped (one figure, forward kinematics, ground-locked hands/feet, no props). This
+Posecode's vision is broad: **describe single-person movement as text and render it
+as inspectable 3D motion.** The *protocol* is general; the *current renderer* is deliberately
+scoped to one simplified figure with forward kinematics, constrained contacts,
+starter props, and no rigid-body dynamics. This
 doc maps the domains Posecode can serve, what already works, and what each remaining
 domain needs, so contributions land where they unlock the most.
 
@@ -10,9 +11,9 @@ domain needs, so contributions land where they unlock the most.
 
 | Domain | Example uses | Status |
 | --- | --- | --- |
-| **Physiotherapy / rehab** | Range-of-motion demos, home-exercise programs, post-op protocols, cervical/shoulder mobility |  Strong fit today: the ROM safety clamp is a clinical feature. Many moves render now; equipment (bands, balls) is future. |
-| **Ergonomics / desk & posture** | Posture resets, seated/standing stretch breaks, "do this every hour" prompts |  Works today for standing variants; true *seated* needs a chair prop (below). |
-| **Yoga & mobility** | Standing poses (chair, side bend, twist), flows, mobility drills |  Standing poses work; floor/inversion/lying poses need lying base poses + a mat. |
+| **Physiotherapy / rehab** | Range-of-motion demos, home-exercise programs, post-op protocols, cervical/shoulder mobility |  Useful for reviewed visualization: ROM constraints and diagnostics are explicit. Clinical use still requires qualified review; bands and balls are future. |
+| **Ergonomics / desk & posture** | Posture resets, seated/standing stretch breaks, "do this every hour" prompts |  Standing and floor-seated variants work; chair-seated motion needs a dedicated base pose. |
+| **Yoga & mobility** | Standing poses (chair, side bend, twist), flows, mobility drills |  Standing and basic supine/prone/long-seated poses work; inversions and detailed mat contacts remain limited. |
 | **Movement education / anatomy** | Demonstrate joint actions ("what is shoulder abduction?"), biomechanics teaching |  Excellent fit: single-joint demos are exactly what the rig does. |
 | **Fitness / strength** | Body-weight and free-form movement coaching |  Core today (squat, curl, raise). Barbell/dumbbell/machine work needs props + grip. |
 | **Functional / elderly care** | Sit-to-stand, balance, gentle ROM, fall-prevention drills |  Partial: sit-to-stand works; reaching/balance need reach-IK + props. |
diff --git a/docs/market-research.md b/docs/market-research.md
index fe16a9e..02efebd 100644
--- a/docs/market-research.md
+++ b/docs/market-research.md
@@ -8,18 +8,18 @@
 ## 1. The thesis
 
 Posecode is **"Mermaid for human movement."** A person describes a movement in
-words; an LLM writes a short `.posecode` document; the browser parses it, clamps it
-to a safe range of motion, and renders an animated 3D mannequin, producing a
+words; an LLM writes a short `.posecode` document; the browser validates it,
+constrains joint targets to configured ranges, and renders an animated 3D mannequin, producing a
 **shareable URL**. The loop is:
 
 > **ask an LLM for a movement → it renders → share the link.**
 
 This is structurally different from video. A `.posecode` doc is **editable text**:
 an LLM can generate it, a human can tweak one angle, a clinician can fork it, and
-it diffs in version control. Diffusion/video models hallucinate anatomy and can't
-be safely constrained; Posecode's ROM clamp is a *correctness* feature, not a filter.
-Text is also how LLMs natively "think" about structure, so authoring is reliable
-and improves as models improve.
+it diffs in version control. Posecode exposes the authored anatomy and constraints
+for inspection instead of hiding them in a generated trajectory. Range constraints
+are one correctness layer, not a certification of the complete movement. Text also
+gives LLMs a structured target that can be parsed, evaluated, and revised.
 
 ### Why it can spread
 
@@ -30,8 +30,9 @@ and improves as models improve.
 - **Agent-native.** The [`posecode-mcp`](../packages/posecode-mcp) server lets Claude/
   ChatGPT author, validate, and return a render link *inside the chat*: the
   movement appears where the user already is.
-- **Safe to trust.** Clinical ROM limits mean shared links can't depict unsafe
-  joint angles: important for the health-adjacent buyers below.
+- **Inspectable constraints.** Configured ROM limits prevent impossible authored
+  joint rotations, while contact residuals and movement checks expose failures.
+  Health-adjacent uses still require qualified review.
 
 ## 2. How we scored the domains
 
@@ -67,14 +68,14 @@ on the roadmap.
 
 - **Customer:** physios, chiros, athletic trainers, and their patients running
   home-exercise programs; post-op ROM protocols.
-- **Aha use case:** a clinician types a prescription and hands the patient a link
-  that *shows* the exercise, with a built-in safe-range guarantee.
+- **Aha use case:** a clinician authors or reviews a movement and hands the patient
+  a link that *shows* it, with explicit joint targets and validation diagnostics.
 - **Viral loop:** clinician → patient link sharing is high-frequency and trusted;
   patients forward to family; clinics build reusable libraries.
 - **Ships:** `heel-raises`, `standing-hamstring-curl`, `hip-abduction`,
   `good-morning` (back-health hinge), plus existing `neck-rotation`,
   `shoulder-stretch`.
-- **Engine-fit:** ★★★★☆, the ROM clamp is a clinical feature; bands/balls and
+- **Engine-fit:** ★★★★☆, range constraints support review; bands/balls and
   lying poses are future (see roadmap).
 
 ### 3c. Desk & workplace wellness
diff --git a/packages/posecode-embed/test/compat.test.ts b/packages/posecode-embed/test/compat.test.ts
index 073c924..eceda0b 100644
--- a/packages/posecode-embed/test/compat.test.ts
+++ b/packages/posecode-embed/test/compat.test.ts
@@ -10,7 +10,7 @@ const SPORTS_MOVE = `posecode exercise "Crossover"
     knees: flex 68
     ground-lock: feet
   step "Cross" 0.22s drive:
-    pelvis: rotate-out 14
+    turn: -14
     travel: -0.18 0
     ground-lock: feet
   repeat 2
diff --git a/packages/posecode-eval/src/checks.ts b/packages/posecode-eval/src/checks.ts
index fb9fe08..081fced 100644
--- a/packages/posecode-eval/src/checks.ts
+++ b/packages/posecode-eval/src/checks.ts
@@ -6,12 +6,16 @@
  */
 
 import type { PhasePose, ProbeResult } from "./probe.js";
+import { REACH_TOLERANCE } from "posecode-render";
 import {
   balanceOverflow,
   distanceBetween,
   feetCenterSkateDistance,
+  fistFloorAngleDeg,
   footIsSupported,
   footSkateDistance,
+  footWorldSkateDistance,
+  forwardCoordinate,
   headPropClearance,
   heightOf,
   kneeFlexionDeg,
@@ -20,7 +24,9 @@ import {
   phaseMaxLandmarkSpeed,
   propPenetrationDepth,
   segmentTiltDeg,
+  soleUpAngleDeg,
   spineCurlDeg,
+  torsoForwardPitchDeg,
   torsoPitchDeg,
 } from "./metrics.js";
 
@@ -37,11 +43,47 @@ export interface MovementChecks {
   checks: ((result: ProbeResult) => CheckOutcome)[];
 }
 
+/** Maximum positional error for a declared reach/pin/grip contact. */
+export const CONTACT_ERROR_MAX = REACH_TOLERANCE;
+
 /** Find a phase by name; throws a failing outcome path if missing. */
 function phase(result: ProbeResult, name: string): PhasePose | null {
   return result.phases.find((p) => p.name === name) ?? null;
 }
 
+/** Expanded identities of every body part explicitly supported by the floor. */
+function floorSupportEffectors(pose: PhasePose): Set<string> {
+  const supports = new Set<string>();
+  const add = (effector: string): void => {
+    const groups: Readonly<Record<string, readonly string[]>> = {
+      feet: ["foot_left", "foot_right"],
+      hands: ["hand_left", "hand_right"],
+      fists: ["fist_left", "fist_right"],
+      knees: ["knee_left", "knee_right"],
+      forearms: ["elbow_left", "elbow_right"],
+    };
+    for (const item of groups[effector] ?? [effector]) supports.add(item);
+  };
+  pose.groundLock.forEach(add);
+  pose.reaches.filter((reach) => reach.target === "floor").forEach((reach) => add(reach.effector));
+  pose.pins.filter((pin) => pin.anchor === "floor").forEach((pin) => add(pin.effector));
+  return supports;
+}
+
+function footSupportKind(
+  pose: PhasePose,
+  side: "left" | "right",
+): "ground-lock" | "pin" | null {
+  if (pose.pins.some((pin) =>
+    (pin.effector === "feet" || pin.effector === `foot_${side}`) && pin.anchor === "floor")) {
+    return "pin";
+  }
+  if (pose.groundLock.includes("feet") || pose.groundLock.includes(`foot_${side}`)) {
+    return "ground-lock";
+  }
+  return null;
+}
+
 /** Build a check on one named phase with a measured value and a predicate. */
 export function phaseCheck(
   id: string,
@@ -78,6 +120,13 @@ export function genericChecks(result: ProbeResult): CheckOutcome[] {
           .map((w) => `${w.joint} ${w.action} ${w.requested}→${w.clamped}`)
           .join("; ") || "no warnings",
     },
+    {
+      id: "has-phases",
+      pass: result.phases.length > 0,
+      detail: result.phases.length > 0
+        ? `${result.phases.length} phase(s)`
+        : "no movement phases to evaluate",
+    },
   ];
   for (const p of result.phases) {
     // The one universal contact invariant: nothing sinks through the floor.
@@ -98,22 +147,42 @@ export function genericChecks(result: ProbeResult): CheckOutcome[] {
     if (p.floorBound) {
       out.push({
         id: `grounded-not-floating:${p.name}`,
-        pass: p.meshMinY < 0.02,
-        detail: `mesh floats ${p.meshMinY.toFixed(3)}m above floor (want < 0.020)`,
+        pass: p.meshMinY > -0.02 && p.meshMinY < 0.02,
+        detail: `mesh floor offset ${p.meshMinY.toFixed(3)}m (want -0.020 to +0.020)`,
       });
     }
 
+    // A contact declaration is an executable promise, not metadata. Every
+    // reach/pin/grip must either resolve within tolerance or fail explicitly;
+    // unsupported targets/solver paths must never disappear into a green score.
+    p.contactResiduals.forEach((contact, index) => {
+      const suffix = `${p.name}:${contact.kind}:${contact.effector}:${contact.target}:${index}`;
+      if (contact.status === "unsupported" || contact.error === null) {
+        out.push({
+          id: `contact-supported:${suffix}`,
+          pass: false,
+          detail: contact.reason ?? "contact could not be evaluated",
+        });
+        return;
+      }
+      out.push({
+        id: `contact-position:${suffix}`,
+        pass: contact.error <= CONTACT_ERROR_MAX,
+        detail: `${contact.error.toFixed(3)}m residual (want ≤ ${CONTACT_ERROR_MAX.toFixed(3)}m)`,
+      });
+    });
+
     const floorHands = new Set<string>();
-    for (const r of p.reaches) {
-      if (r.target !== "floor") continue;
-      if (r.effector === "hands" || r.effector === "hand_left") floorHands.add("left");
-      if (r.effector === "hands" || r.effector === "hand_right") floorHands.add("right");
-    }
-    for (const pin of p.pins) {
-      if (pin.anchor !== "floor") continue;
-      if (pin.effector === "hands" || pin.effector === "hand_left") floorHands.add("left");
-      if (pin.effector === "hands" || pin.effector === "hand_right") floorHands.add("right");
-    }
+    const floorFists = new Set<string>();
+    const collectFloorHand = (effector: string): void => {
+      if (effector === "hands" || effector === "hand_left") floorHands.add("left");
+      if (effector === "hands" || effector === "hand_right") floorHands.add("right");
+      if (effector === "fists" || effector === "fist_left") floorFists.add("left");
+      if (effector === "fists" || effector === "fist_right") floorFists.add("right");
+    };
+    p.reaches.filter((reach) => reach.target === "floor").forEach((reach) => collectFloorHand(reach.effector));
+    p.pins.filter((pin) => pin.anchor === "floor").forEach((pin) => collectFloorHand(pin.effector));
+    p.groundLock.forEach(collectFloorHand);
     for (const side of floorHands) {
       const angle = palmFloorAngleDeg(p, side as "left" | "right");
       out.push({
@@ -122,6 +191,14 @@ export function genericChecks(result: ProbeResult): CheckOutcome[] {
         detail: `${angle.toFixed(1)}° from palm-down (want < 55°)`,
       });
     }
+    for (const side of floorFists) {
+      const angle = fistFloorAngleDeg(p, side as "left" | "right");
+      out.push({
+        id: `fist-normal:${p.name}:${side}`,
+        pass: angle < 55,
+        detail: `${angle.toFixed(1)}° from knuckles-down (want < 55°)`,
+      });
+    }
 
     const overflow = balanceOverflow(p);
     out.push({
@@ -167,14 +244,30 @@ export function genericChecks(result: ProbeResult): CheckOutcome[] {
       });
     }
     for (const side of ["left", "right"] as const) {
-      const explicitlyPinned = (phase: PhasePose) => phase.pins.some((p) =>
-        (p.effector === "feet" || p.effector === `foot_${side}`) && p.anchor === "floor");
-      if (!explicitlyPinned(previous) || !explicitlyPinned(current)) continue;
-      const skate = footSkateDistance(previous, current, side);
+      // With both feet down, a deliberate stance-width change may move each
+      // foot symmetrically while the support center stays fixed (checked
+      // above). A single carried support, however, must not jump when the
+      // author switches between ground-lock and pin semantics.
+      if (bothSupported || !footIsSupported(previous, side) || !footIsSupported(current, side)) continue;
+      const previousKind = footSupportKind(previous, side);
+      const currentKind = footSupportKind(current, side);
+      // Releasing a world pin into a ground-locked landing deliberately lets
+      // the foot travel to its new planted position during this phase (step
+      // closes, marches, and dance phrases). Endpoint displacement is motion,
+      // not a boundary snap, so it is covered by speed/contact checks instead.
+      if (previousKind === "pin" && currentKind === "ground-lock") continue;
+      // Ground-lock anchors travel/yaw with the figure, so compare in its
+      // choreography-relative frame. A floor pin is a fixed WORLD anchor;
+      // subtracting authored travel fabricates skate (forward lunge reported
+      // 30 cm while the pinned foot was actually motionless). Handoffs to or
+      // from a pin are continuity checks in world space too.
+      const skate = previousKind === "ground-lock" && currentKind === "ground-lock"
+        ? footSkateDistance(previous, current, side)
+        : footWorldSkateDistance(previous, current, side);
       out.push({
         id: `foot-skate:${current.name}:${side}`,
-        pass: skate < 0.08,
-        detail: `${skate.toFixed(3)}m pinned-foot drift (want < 0.08m)`,
+        pass: skate < 0.03,
+        detail: `${skate.toFixed(3)}m single-support drift (want < 0.03m)`,
       });
     }
     const speed = phaseMaxLandmarkSpeed(previous, current);
@@ -200,6 +293,151 @@ export function genericChecks(result: ProbeResult): CheckOutcome[] {
  * a leg-swing (the pre-hinge bug) fails these loudly.
  */
 export const MOVEMENT_CHECKS: MovementChecks[] = [
+  {
+    movement: "glute-bridge",
+    checks: [
+      phaseCheck(
+        "bridge-pelvis-raised",
+        "Bridge up",
+        (p) => heightOf(p, "pelvis"),
+        (v) => v > 0.5,
+        "pelvis > 0.50m",
+      ),
+      phaseCheck(
+        "lower-pelvis-on-floor",
+        "Lower",
+        (p) => heightOf(p, "pelvis"),
+        (v) => v < 0.16,
+        "pelvis < 0.16m",
+      ),
+      (result) => {
+        const up = phase(result, "Bridge up");
+        const down = phase(result, "Lower");
+        if (!up || !down) return { id: "bridge-has-real-height-change", pass: false, detail: "bridge phase missing" };
+        const delta = heightOf(up, "pelvis") - heightOf(down, "pelvis");
+        return {
+          id: "bridge-has-real-height-change",
+          pass: delta > 0.4,
+          detail: `${delta.toFixed(3)}m pelvis height change (want > 0.40m)`,
+        };
+      },
+    ],
+  },
+  {
+    // Three-point landing: the front sole, rear knee, and opposite fist must
+    // form distinct supports while the torso stays above the floor. Contact
+    // residuals alone once allowed a folded body with a vertical planted foot.
+    movement: "superhero-landing",
+    checks: [
+      phaseCheck(
+        "torso-forward-not-collapsed",
+        "Hold the landing",
+        torsoForwardPitchDeg,
+        (v) => v >= 65 && v <= 100,
+        "65–100° character-forward pitch",
+      ),
+      (result) => {
+        const p = phase(result, "Hold the landing");
+        if (!p) return { id: "exact-three-supports", pass: false, detail: "phase \"Hold the landing\" not found" };
+        const actual = floorSupportEffectors(p);
+        const expected = ["foot_right", "knee_left", "fist_left"];
+        const pass = actual.size === expected.length && expected.every((item) => actual.has(item));
+        return {
+          id: "exact-three-supports",
+          pass,
+          detail: `floor supports: ${[...actual].sort().join(", ") || "none"} (want ${expected.join(", ")})`,
+        };
+      },
+      (result) => {
+        const phases = [
+          phase(result, "Drop into the landing"),
+          phase(result, "Make three-point contact"),
+          phase(result, "Hold the landing"),
+        ];
+        if (phases.some((item) => !item)) {
+          return { id: "three-supports-stay-planted", pass: false, detail: "landing phase missing" };
+        }
+        let maxDrift = 0;
+        for (let i = 1; i < phases.length; i++) {
+          const a = phases[i - 1]!;
+          const b = phases[i]!;
+          for (const boneId of ["ankle_right", "knee_left", "wrist_left"]) {
+            const pa = a.bones.get(boneId)!;
+            const pb = b.bones.get(boneId)!;
+            maxDrift = Math.max(maxDrift, Math.hypot(pb[0] - pa[0], pb[2] - pa[2]));
+          }
+        }
+        return {
+          id: "three-supports-stay-planted",
+          pass: maxDrift < 0.03,
+          detail: `${maxDrift.toFixed(3)}m maximum support drift (want < 0.03m)`,
+        };
+      },
+      phaseCheck(
+        "front-sole-planted",
+        "Hold the landing",
+        (p) => soleUpAngleDeg(p, "right"),
+        (v) => v < 25,
+        "< 25° from flat",
+      ),
+      phaseCheck(
+        "rear-knee-down",
+        "Hold the landing",
+        (p) => heightOf(p, "knee_left"),
+        (v) => v < 0.12,
+        "left knee < 0.12m",
+      ),
+      phaseCheck(
+        "fist-down",
+        "Hold the landing",
+        (p) => heightOf(p, "wrist_left"),
+        (v) => v < 0.13,
+        "left fist < 0.13m",
+      ),
+      phaseCheck(
+        "head-clear-of-floor",
+        "Hold the landing",
+        (p) => heightOf(p, "head"),
+        (v) => v > 0.4,
+        "head > 0.40m",
+      ),
+      phaseCheck(
+        "front-knee-up",
+        "Hold the landing",
+        (p) => heightOf(p, "knee_right"),
+        (v) => v > 0.3,
+        "right knee > 0.30m",
+      ),
+      phaseCheck(
+        "supports-separated",
+        "Hold the landing",
+        (p) => Math.min(
+          distanceBetween(p, "ankle_right", "knee_left"),
+          distanceBetween(p, "ankle_right", "wrist_left"),
+          distanceBetween(p, "knee_left", "wrist_left"),
+        ),
+        (v) => v > 0.2,
+        "every support pair > 0.20m apart",
+      ),
+      phaseCheck(
+        "supports-front-to-back",
+        "Hold the landing",
+        (p) => Math.min(
+          forwardCoordinate(p, "ankle_right") - forwardCoordinate(p, "knee_left"),
+          forwardCoordinate(p, "wrist_left") - forwardCoordinate(p, "knee_left"),
+        ),
+        (v) => v > 0.12,
+        "front foot and fist > 0.12m ahead of rear knee",
+      ),
+      phaseCheck(
+        "free-arm-raised",
+        "Hold the landing",
+        (p) => heightOf(p, "wrist_right") - heightOf(p, "pelvis"),
+        (v) => v > 0.12,
+        "right wrist > 0.12m above pelvis",
+      ),
+    ],
+  },
   {
     // `pelvis: hinge`: torso tips forward over vertical legs (deadlift phases
     // "Lower"/"Lift"). Regressing the hinge into a leg-swing or a backward
diff --git a/packages/posecode-eval/src/cli.ts b/packages/posecode-eval/src/cli.ts
index 4526224..986364f 100644
--- a/packages/posecode-eval/src/cli.ts
+++ b/packages/posecode-eval/src/cli.ts
@@ -8,12 +8,37 @@ import { fileURLToPath } from "node:url";
 import { dirname, resolve } from "node:path";
 import { loadFixtures } from "./generator.js";
 import { renderReport, runEval } from "./report.js";
+import { loadXbotCharacter } from "./xbot.js";
 
 const here = dirname(fileURLToPath(import.meta.url));
 const examplesDir = resolve(here, "../../../spec/examples");
+const xbotAsset = new URL("../../../playground/public/models/xbot.glb", import.meta.url);
 
-const report = runEval(loadFixtures(examplesDir));
-console.log(renderReport(report));
+// Both figures ship in production: XBot is the default, while the procedural
+// mannequin is the deliberate fallback when the character asset cannot load.
+// Limb-length differences materially affect contacts, so neither result may
+// stand in for the other at the launch gate.
+const fixtures = loadFixtures(examplesDir);
+const xbot = await loadXbotCharacter(xbotAsset);
+const reports = [
+  {
+    label: "XBot visible skeleton + skinned floor (production default)",
+    report: runEval(fixtures, { proportions: xbot.proportions, character: xbot }),
+  },
+  {
+    label: "Procedural mannequin (production fallback)",
+    report: runEval(fixtures),
+  },
+] as const;
 
-const { checksPassed, checksTotal } = report.summary;
-process.exit(checksPassed === checksTotal ? 0 : 1);
+for (const { label, report } of reports) {
+  console.log(`=== ${label} ===`);
+  console.log(renderReport(report));
+  console.log("");
+}
+xbot.dispose();
+
+const passed = reports.every(({ report }) =>
+  report.summary.checksPassed === report.summary.checksTotal,
+);
+process.exitCode = passed ? 0 : 1;
diff --git a/packages/posecode-eval/src/index.ts b/packages/posecode-eval/src/index.ts
index 5307b3f..2cc99fc 100644
--- a/packages/posecode-eval/src/index.ts
+++ b/packages/posecode-eval/src/index.ts
@@ -1,7 +1,15 @@
 /** posecode-eval: public API. */
 
 export { probeMovement } from "./probe.js";
-export type { ProbeResult, PhasePose, Quat, Vec3 } from "./probe.js";
+export type {
+  ContactKind,
+  ContactResidual,
+  ContactStatus,
+  ProbeResult,
+  PhasePose,
+  Quat,
+  Vec3,
+} from "./probe.js";
 export {
   angleBetweenDeg,
   balanceOverflow,
@@ -10,8 +18,11 @@ export {
   distanceBetween,
   feetHeight,
   feetCenterSkateDistance,
+  fistFloorAngleDeg,
   footIsSupported,
   footSkateDistance,
+  footWorldSkateDistance,
+  forwardCoordinate,
   headPropClearance,
   heightOf,
   jointAngleDeg,
@@ -20,12 +31,14 @@ export {
   palmFloorAngleDeg,
   phaseMaxLandmarkSpeed,
   segmentTiltDeg,
+  soleUpAngleDeg,
   spineCurlDeg,
+  torsoForwardPitchDeg,
   torsoPitchDeg,
 } from "./metrics.js";
-export { genericChecks, phaseCheck, MOVEMENT_CHECKS } from "./checks.js";
+export { CONTACT_ERROR_MAX, genericChecks, phaseCheck, MOVEMENT_CHECKS } from "./checks.js";
 export type { CheckOutcome, MovementChecks } from "./checks.js";
 export { runEval, renderReport } from "./report.js";
-export type { EvalReport, MovementReport, MovementSource } from "./report.js";
+export type { EvalOptions, EvalReport, MovementReport, MovementSource } from "./report.js";
 export { loadFixtures } from "./generator.js";
 export type { MovementGenerator } from "./generator.js";
diff --git a/packages/posecode-eval/src/metrics.ts b/packages/posecode-eval/src/metrics.ts
index b490332..f6b1ed8 100644
--- a/packages/posecode-eval/src/metrics.ts
+++ b/packages/posecode-eval/src/metrics.ts
@@ -41,6 +41,20 @@ export function torsoPitchDeg(pose: PhasePose): number {
   return segmentTiltDeg(pose, "pelvis", "neck");
 }
 
+/**
+ * Signed torso pitch in the character's travel-relative sagittal plane.
+ * Positive values lean character-forward; backward and sideways collapses do
+ * not masquerade as a valid forward hinge merely because their unsigned tilt
+ * is large.
+ */
+export function torsoForwardPitchDeg(pose: PhasePose): number {
+  const direction = sub(bone(pose, "neck"), bone(pose, "pelvis"));
+  const c = Math.cos(-pose.rootYaw);
+  const s = Math.sin(-pose.rootYaw);
+  const localForward = direction[0] * s + direction[2] * c;
+  return Math.atan2(localForward, direction[1]) * RAD2DEG;
+}
+
 /** Interior angle at joint b formed by segments b→a and b→c (180 = straight). */
 export function jointAngleDeg(pose: PhasePose, a: string, b: string, c: string): number {
   return angleBetweenDeg(sub(bone(pose, a), bone(pose, b)), sub(bone(pose, c), bone(pose, b)));
@@ -88,8 +102,27 @@ function rotateByQuat(v: Vec3, q: Quat): Vec3 {
 export function palmFloorAngleDeg(pose: PhasePose, side: "left" | "right"): number {
   const q = pose.boneQuaternions.get(`wrist_${side}`);
   if (!q) return 180;
-  // The flattened palm's face normal is mirrored local X on the two wrists.
-  return angleBetweenDeg(rotateByQuat(side === "left" ? [1, 0, 0] : [-1, 0, 0], q), [0, -1, 0]);
+  // The procedural palm is shallow on local Z for both sides (the same
+  // geometry axis used by render's production floor-contact solver).
+  return angleBetweenDeg(rotateByQuat([0, 0, 1], q), [0, -1, 0]);
+}
+
+/** Angle between the semantic fist's knuckle direction and floor-down. */
+export function fistFloorAngleDeg(pose: PhasePose, side: "left" | "right"): number {
+  const q = pose.boneQuaternions.get(`wrist_${side}`);
+  if (!q) return 180;
+  // Same wrist→knuckle axis used by render's production fist contact solver.
+  return angleBetweenDeg(rotateByQuat([0, -1, 0], q), [0, -1, 0]);
+}
+
+/** Landmark position along character-forward after undoing authored root yaw. */
+export function forwardCoordinate(pose: PhasePose, id: string): number {
+  const p = bone(pose, id);
+  const x = p[0] - pose.rootOffset[0];
+  const z = p[2] - pose.rootOffset[2];
+  const c = Math.cos(-pose.rootYaw);
+  const s = Math.sin(-pose.rootYaw);
+  return x * s + z * c;
 }
 
 /** Angle between the sole's local up axis and world up (0 = foot flat). */
@@ -103,8 +136,7 @@ export function soleUpAngleDeg(pose: PhasePose, side: "left" | "right"): number
 export function palmBarAngleDeg(pose: PhasePose, side: "left" | "right"): number {
   const q = pose.boneQuaternions.get(`wrist_${side}`);
   if (!q) return 180;
-  const localNormal: Vec3 = side === "left" ? [1, 0, 0] : [-1, 0, 0];
-  return angleBetweenDeg(rotateByQuat(localNormal, q), [0, 0, 1]);
+  return angleBetweenDeg(rotateByQuat([0, 0, 1], q), [0, 0, 1]);
 }
 
 /** Distance from a wrist to its side-specific pull-up-bar grip anchor. */
@@ -137,19 +169,37 @@ function supportBoneIds(pose: PhasePose): string[] {
   const ids = new Set<string>();
   const addGroup = (name: string) => {
     if (name === "feet") { ids.add("ankle_left"); ids.add("ankle_right"); }
+    if (name === "foot_left") ids.add("ankle_left");
+    if (name === "foot_right") ids.add("ankle_right");
     if (name === "hands") { ids.add("wrist_left"); ids.add("wrist_right"); }
+    if (name === "hand_left") ids.add("wrist_left");
+    if (name === "hand_right") ids.add("wrist_right");
+    if (name === "fists") { ids.add("wrist_left"); ids.add("wrist_right"); }
+    if (name === "fist_left") ids.add("wrist_left");
+    if (name === "fist_right") ids.add("wrist_right");
     if (name === "forearms") { ids.add("elbow_left"); ids.add("elbow_right"); }
+    if (name === "elbow_left") ids.add("elbow_left");
+    if (name === "elbow_right") ids.add("elbow_right");
+    if (name === "knees") { ids.add("knee_left"); ids.add("knee_right"); }
+    if (name === "knee_left") ids.add("knee_left");
+    if (name === "knee_right") ids.add("knee_right");
   };
   pose.groundLock.forEach(addGroup);
   for (const reach of pose.reaches) {
     if (reach.target !== "floor") continue;
     addGroup(reach.effector);
-    const mapped = reach.effector.replace("hand_", "wrist_").replace("foot_", "ankle_");
+    const mapped = reach.effector
+      .replace("hand_", "wrist_")
+      .replace("fist_", "wrist_")
+      .replace("foot_", "ankle_");
     if (pose.bones.has(mapped)) ids.add(mapped);
   }
   for (const pin of pose.pins) {
     addGroup(pin.effector);
-    const mapped = pin.effector.replace("hand_", "wrist_").replace("foot_", "ankle_");
+    const mapped = pin.effector
+      .replace("hand_", "wrist_")
+      .replace("fist_", "wrist_")
+      .replace("foot_", "ankle_");
     if (pose.bones.has(mapped)) ids.add(mapped);
   }
   // Floor poses also distribute load through the torso/pelvis even when the
@@ -164,9 +214,16 @@ function supportBoneIds(pose: PhasePose): string[] {
 /** Horizontal COM distance outside the active support bounding box (0 = inside). */
 export function balanceOverflow(pose: PhasePose): number {
   const supports = supportBoneIds(pose).map((id) => bone(pose, id));
-  if (supports.length < 2) return 0;
+  // No authored support information remains unscored for backward
+  // compatibility. A single support, however, is a real balance constraint:
+  // measure outside a foot/hand-sized disc instead of auto-passing it.
+  if (supports.length === 0) return 0;
   const com = centerOfMass(pose);
   const margin = 0.14;
+  if (supports.length === 1) {
+    const support = supports[0]!;
+    return Math.max(0, Math.hypot(com[0] - support[0], com[2] - support[2]) - margin);
+  }
   const minX = Math.min(...supports.map((p) => p[0])) - margin;
   const maxX = Math.max(...supports.map((p) => p[0])) + margin;
   const minZ = Math.min(...supports.map((p) => p[2])) - margin;
@@ -232,7 +289,6 @@ const PART_RADII = { torso: 0.13, head: 0.105, thigh: 0.075, shin: 0.055, arm: 0
 
 /**
  * Worst body penetration into a solid prop face (metres, ≤0 when clear), or
- * -Infinity when the document declares no solid-faced prop. Limbs pinned or
  * reached to a non-floor anchor are that phase's declared prop support and
  * don't count (a foot standing ON the box is not "in" the box).
  */
@@ -305,6 +361,17 @@ export function footSkateDistance(previous: PhasePose, pose: PhasePose, side: "l
   return Math.hypot(b[0] - a[0], b[1] - a[1]);
 }
 
+/** World-space X/Z drift for a support whose anchor is fixed in the scene. */
+export function footWorldSkateDistance(
+  previous: PhasePose,
+  pose: PhasePose,
+  side: "left" | "right",
+): number {
+  const a = bone(previous, `ankle_${side}`);
+  const b = bone(pose, `ankle_${side}`);
+  return Math.hypot(b[0] - a[0], b[2] - a[2]);
+}
+
 /** Drift of the planted foot-pair center, ignoring intentional stance-width changes. */
 export function feetCenterSkateDistance(previous: PhasePose, pose: PhasePose): number {
   const delta = (side: "left" | "right") => {
diff --git a/packages/posecode-eval/src/probe.ts b/packages/posecode-eval/src/probe.ts
index a98e33f..1eb2a4a 100644
--- a/packages/posecode-eval/src/probe.ts
+++ b/packages/posecode-eval/src/probe.ts
@@ -1,35 +1,80 @@
 /**
  * Headless kinematic probe.
  *
- * Runs a `.posecode` source through the REAL production pipeline (parser →
- * timeline → mannequin FK → root choreography (yaw/travel) → ground-lock →
- * floor clamp) without a WebGL context (three.js scene-graph math is pure),
- * and returns world-space bone positions at the end of every phase. This is
- * the ground truth the invariant checks score against.
+ * Runs a `.posecode` source through the production authored-motion pipeline
+ * (parser → timeline → mannequin FK → root choreography → contacts → floor
+ * clamp) without a WebGL context and returns world-space phase endpoints.
+ * Presentation-only breathing/blinking, free-arm ambience, camera behavior,
+ * and optional mocap overlays are deliberately outside this deterministic
+ * authoring gate; browser tests cover the shipped visible character.
  *
- * Floor, body-landmark, and built-in prop pins are deterministic, so the probe
- * resolves those exactly like the viewer. Reach-IK remains the one intentional
- * gap; phase orientations still receive semantic palm-contact alignment.
+ * Contact solving reuses the production CCD/ground/contact primitives and
+ * mirrors the viewer's reach, pin, and grip ordering. Every declared contact
+ * is returned with an explicit residual (or an explicit unsupported status),
+ * so a solver gap can never be mistaken for a successful movement.
  */
 
 import * as THREE from "three";
-import { parse, type TimingMode, type ParseError, type PinTarget, type ReachTarget, type Warning } from "posecode-parser";
+import {
+  parse,
+  type GripTarget,
+  type TimingMode,
+  type ParseError,
+  type PinTarget,
+  type ReachTarget,
+  type Warning,
+} from "posecode-parser";
 import {
   applyGroundLock,
-  alignFloorPalms,
+  alignFloorContacts,
+  alignGripFrames,
   buildMannequin,
   buildProps,
   buildTimeline,
   depenetrate,
+  effectorBoneId,
+  enforceContactRom,
+  floorContactHeight,
+  floorTargetForEffector,
+  formFists,
   groundFigure,
+  isDipBarGrip,
   levelPlantedFeet,
+  prepareGripFrames,
   propContactExemptions,
+  reachChain,
   resolvePropContacts,
+  solveCCD,
+  solveReachToPoint,
+  wrapGrip,
+  type Character,
+  type Proportions,
 } from "posecode-render";
 
 export type Vec3 = readonly [x: number, y: number, z: number];
 export type Quat = readonly [x: number, y: number, z: number, w: number];
 
+export type ContactKind = "reach" | "pin" | "grip" | "ground-lock";
+export type ContactStatus = "resolved" | "unsupported";
+
+/** A declared contact measured against the final, fully solved phase pose. */
+export interface ContactResidual {
+  kind: ContactKind;
+  effector: string;
+  target: string;
+  effectorBone: string;
+  /** Contact activation weight (terminal declarations are 1; blended-out reaches approach 0). */
+  weight: number;
+  status: ContactStatus;
+  /** Final world-space effector/target positions, when they can be resolved. */
+  effectorPosition: Vec3 | null;
+  targetPosition: Vec3 | null;
+  /** Euclidean positional error in metres; null means the evaluator cannot solve it. */
+  error: number | null;
+  /** Explicit reason for an unsupported path. Never silently treated as a pass. */
+  reason?: string;
+}
+
 export interface PhasePose {
   /** Phase name from the document. */
   name: string;
@@ -39,6 +84,9 @@ export interface PhasePose {
   groundLock: readonly string[];
   pins: readonly PinTarget[];
   reaches: readonly ReachTarget[];
+  grips: readonly GripTarget[];
+  /** Positional truth for every declared reach/pin/grip in this phase. */
+  contactResiduals: readonly ContactResidual[];
   rootOffset: Vec3;
   rootYaw: number;
   /**
@@ -49,8 +97,6 @@ export interface PhasePose {
    * do for authored travel.
    */
   propPush: Vec3;
-  /** True when the phase relies on pins/reach-IK the probe cannot solve. */
-  usesSceneIk: boolean;
   /** Whether the phase should rest on the floor (no elevated prop/grip support). */
   floorBound: boolean;
   /**
@@ -71,22 +117,62 @@ export interface ProbeResult {
   warnings: readonly Warning[];
   phases: readonly PhasePose[];
   propTypes: readonly string[];
+  /** Flattened contact residuals for scorecards/consumers that do not walk phases. */
+  contactResiduals: readonly ContactResidual[];
 }
 
 const DEG = Math.PI / 180;
 const EPS = 1e-4;
 const WORLD_Y = new THREE.Vector3(0, 1, 0);
 
+type TargetReference =
+  | { kind: "fixed"; point: THREE.Vector3 }
+  | { kind: "floor"; point: THREE.Vector3 }
+  | { kind: "landmark"; boneId: string };
+
+interface PendingContact {
+  kind: ContactKind;
+  effector: string;
+  target: string;
+  effectorBone: string;
+  weight: number;
+  targetRef: TargetReference | null;
+  reason?: string;
+}
+
+function fistSidesOf(
+  reaches: readonly ReachTarget[],
+  pins: readonly PinTarget[],
+  groundLock: readonly string[],
+): Set<"left" | "right"> {
+  const sides = new Set<"left" | "right">();
+  const add = (effector: string): void => {
+    if (effector === "fists" || effector === "fist_left") sides.add("left");
+    if (effector === "fists" || effector === "fist_right") sides.add("right");
+  };
+  for (const reach of reaches) add(reach.effector);
+  for (const pin of pins) add(pin.effector);
+  for (const effector of groundLock) add(effector);
+  return sides;
+}
+
 /** Probe a movement: FK + root solving at each phase end, viewer-faithful. */
-export function probeMovement(source: string): ProbeResult {
+export function probeMovement(
+  source: string,
+  proportions?: Proportions,
+  character?: Character,
+): ProbeResult {
   const { ir, errors, warnings } = parse(source);
   if (!ir || errors.length > 0) {
-    return { ok: false, errors, warnings, phases: [], propTypes: [] };
+    return { ok: false, errors, warnings, phases: [], propTypes: [], contactResiduals: [] };
   }
 
-  const m = buildMannequin();
+  const m = buildMannequin(undefined, proportions);
   const tl = buildTimeline(ir);
   const propScene = buildProps(ir.props);
+  const authoredFingers = new Set(tl.bonesUsed.filter((id) =>
+    /^(thumb|index|middle|ring|pinky)_(left|right)$/.test(id),
+  ));
 
   // Mirror Viewer.load(): reset bones, apply the base-pose root, pose at t=0,
   // then drop the figure onto the floor and remember the grounded base root.
@@ -97,6 +183,21 @@ export function probeMovement(source: string): ProbeResult {
   m.root.rotation.set(rx * DEG, ry * DEG, rz * DEG);
   tl.sample(0, m.bones);
   m.root.updateMatrixWorld(true);
+  formFists(
+    m,
+    fistSidesOf(
+      ir.phases[0]?.reaches ?? [],
+      ir.phases[0]?.pins ?? [],
+      ir.phases[0]?.groundLock ?? [],
+    ),
+    authoredFingers,
+  );
+  alignFloorContacts(
+    m,
+    ir.phases[0]?.reaches ?? [],
+    ir.phases[0]?.pins ?? [],
+    ir.phases[0]?.groundLock ?? [],
+  );
   depenetrate(m);
   groundFigure(m);
   resolvePropContacts(m, propScene.colliders, propContactExemptions([
@@ -121,13 +222,7 @@ export function probeMovement(source: string): ProbeResult {
   const segmentStartEffectors: Map<string, THREE.Vector3>[] = [];
   const tempYawQ = new THREE.Quaternion();
   
-  const getEffectorId = (eff: string) => {
-    if (eff === "hand_left") return "wrist_left";
-    if (eff === "hand_right") return "wrist_right";
-    if (eff === "foot_left") return "ankle_left";
-    if (eff === "foot_right") return "ankle_right";
-    return eff;
-  };
+  const getEffectorId = (eff: string) => effectorBoneId(eff);
 
   let prevEffectorsMap: Map<string, THREE.Vector3> | null = null;
   let prevPins: typeof ir.phases[number]["pins"] = [];
@@ -178,12 +273,298 @@ export function probeMovement(source: string): ProbeResult {
   depenetrate(m);
   groundFigure(m);
 
+  const resolveTarget = (
+    target: string,
+    effectorName: string,
+  ): { point: THREE.Vector3; ref: TargetReference } | null => {
+    if (target === "floor") {
+      const point = floorTargetForEffector(m, effectorName);
+      if (!point) return null;
+      return { point, ref: { kind: "floor", point: point.clone() } };
+    }
+    const prop = propScene.anchors.get(target);
+    if (prop) {
+      const point = prop.clone();
+      return { point, ref: { kind: "fixed", point: point.clone() } };
+    }
+    const landmark = m.bones.get(target);
+    if (landmark) {
+      return {
+        point: landmark.getWorldPosition(new THREE.Vector3()),
+        ref: { kind: "landmark", boneId: target },
+      };
+    }
+    return null;
+  };
+
+  const unsupported = (
+    kind: ContactKind,
+    effector: string,
+    target: string,
+    effectorBone: string,
+    reason: string,
+    weight = 1,
+  ): PendingContact => ({ kind, effector, target, effectorBone, weight, targetRef: null, reason });
+
+  const applyPins = (pins: readonly PinTarget[], phaseIndex: number): PendingContact[] => {
+    const dipBarPins = pins.filter((pin) => isDipBarGrip(pin.anchor));
+    prepareGripFrames(m, dipBarPins);
+    const contacts: PendingContact[] = [];
+    const solvable: Array<{ contact: PendingContact; effector: THREE.Object3D; point: THREE.Vector3 }> = [];
+    for (const pin of pins) {
+      const effectorBone = getEffectorId(pin.effector);
+      const effector = m.bones.get(effectorBone);
+      if (!effector) {
+        contacts.push(unsupported("pin", pin.effector, pin.anchor, effectorBone, `unknown effector bone "${effectorBone}"`));
+        continue;
+      }
+      let resolved: { point: THREE.Vector3; ref: TargetReference } | null = null;
+      if (pin.anchor === "floor") {
+        const start = segmentStartEffectors[phaseIndex]?.get(effectorBone);
+        if (start) {
+          const point = start.clone();
+          point.y = floorTargetForEffector(m, pin.effector)?.y ?? 0;
+          resolved = { point, ref: { kind: "floor", point: point.clone() } };
+        }
+      }
+      resolved ??= resolveTarget(pin.anchor, pin.effector);
+      if (!resolved) {
+        contacts.push(unsupported("pin", pin.effector, pin.anchor, effectorBone, `unknown anchor "${pin.anchor}"`));
+        continue;
+      }
+      const contact: PendingContact = {
+        kind: "pin",
+        effector: pin.effector,
+        target: pin.anchor,
+        effectorBone,
+        weight: 1,
+        targetRef: resolved.ref,
+      };
+      contacts.push(contact);
+      solvable.push({ contact, effector, point: resolved.point });
+    }
+    if (solvable.length > 0) {
+      const delta = new THREE.Vector3();
+      for (const item of solvable) {
+        delta.add(item.point.clone().sub(item.effector.getWorldPosition(new THREE.Vector3())));
+      }
+      m.root.position.add(delta.multiplyScalar(1 / solvable.length));
+      m.root.updateMatrixWorld(true);
+    }
+    alignGripFrames(m, dipBarPins);
+    return contacts;
+  };
+
+  const applyGrips = (grips: readonly GripTarget[]): PendingContact[] => {
+    prepareGripFrames(m, grips);
+    const contacts: PendingContact[] = [];
+    const solvable: Array<{
+      contact: PendingContact;
+      effector: THREE.Object3D;
+      point: THREE.Vector3;
+    }> = [];
+    for (const grip of grips) {
+      const effectorBone = getEffectorId(grip.effector);
+      const effector = m.bones.get(effectorBone);
+      if (!effector) {
+        contacts.push(unsupported("grip", grip.effector, grip.anchor, effectorBone, `unknown effector bone "${effectorBone}"`));
+        continue;
+      }
+      const resolved = resolveTarget(grip.anchor, grip.effector)
+        ?? resolveTarget(grip.anchor.replace(/_(left|right)$/, ""), grip.effector);
+      if (!resolved) {
+        contacts.push(unsupported("grip", grip.effector, grip.anchor, effectorBone, `unknown anchor "${grip.anchor}"`));
+        continue;
+      }
+      const contact: PendingContact = {
+        kind: "grip",
+        effector: grip.effector,
+        target: grip.anchor,
+        effectorBone,
+        weight: 1,
+        targetRef: resolved.ref,
+      };
+      contacts.push(contact);
+      solvable.push({ contact, effector, point: resolved.point });
+    }
+    if (solvable.length > 0) {
+      const delta = new THREE.Vector3();
+      for (const item of solvable) {
+        delta.add(item.point.clone().sub(item.effector.getWorldPosition(new THREE.Vector3())));
+      }
+      m.root.position.add(delta.multiplyScalar(1 / solvable.length));
+      m.root.updateMatrixWorld(true);
+    }
+    for (const item of solvable) {
+      const { joints, limits } = reachChain(m, item.contact.effector);
+      if (joints.length === 0) {
+        item.contact.reason = "production IK unsupported: unsupported effector";
+        item.contact.targetRef = null;
+        continue;
+      }
+      if (isDipBarGrip(item.contact.target)) {
+        // Viewer parity: keep the elbow's axial solution fixed so a dip-bar
+        // palm cannot flip between or away from the parallel rails.
+        for (let i = 0; i < joints.length; i++) {
+          if (!joints[i]!.name.startsWith("elbow_")) continue;
+          const limit = limits[i];
+          if (limit) limits[i] = { ...limit, y: [0, 0] };
+        }
+      }
+      solveCCD({ joints, limits, effector: item.effector, target: item.point }, 12);
+    }
+    alignGripFrames(m, grips);
+    wrapGrip(m, grips);
+    m.root.updateMatrixWorld(true);
+    return contacts;
+  };
+
+  const applyReaches = (
+    reaches: readonly (ReachTarget & { weight: number })[],
+  ): PendingContact[] => {
+    const contacts: PendingContact[] = [];
+    for (const reach of reaches) {
+      const effectorBone = getEffectorId(reach.effector);
+      const effector = m.bones.get(effectorBone);
+      if (!effector) {
+        contacts.push(unsupported("reach", reach.effector, reach.target, effectorBone, `unknown effector bone "${effectorBone}"`, reach.weight));
+        continue;
+      }
+      const resolved = resolveTarget(reach.target, reach.effector);
+      if (!resolved) {
+        contacts.push(unsupported("reach", reach.effector, reach.target, effectorBone, `unknown target "${reach.target}"`, reach.weight));
+        continue;
+      }
+      const solved = solveReachToPoint(
+        m,
+        reach.effector,
+        reach.target,
+        resolved.point,
+        reach.weight,
+      );
+      if (solved.distance === null) {
+        contacts.push(unsupported(
+          "reach",
+          reach.effector,
+          reach.target,
+          effectorBone,
+          `production IK unsupported: ${solved.reason ?? "unknown reason"}`,
+          reach.weight,
+        ));
+        continue;
+      }
+      contacts.push({
+        kind: "reach",
+        effector: reach.effector,
+        target: reach.target,
+        effectorBone,
+        weight: reach.weight,
+        targetRef: resolved.ref,
+      });
+    }
+    return contacts;
+  };
+
+  const finalizeContacts = (pending: readonly PendingContact[]): ContactResidual[] =>
+    pending.map((contact) => {
+      // Contact targets are defined against the calibrated production driver
+      // surfaces (sole/glute/knuckle offsets differ from raw skinned joint
+      // origins). The visible character is sampled separately below for actual
+      // skeleton geometry and exact skinned-mesh floor bounds.
+      const effectorPoint = m.bones.get(contact.effectorBone)
+        ?.getWorldPosition(new THREE.Vector3()) ?? null;
+      let targetPoint: THREE.Vector3 | null = null;
+      if (contact.targetRef?.kind === "fixed") {
+        targetPoint = contact.targetRef.point.clone();
+      } else if (contact.targetRef?.kind === "landmark") {
+        targetPoint = m.bones.get(contact.targetRef.boneId)
+          ?.getWorldPosition(new THREE.Vector3()) ?? null;
+      } else if (contact.targetRef?.kind === "floor" && effectorPoint) {
+        const height = floorContactHeight(m, contact.effector);
+        if (height !== null) {
+          targetPoint = contact.targetRef.point.clone().setY(effectorPoint.y - height);
+        }
+      }
+      const status: ContactStatus = contact.reason || !effectorPoint || !targetPoint
+        ? "unsupported"
+        : "resolved";
+      return {
+        kind: contact.kind,
+        effector: contact.effector,
+        target: contact.target,
+        effectorBone: contact.effectorBone,
+        weight: contact.weight,
+        status,
+        effectorPosition: effectorPoint ? vectorTuple(effectorPoint) : null,
+        targetPosition: targetPoint ? vectorTuple(targetPoint) : null,
+        error: status === "resolved" ? effectorPoint!.distanceTo(targetPoint!) : null,
+        ...(contact.reason ? { reason: contact.reason } : {}),
+      };
+    });
+
+  const measureGroundLocks = (active: readonly string[]): ContactResidual[] => {
+    const bones = new Set<string>();
+    for (const name of active) {
+      const expanded = m.effectors[name];
+      if (expanded) expanded.forEach((id) => bones.add(id));
+      else bones.add(effectorBoneId(name));
+    }
+    return [...bones].map((boneId) => {
+      const effector = m.bones.get(boneId);
+      const point = effector?.getWorldPosition(new THREE.Vector3()) ?? null;
+      const height = floorContactHeight(m, boneId);
+      const target = point && height !== null
+        ? point.clone().setY(point.y - height)
+        : null;
+      const side = boneId.endsWith("_left") ? "left" : "right";
+      const semantic = boneId.startsWith("ankle_")
+        ? `foot_${side}`
+        : boneId.startsWith("wrist_")
+          ? `hand_${side}`
+          : boneId.startsWith("elbow_")
+            ? `elbow_${side}`
+            : boneId;
+      const status: ContactStatus = point && target && height !== null ? "resolved" : "unsupported";
+      return {
+        kind: "ground-lock" as const,
+        effector: semantic,
+        target: "floor",
+        effectorBone: boneId,
+        weight: 1,
+        status,
+        effectorPosition: point ? vectorTuple(point) : null,
+        targetPosition: target ? vectorTuple(target) : null,
+        error: status === "resolved" ? Math.abs(height!) : null,
+        ...(status === "unsupported" ? { reason: "ground-lock surface could not be evaluated" } : {}),
+      };
+    });
+  };
+
   // Sample the end of each phase, applying the viewer's per-frame root
   // pipeline: base root → yaw/travel → ground-lock → floor safety clamp.
   const yawQ = new THREE.Quaternion();
+  let previousSolvedEffectors: Map<string, THREE.Vector3> | null = null;
+  const activeFloorPinTargets = new Map<string, THREE.Vector3>();
   const phases: PhasePose[] = tl.segments.map((seg, phaseIndex) => {
     const authored = ir.phases[phaseIndex]!;
     const info = tl.sample(seg.end - EPS, m.bones);
+    const currentFloorPins = new Set(
+      info.pins
+        .filter((pin) => pin.anchor === "floor")
+        .map((pin) => effectorBoneId(pin.effector)),
+    );
+    for (const boneId of [...activeFloorPinTargets.keys()]) {
+      if (!currentFloorPins.has(boneId)) activeFloorPinTargets.delete(boneId);
+    }
+    for (const boneId of currentFloorPins) {
+      let target = activeFloorPinTargets.get(boneId);
+      if (!target) {
+        target = previousSolvedEffectors?.get(boneId)?.clone()
+          ?? segmentStartEffectors[phaseIndex]?.get(boneId)?.clone();
+        if (target) activeFloorPinTargets.set(boneId, target);
+      }
+      if (target) segmentStartEffectors[phaseIndex]?.set(boneId, target.clone());
+    }
     m.root.position.copy(baseRootPos);
     m.root.quaternion.copy(baseRootQuat);
     if (info.rootYaw !== 0) {
@@ -193,6 +574,12 @@ export function probeMovement(source: string): ProbeResult {
     m.root.position.x += info.rootOffset.x;
     m.root.position.z += info.rootOffset.z;
     m.root.updateMatrixWorld(true);
+    formFists(
+      m,
+      fistSidesOf(info.reaches, info.pins, info.groundLock),
+      authoredFingers,
+    );
+    alignFloorContacts(m, info.reaches, info.pins, info.groundLock);
     // Self-collision resolution, then contact solving (same order as the viewer).
     depenetrate(m);
     // Mirror the viewer's per-frame anchors: captured targets carried along
@@ -208,48 +595,13 @@ export function probeMovement(source: string): ProbeResult {
       anchors.set(id, v);
     }
     applyGroundLock(m, info.groundLock, anchors);
-    // Resolve scene-independent pins. Unknown names here are prop anchors and
-    // intentionally remain for browser-level coverage.
-    if (info.pins.length > 0) {
-      const delta = new THREE.Vector3();
-      let pinCount = 0;
-      for (const pin of info.pins) {
-        const effectorId = pin.effector === "hand_left"
-          ? "wrist_left"
-          : pin.effector === "hand_right"
-            ? "wrist_right"
-            : pin.effector === "foot_left"
-              ? "ankle_left"
-              : pin.effector === "foot_right"
-                ? "ankle_right"
-                : pin.effector;
-        const effector = m.bones.get(effectorId);
-        if (!effector) continue;
-        let target: THREE.Vector3 | null = null;
-        if (pin.anchor === "floor") {
-          const startPos = segmentStartEffectors[phaseIndex]?.get(effectorId);
-          if (startPos) {
-            target = startPos.clone();
-            target.y = 0;
-          } else {
-            target = effector.getWorldPosition(new THREE.Vector3());
-            target.y = 0;
-          }
-        } else if (propScene.anchors.has(pin.anchor)) {
-          target = propScene.anchors.get(pin.anchor)!.clone();
-        } else {
-          const landmark = m.bones.get(pin.anchor);
-          if (landmark) target = landmark.getWorldPosition(new THREE.Vector3());
-        }
-        if (!target) continue;
-        delta.add(target.sub(effector.getWorldPosition(new THREE.Vector3())));
-        pinCount++;
-      }
-      if (pinCount > 0) {
-        m.root.position.add(delta.multiplyScalar(1 / pinCount));
-        m.root.updateMatrixWorld(true);
-      }
-    }
+    // Same production ordering as Viewer.frame(): whole-body pins, bar grips,
+    // solid-prop correction, then ROM-constrained per-limb reach IK.
+    const pendingContacts: PendingContact[] = [
+      ...applyPins(info.pins, phaseIndex),
+      ...applyGrips(info.grips),
+    ];
+    let reachContacts: PendingContact[] = [];
     // Props are solid (viewer parity): after the root solvers place the body,
     // push it back out of any prop face it crossed and bend swing legs clear.
     // Limbs pinned/gripped to a prop anchor are declared support, exempt.
@@ -260,10 +612,23 @@ export function probeMovement(source: string): ProbeResult {
       ...info.reaches.map((r) => ({ effector: r.effector, anchor: r.target })),
     ]));
     const propPush: Vec3 = [m.root.position.x - prePush.x, 0, m.root.position.z - prePush.z];
-    alignFloorPalms(m, info.reaches, info.pins, info.groundLock);
+    reachContacts = applyReaches(info.reaches);
+    alignFloorContacts(m, info.reaches, info.pins, info.groundLock);
     // Plantigrade correction (viewer parity): flatten planted soles. This lifts
     // the foot mesh a little, so it must run BEFORE the floor clamp reconciles.
     levelPlantedFeet(m, info.groundLock);
+    enforceContactRom(m);
+    // Production bounded multi-contact refinement: a limb reach runs after
+    // ground-lock and can alter which mesh point is lowest. Replant the root
+    // support, then solve the independent limbs once more before floor safety.
+    if (info.groundLock.length > 0 && info.reaches.length > 0) {
+      for (let refinement = 0; refinement < 3; refinement++) {
+        applyGroundLock(m, info.groundLock, anchors);
+        reachContacts = applyReaches(info.reaches);
+        alignFloorContacts(m, info.reaches, info.pins, info.groundLock);
+        enforceContactRom(m);
+      }
+    }
     // Viewer safety net: a ground-locked phase is planted, so clamp both ways
     // (its lowest point sits exactly on the floor); an unlocked phase may be
     // airborne, so only rescue parts that dip below y=0. Mirror index.ts.
@@ -274,26 +639,67 @@ export function probeMovement(source: string): ProbeResult {
       m.root.position.y -= box.min.y;
       m.root.updateMatrixWorld(true);
     }
-    const finalBox = new THREE.Box3().setFromObject(m.root);
+    // Production visible-rig path: retarget the solved driver, then reconcile
+    // the exact skinned surface with the floor exactly as Viewer.frame does.
+    if (character) {
+      character.sync(m);
+      if (floorBound) character.reconcileFloor();
+    }
+    const finalBox = character
+      ? character.getBounds()
+      : new THREE.Box3().setFromObject(m.root);
+    // At an endpoint, timeline blending retains the previous phase's reach at
+    // a vanishing weight. It is executed for viewer continuity but is not a
+    // contact declaration of this phase and must not create a false failure.
+    const contactResiduals = [
+      ...finalizeContacts(
+        [...pendingContacts, ...reachContacts]
+          .filter((contact) => contact.kind !== "reach" || contact.weight >= 0.99),
+      ),
+      ...measureGroundLocks(info.groundLock),
+    ];
+    previousSolvedEffectors = new Map();
+    for (const ids of Object.values(m.effectors)) {
+      for (const id of ids) {
+        const node = m.bones.get(id);
+        if (node) previousSolvedEffectors.set(id, node.getWorldPosition(new THREE.Vector3()));
+      }
+    }
     return {
       name: seg.name,
       durationSec: authored.durationSec,
       easing: authored.easing,
       groundLock: [...info.groundLock],
-      pins: [...info.pins],
-      reaches: [...info.reaches],
+      pins: [...authored.pins],
+      reaches: [...authored.reaches],
+      grips: [...authored.grips],
+      contactResiduals,
       rootOffset: [info.rootOffset.x, 0, info.rootOffset.z],
       rootYaw: info.rootYaw,
       propPush,
-      usesSceneIk: info.pins.length > 0 || info.reaches.length > 0 || info.grips.length > 0,
       floorBound,
       meshMinY: Number.isFinite(finalBox.min.y) ? finalBox.min.y : 0,
-      bones: snapshotBones(m.bones),
-      boneQuaternions: snapshotBoneQuaternions(m.bones),
+      bones: character
+        ? snapshotCharacterBones(m.bones.keys(), character)
+        : snapshotBones(m.bones),
+      boneQuaternions: character
+        ? snapshotCharacterQuaternions(m.bones.keys(), character)
+        : snapshotBoneQuaternions(m.bones),
     };
   });
 
-  return { ok: true, errors, warnings, phases, propTypes: [...ir.props] };
+  return {
+    ok: true,
+    errors,
+    warnings,
+    phases,
+    propTypes: [...ir.props],
+    contactResiduals: phases.flatMap((phase) => [...phase.contactResiduals]),
+  };
+}
+
+function vectorTuple(v: THREE.Vector3): Vec3 {
+  return [v.x, v.y, v.z];
 }
 
 function snapshotBoneQuaternions(bones: Map<string, THREE.Object3D>): Map<string, Quat> {
@@ -315,3 +721,21 @@ function snapshotBones(bones: Map<string, THREE.Object3D>): Map<string, Vec3> {
   }
   return out;
 }
+
+function snapshotCharacterBones(ids: Iterable<string>, character: Character): Map<string, Vec3> {
+  const out = new Map<string, Vec3>();
+  for (const id of ids) {
+    const v = character.getJointWorldPosition(id);
+    if (v) out.set(id, vectorTuple(v));
+  }
+  return out;
+}
+
+function snapshotCharacterQuaternions(ids: Iterable<string>, character: Character): Map<string, Quat> {
+  const out = new Map<string, Quat>();
+  for (const id of ids) {
+    const q = character.getJointDriverQuaternion(id);
+    if (q) out.set(id, [q.x, q.y, q.z, q.w]);
+  }
+  return out;
+}
diff --git a/packages/posecode-eval/src/report.ts b/packages/posecode-eval/src/report.ts
index f15f20e..95647d9 100644
--- a/packages/posecode-eval/src/report.ts
+++ b/packages/posecode-eval/src/report.ts
@@ -5,6 +5,7 @@
 
 import { probeMovement } from "./probe.js";
 import { genericChecks, MOVEMENT_CHECKS, type CheckOutcome } from "./checks.js";
+import type { Character, Proportions } from "posecode-render";
 
 export interface MovementSource {
   /** Identifier matched against MOVEMENT_CHECKS (e.g. file stem "deadlift"). */
@@ -32,8 +33,18 @@ export interface EvalReport {
   };
 }
 
-export function runEval(sources: readonly MovementSource[]): EvalReport {
-  const movements = sources.map((s) => evalMovement(s));
+export interface EvalOptions {
+  /** Driver proportions used by the production character being evaluated. */
+  proportions?: Proportions;
+  /** Optional retargeted visible character sampled after each solved phase. */
+  character?: Character;
+}
+
+export function runEval(
+  sources: readonly MovementSource[],
+  options: EvalOptions = {},
+): EvalReport {
+  const movements = sources.map((s) => evalMovement(s, options));
   return {
     movements,
     summary: {
@@ -46,8 +57,11 @@ export function runEval(sources: readonly MovementSource[]): EvalReport {
   };
 }
 
-function evalMovement({ movement, source }: MovementSource): MovementReport {
-  const result = probeMovement(source);
+function evalMovement(
+  { movement, source }: MovementSource,
+  options: EvalOptions,
+): MovementReport {
+  const result = probeMovement(source, options.proportions, options.character);
   const specific = MOVEMENT_CHECKS.find((m) => m.movement === movement);
   const checks = [
     ...genericChecks(result),
diff --git a/packages/posecode-eval/src/xbot.ts b/packages/posecode-eval/src/xbot.ts
new file mode 100644
index 0000000..cecd90e
--- /dev/null
+++ b/packages/posecode-eval/src/xbot.ts
@@ -0,0 +1,21 @@
+/** Node-only loader for the same XBot proportions used by the web playground. */
+import { readFileSync } from "node:fs";
+import * as THREE from "three";
+import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js";
+import { rigCharacter, type Character, type Proportions } from "posecode-render";
+
+export async function loadXbotCharacter(asset: URL): Promise<Character> {
+  const bytes = readFileSync(asset);
+  const buffer = bytes.buffer.slice(bytes.byteOffset, bytes.byteOffset + bytes.byteLength);
+  const scene = await new Promise<THREE.Object3D>((resolve, reject) => {
+    new GLTFLoader().parse(buffer, "", (gltf) => resolve(gltf.scene), reject);
+  });
+  return rigCharacter(scene);
+}
+
+export async function loadXbotProportions(asset: URL): Promise<Proportions> {
+  const character = await loadXbotCharacter(asset);
+  const proportions = character.proportions;
+  character.dispose();
+  return proportions;
+}
diff --git a/packages/posecode-eval/test/eval.test.ts b/packages/posecode-eval/test/eval.test.ts
index 99f8d94..d786fa0 100644
--- a/packages/posecode-eval/test/eval.test.ts
+++ b/packages/posecode-eval/test/eval.test.ts
@@ -1,6 +1,7 @@
 import { describe, it, expect } from "vitest";
 import { fileURLToPath } from "node:url";
 import { dirname, resolve } from "node:path";
+import type { Proportions } from "posecode-render";
 import {
   loadFixtures,
   probeMovement,
@@ -9,6 +10,7 @@ import {
   kneeFlexionDeg,
   balanceOverflow,
   footSkateDistance,
+  footWorldSkateDistance,
   headPropClearance,
   palmFloorAngleDeg,
   phaseMaxLandmarkSpeed,
@@ -36,6 +38,75 @@ describe("probe", () => {
     expect(r.phases).toHaveLength(1);
     expect(r.phases[0]!.bones.size).toBeGreaterThanOrEqual(17);
   });
+
+  it("fails an unreachable declared hand-to-floor contact instead of silently passing", () => {
+    const source = [
+      'posecode posture "Unreachable floor reach"',
+      "  rig humanoid",
+      "  pose start = standing",
+      '  step "Reach" 1s settle:',
+      "    reach: hand_left floor",
+      "    ground-lock: feet",
+    ].join("\n");
+    const result = runEval([{ movement: "unreachable-floor-reach", source }]);
+    const contact = probeMovement(source).phases[0]!.contactResiduals[0]!;
+
+    expect(contact.status).toBe("resolved");
+    expect(contact.error).toBeGreaterThan(0.03);
+    expect(result.movements[0]!.checks).toContainEqual(expect.objectContaining({
+      id: expect.stringContaining("contact-position:Reach:reach:hand_left:floor"),
+      pass: false,
+    }));
+  });
+
+  it("forms a semantic fist before measuring its production floor target", () => {
+    const source = [
+      'posecode posture "Fist contact"',
+      "  rig humanoid",
+      "  pose start = standing",
+      '  step "Plant" 1s settle:',
+      "    pelvis: hinge 110",
+      "    reach: fist_left floor",
+      "    ground-lock: foot_right",
+    ].join("\n");
+    const phase = probeMovement(source).phases[0]!;
+    const finger = phase.boneQuaternions.get("index_left")!;
+    const contact = phase.contactResiduals[0]!;
+
+    expect(finger).not.toEqual([0, 0, 0, 1]);
+    expect(contact.effector).toBe("fist_left");
+    expect(contact.effectorBone).toBe("wrist_left");
+    expect(contact.targetPosition).not.toBeNull();
+  });
+
+  it("uses supplied character proportions throughout runEval", () => {
+    const source = [
+      'posecode posture "Proportion probe"',
+      "  rig humanoid",
+      "  pose start = standing",
+      '  step "Reach" 1s settle:',
+      "    reach: hand_left knee_left",
+      "    ground-lock: feet",
+    ].join("\n");
+    const longLeftArm: Proportions = {
+      offsets: {
+        elbow_left: [0, -0.47, 0],
+        wrist_left: [0, -0.47, 0],
+      },
+    };
+    const contactPasses = (proportions?: Proportions): boolean => {
+      const report = runEval(
+        [{ movement: "proportion-probe", source }],
+        proportions ? { proportions } : {},
+      );
+      return report.movements[0]!.checks.find((check) =>
+        check.id.startsWith("contact-position:"),
+      )!.pass;
+    };
+
+    expect(contactPasses()).toBe(false);
+    expect(contactPasses(longLeftArm)).toBe(true);
+  });
 });
 
 describe("metrics", () => {
@@ -64,8 +135,10 @@ describe("metrics", () => {
     const fixtures = loadFixtures(examplesDir);
     const movement = (name: string) => probeMovement(fixtures.find((f) => f.movement === name)!.source);
 
-    const legRaise = movement("supine-leg-raise").phases[0]!;
-    expect(palmFloorAngleDeg(legRaise, "left")).toBeLessThan(5);
+    const palmDownQuaternions = new Map(standing.boneQuaternions);
+    const halfTurn = Math.SQRT1_2;
+    palmDownQuaternions.set("wrist_left", [halfTurn, 0, 0, halfTurn]);
+    expect(palmFloorAngleDeg({ ...standing, boneQuaternions: palmDownQuaternions }, "left")).toBeLessThan(0.01);
 
     const deadlift = movement("deadlift");
     expect(footSkateDistance(deadlift.phases[0]!, deadlift.phases[1]!, "left")).toBeLessThan(0.2);
@@ -83,16 +156,134 @@ describe("metrics", () => {
       const heights = deadBug.phases.map((p) => p.bones.get(id)![1]);
       expect(Math.max(...heights) - Math.min(...heights)).toBeLessThan(0.01);
     }
+
+    const lunge = movement("forward-lunge");
+    // The back-foot pin is fixed in the scene. Removing authored travel from
+    // its measurement fabricates 30 cm of skate even though world drift is 0.
+    expect(footWorldSkateDistance(lunge.phases[0]!, lunge.phases[1]!, "left")).toBeLessThan(1e-4);
+    expect(footSkateDistance(lunge.phases[0]!, lunge.phases[1]!, "left")).toBeGreaterThan(0.25);
+  });
+
+  it("does not auto-pass a single support point", () => {
+    const bones = new Map(standing.bones);
+    for (const [id, point] of bones) {
+      if (id === "ankle_left") continue;
+      bones.set(id, [point[0] + 1, point[1], point[2]]);
+    }
+    const offBalance = { ...standing, groundLock: ["foot_left"], bones };
+
+    expect(balanceOverflow(offBalance)).toBeGreaterThan(0.5);
+  });
+
+  it("carries a solved ground-lock support into a newly introduced floor pin", () => {
+    const source = [
+      'posecode exercise "Support handoff"',
+      "  rig humanoid",
+      "  pose start = standing",
+      '  step "Lower" 1s settle:',
+      "    hip_left: flex 80",
+      "    knee_left: flex 95",
+      "    ground-lock: foot_left",
+      '  step "Transfer" 0.5s settle:',
+      "    pin: foot_left floor",
+    ].join("\n");
+    const result = probeMovement(source);
+    expect(result.errors).toEqual([]);
+    expect(footWorldSkateDistance(result.phases[0]!, result.phases[1]!, "left")).toBeLessThan(0.03);
   });
 });
 
 describe("fixture scorecard", () => {
-  it("every canonical example passes every invariant", () => {
-    const report = runEval(loadFixtures(examplesDir));
-    const failures = report.movements
-      .flatMap((m) => m.checks.filter((c) => !c.pass).map((c) => `${m.movement}/${c.id}: ${c.detail}`));
-    expect(failures).toEqual([]);
+  it("scores every declared canonical contact and keeps the fallback catalog green", () => {
+    const fixtures = loadFixtures(examplesDir);
+    const report = runEval(fixtures);
+    const declaredContacts = fixtures.reduce(
+      (count, fixture) => count + probeMovement(fixture.source).contactResiduals.length,
+      0,
+    );
+    const contactChecks = report.movements.flatMap((movement) =>
+      movement.checks.filter((check) => check.id.startsWith("contact-")),
+    );
+
+    expect(contactChecks).toHaveLength(declaredContacts);
+    expect(contactChecks.every((check) => check.pass)).toBe(true);
     expect(report.summary.parseFailures).toBe(0);
     expect(report.summary.clampWarnings).toBe(0);
+    expect(report.summary.checksPassed).toBe(report.summary.checksTotal);
+  });
+
+  it("does not give the supplied bad superhero landing a perfect score", () => {
+    const source = `posecode posture "Superhero Three-Point Landing"
+  rig humanoid
+  pose start = standing
+
+  step "Drop into the landing" 0.7s drive:
+    pelvis: hinge 35
+    hip_left: flex 95
+    hip_right: flex 65
+    knee_left: flex 125
+    knee_right: flex 90
+    ankle_left: dorsiflex 12
+    ankle_right: dorsiflex 15
+    chest: rotate-out 18
+    shoulder_left: flex 55
+    shoulder_right: flex 145
+    elbow_left: flex 20
+    elbow_right: flex 95
+    fingers: flex 65
+    ground-lock: feet
+    cue "Drop low with the right foot forward and the left knee close to the floor"
+
+  step "Plant the fist" 0.35s settle:
+    pelvis: hinge 50
+    hip_left: flex 110
+    hip_right: flex 80
+    knee_left: flex 138
+    knee_right: flex 105
+    ankle_left: dorsiflex 10
+    ankle_right: dorsiflex 15
+    shoulder_left: flex 70
+    shoulder_right: flex 150
+    shoulder_right: abduct 35
+    elbow_left: flex 10
+    elbow_right: flex 105
+    wrist_left: hold neutral 0
+    wrist_right: flex 20
+    fingers_left: flex 70
+    fingers_right: flex 55
+    reach: hand_left floor
+    ground-lock: feet
+    cue "Plant the left fist beside the body while the right arm arcs overhead"
+
+  step "Hero pose" 1.5s linear:
+    neck: extend 8
+    head: rotate-out 12
+    chest: extend 10
+    chest: rotate-out 22
+    shoulder_left: flex 70
+    shoulder_right: flex 155
+    shoulder_right: abduct 40
+    elbow_left: flex 8
+    elbow_right: flex 110
+    wrist_right: flex 25
+    fingers_left: flex 75
+    fingers_right: flex 60
+    reach: hand_left floor
+    ground-lock: feet
+    cue "Hold the low three-point stance with the chest open and the raised arm curved overhead"
+
+  repeat 1`;
+    const supplied = runEval([{ movement: "superhero-landing", source }]).movements[0]!;
+    expect(supplied.passed).toBeLessThan(supplied.total);
+
+    // Strict language validation may reject the supplied trailing `0`. Remove
+    // only that syntax error and verify the kinematic/contact score still fails:
+    // a parse failure must not be the evaluator's sole line of defence.
+    const syntacticallyValid = source.replace("wrist_left: hold neutral 0", "wrist_left: hold neutral");
+    const movement = runEval([{ movement: "superhero-landing", source: syntacticallyValid }]).movements[0]!;
+    const failed = movement.checks.filter((check) => !check.pass);
+    expect(movement.parseOk).toBe(true);
+    expect(movement.passed).toBeLessThan(movement.total);
+    expect(failed.some((check) => check.id.startsWith("contact-position:"))).toBe(true);
   });
 });
diff --git a/packages/posecode-language/src/completion.ts b/packages/posecode-language/src/completion.ts
index 283e661..a59f463 100644
--- a/packages/posecode-language/src/completion.ts
+++ b/packages/posecode-language/src/completion.ts
@@ -10,9 +10,12 @@ import {
   POSES,
   EFFECTORS,
   REACH_EFFECTORS,
+  PIN_EFFECTORS,
+  GRIP_EFFECTORS,
   MODES,
   JOINT_NAMES,
   ACTION_NAMES,
+  actionsForJoint,
   TOP_KEYWORDS,
   CHILD_KEYWORDS,
   KEYWORD_DOCS,
@@ -39,6 +42,8 @@ type Context =
   | "easing"
   | "effector"
   | "reach-effector"
+  | "pin-effector"
+  | "grip-effector"
   | "action"
   | "joint"
   | "top"
@@ -48,15 +53,17 @@ function contextFor(prefix: string, line: number): Context {
   if (line === 0) {
     return /^\s*posecode\s+[\w-]*$/.test(prefix) ? "kind" : "none";
   }
-  if (/^\s*pose\s+start\s*=\s*[\w-]*$/.test(prefix)) return "pose";
-  if (/^\s*step\s+"[^"]*"\s+[0-9.]+s\s+[\w-]*$/.test(prefix)) return "easing";
-  if (/^\s*ground-lock\s*:\s*[\w,\s-]*$/.test(prefix)) return "effector";
-  if (/^\s*(reach|pin|grip)\s*:\s*[\w-]*$/.test(prefix)) return "reach-effector";
-  if (/^\s*[\w-]+\s*:\s*[\w-]*$/.test(prefix)) return "action";
+  const indent = prefix.length - prefix.trimStart().length;
+  if (indent === 2 && /^\s*pose\s+start\s*=\s*[\w-]*$/.test(prefix)) return "pose";
+  if (indent === 2 && /^\s*step\s+"[^"]*"\s+[0-9.]+s\s+[\w-]*$/.test(prefix)) return "easing";
+  if (indent >= 4 && /^\s*ground-lock\s*:\s*[\w,\s-]*$/.test(prefix)) return "effector";
+  if (indent >= 4 && /^\s*reach\s*:\s*[\w-]*$/.test(prefix)) return "reach-effector";
+  if (indent >= 4 && /^\s*pin\s*:\s*[\w-]*$/.test(prefix)) return "pin-effector";
+  if (indent >= 4 && /^\s*grip\s*:\s*[\w-]*$/.test(prefix)) return "grip-effector";
+  if (indent >= 4 && /^\s*[\w-]+\s*:\s*[\w-]*$/.test(prefix)) return "action";
 
   if (/^\s*[\w-]*$/.test(prefix)) {
-    const indent = prefix.length - prefix.trimStart().length;
-    return indent >= 2 ? "joint" : "top";
+    return indent >= 4 ? "joint" : indent >= 2 ? "top" : "none";
   }
   return "none";
 }
@@ -85,8 +92,16 @@ export function getCompletions(
       return EFFECTORS.map((e) => item(e, "effector"));
     case "reach-effector":
       return REACH_EFFECTORS.map((e) => item(e, "effector"));
+    case "pin-effector":
+      return PIN_EFFECTORS.map((e) => item(e, "effector"));
+    case "grip-effector":
+      return GRIP_EFFECTORS.map((e) => item(e, "effector"));
     case "action":
-      return [...ACTION_NAMES, "hold"].map((a) => item(a, "action"));
+      {
+        const joint = /^\s*([\w-]+)\s*:/.exec(prefix)?.[1];
+        const actions = joint ? actionsForJoint(joint) : ACTION_NAMES;
+        return [...actions, "hold"].map((a) => item(a, "action"));
+      }
     case "joint":
       return [
         ...JOINT_NAMES.map((j) => item(j, "joint")),
diff --git a/packages/posecode-language/src/diagnostics.ts b/packages/posecode-language/src/diagnostics.ts
index 4be6042..b8c8a85 100644
--- a/packages/posecode-language/src/diagnostics.ts
+++ b/packages/posecode-language/src/diagnostics.ts
@@ -33,7 +33,7 @@ export function getDiagnostics(text: string): Diagnostic[] {
     diagnostics.push({
       line: w.line,
       severity: "warning",
-      message: `${joint} ${w.action} ${w.requested}° exceeds range of motion, clamped to ${w.clamped}° (safe ${w.limit.min}–${w.limit.max}°)`,
+      message: `${joint} ${w.action} ${w.requested}° exceeds the configured range, clamped to ${w.clamped}° (${w.limit.min}–${w.limit.max}°)`,
     });
   }
 
@@ -51,6 +51,18 @@ export function getDiagnostics(text: string): Diagnostic[] {
         message: `"${tok}" is deprecated; use "${LEGACY_MODE_ALIASES[tok]}"`,
       });
     }
+
+    const axial = /^\s*(spine|chest|neck|head)\s*:\s*(rotate-in|rotate-out)\b/.exec(
+      lineText,
+    );
+    if (axial) {
+      const replacement = axial[2] === "rotate-in" ? "twist-left" : "twist-right";
+      diagnostics.push({
+        line: idx + 1,
+        severity: "hint",
+        message: `"${axial[2]}" is ambiguous on ${axial[1]}; use "${replacement}"`,
+      });
+    }
   });
 
   return diagnostics;
diff --git a/packages/posecode-language/src/hover.ts b/packages/posecode-language/src/hover.ts
index 3f175ff..bbeffaa 100644
--- a/packages/posecode-language/src/hover.ts
+++ b/packages/posecode-language/src/hover.ts
@@ -1,5 +1,5 @@
 /**
- * Hover info. The biggest win is showing a joint+action's safe range of motion
+ * Hover info. The biggest win is showing a joint+action's configured range of motion
  * right where it's authored, so the "why was my angle clamped?" answer is one
  * hover away. Falls back to short docs for keywords, kinds, poses, and easings.
  */
@@ -58,7 +58,7 @@ export function getHover(
       const rom = romFor(bone, token);
       if (rom) {
         return md(
-          `**${boneType(bone)} · ${token}**: safe range **${rom.min}–${rom.max}°**. Angles beyond this are hard-clamped.`,
+          `**${boneType(bone)} · ${token}**: configured range **${rom.min}–${rom.max}°**. Angles beyond this are clamped with a diagnostic.`,
         );
       }
     }
diff --git a/packages/posecode-language/src/vocab.ts b/packages/posecode-language/src/vocab.ts
index febb4c5..49b350a 100644
--- a/packages/posecode-language/src/vocab.ts
+++ b/packages/posecode-language/src/vocab.ts
@@ -10,24 +10,39 @@ import {
   EASINGS,
   MODES,
   LEGACY_MODE_ALIASES,
-  EFFECTOR_NAMES,
+  REACH_EFFECTOR_NAMES,
+  PIN_EFFECTOR_NAMES,
+  GRIP_EFFECTOR_NAMES,
   GROUND_LOCK_EFFECTOR_NAMES,
+  MOVEMENT_KINDS,
+  START_POSE_NAMES,
+  PROP_TYPES,
+  actionsForJoint,
 } from "posecode-parser";
 
-export { JOINT_NAMES, ACTION_NAMES, EASINGS, MODES, LEGACY_MODE_ALIASES };
+export {
+  JOINT_NAMES,
+  ACTION_NAMES,
+  EASINGS,
+  MODES,
+  LEGACY_MODE_ALIASES,
+  actionsForJoint,
+};
 
 /** Movement kinds in the header (`posecode <kind> "..."`). */
-export const KINDS = ["exercise", "stretch", "posture"];
+export const KINDS: string[] = [...MOVEMENT_KINDS];
 
 /** Recognised start poses (`pose start = ...`). */
-export const POSES = ["neutral", "standing", "plank", "supine", "prone", "seated"];
+export const POSES: string[] = [...START_POSE_NAMES];
 
 /** Floor contacts that can be ground-locked. */
 export const EFFECTORS = [...GROUND_LOCK_EFFECTOR_NAMES];
 
-/** Reach/pin effectors (groups + per-side aliases), sourced from the parser. */
-export const REACH_EFFECTORS = EFFECTOR_NAMES;
-export const PROPS = ["chair", "wall", "bar", "box", "dip-bars"];
+/** Capability-specific constraint effectors, sourced from the parser. */
+export const REACH_EFFECTORS = [...REACH_EFFECTOR_NAMES];
+export const PIN_EFFECTORS = [...PIN_EFFECTOR_NAMES];
+export const GRIP_EFFECTORS = [...GRIP_EFFECTOR_NAMES];
+export const PROPS: string[] = [...PROP_TYPES];
 
 /** Top-level directives (excluding the `posecode` header keyword). */
 export const TOP_KEYWORDS = ["rig", "prop", "pose", "clip", "step", "repeat"];
@@ -39,7 +54,7 @@ export const CHILD_KEYWORDS = ["ground-lock", "reach", "pin", "grip", "turn", "t
 export const KEYWORD_DOCS: Record<string, string> = {
   posecode: 'Document header: `posecode <kind> "<name>"`.',
   rig: "Selects the rig (currently `humanoid`).",
-  prop: "Adds a scene object: `prop chair | wall | bar | box | dip-bars`. Supplies reach/pin anchors.",
+  prop: "Adds a scene object: `prop chair | wall | bar | box | dip-bars`. Supplies declared reach, pin, and grip anchors.",
   pose: "Sets the starting pose: `pose start = standing | neutral | plank | supine | prone | seated`.",
   start: "Used in `pose start = <pose>`.",
   clip: 'Optional mocap clip: `clip "walk"`. A renderer with a matching retargeted animation plays it crossfaded over the procedural pose; others ignore it.',
@@ -50,13 +65,13 @@ export const KEYWORD_DOCS: Record<string, string> = {
   snap: "Timing mode: fast, near-immediate arrival with an accent.",
   linear: "Timing mode: constant velocity; intentionally mechanical.",
   repeat: "How many times the movement loops.",
-  "ground-lock": "Keeps grouped, per-side, or axial contacts on the floor: `feet`, `foot_left` (also `left foot`), `hands`, `forearms`, or `back` for supine work. Planted feet auto-level unless intentionally plantarflexed.",
+  "ground-lock": "Keeps declared floor supports planted for this phase: grouped, per-side, or axial contacts such as `feet`, `foot_left` (also written `left foot`), `hands`, `forearms`, and `back` for supine work. Repeat the declaration in every phase that needs it; planted feet auto-level unless intentionally plantarflexed.",
   reach:
-    "Drives an effector to a target via ROM-constrained IK: `reach: hand_left ankle_left`, `reach: hands floor`.",
-  pin: "Moves the body so an effector sits on an anchor: `pin: hands bar` (hang, pull up, step up, dip).",
+    "Drives a limb effector toward a validated target via constrained IK: `reach: hand_left ankle_left`, `reach: fist_left floor`, `reach: knee_left floor`.",
+  pin: "Moves the body so one primary effector sits on a validated anchor. Use `grip` for a two-hand bar or rails contact.",
   grip: "Holds a bar/rail: `grip: hands bar`. Each hand gets its own two-point anchor (bar_left/bar_right), the arm bends via IK onto it, and the fingers wrap the bar. Use for pull-up, dead-hang, hanging knee raise.",
   turn: "Turns the figure to face a new direction: `turn: 360` (degrees, yaw about vertical). Absolute, carried across phases. Standing poses only.",
   travel: "Moves the figure across the floor: `travel: 0.4 0` (world x z metres from the start spot). Absolute, carried across phases. Standing poses only.",
   cue: "A short coaching cue shown while this phase plays.",
-  hold: "Keep the joint at its neutral / rest angle.",
+  hold: "Reset every rotation channel on this joint to its neutral / rest angle: `<joint>: hold neutral`.",
 };
diff --git a/packages/posecode-language/test/language.test.ts b/packages/posecode-language/test/language.test.ts
index b3fc2ee..3f732f2 100644
--- a/packages/posecode-language/test/language.test.ts
+++ b/packages/posecode-language/test/language.test.ts
@@ -34,7 +34,13 @@ describe("getDiagnostics", () => {
   });
 
   it("returns nothing for a clean document", () => {
-    const clean = 'posecode posture "P"\n  rig humanoid\n  pose start = standing';
+    const clean = [
+      'posecode posture "P"',
+      "  rig humanoid",
+      "  pose start = standing",
+      '  step "Hold" 1s linear:',
+      "    pelvis: hold neutral",
+    ].join("\n");
     expect(getDiagnostics(clean)).toEqual([]);
   });
 });
@@ -57,10 +63,28 @@ describe("getCompletions", () => {
     expect(l).toContain("cue");
   });
 
+  it("suggests document directives, not joints, at the two-space top level", () => {
+    const l = onLine("  ", 2);
+    expect(l).toEqual(expect.arrayContaining(["step", "repeat", "pose"]));
+    expect(l).not.toContain("knees");
+    expect(l).not.toContain("cue");
+  });
+
   it("suggests actions after `<joint>: `", () => {
-    expect(onLine("    knees: ", 11)).toEqual(
-      expect.arrayContaining(["flex", "extend"]),
+    const kneeActions = onLine("    knees: ", 11);
+    expect(kneeActions).toEqual(expect.arrayContaining(["flex", "extend", "hold"]));
+    expect(kneeActions).not.toContain("abduct");
+    expect(kneeActions).not.toContain("rotate-in");
+  });
+
+  it("offers joint-specific wrist deviation and explicit axial twist", () => {
+    expect(onLine("    wrist_left: ", 16)).toEqual(
+      expect.arrayContaining(["flex", "extend", "abduct", "adduct"]),
     );
+    const chestActions = onLine("    chest: ", 11);
+    expect(chestActions).toEqual(expect.arrayContaining(["twist-left", "twist-right"]));
+    expect(chestActions).not.toContain("rotate-in");
+    expect(chestActions).not.toContain("rotate-out");
   });
 
   it("suggests timing modes inside a step header", () => {
@@ -89,9 +113,41 @@ describe("getCompletions", () => {
 
   it("suggests reach effectors (groups + sides) after `reach: ` and `pin: `", () => {
     expect(onLine("    reach: ", 11)).toEqual(
-      expect.arrayContaining(["hands", "hand_left", "foot_right"]),
+      expect.arrayContaining(["hands", "fists", "knees", "hand_left", "fist_right", "foot_right"]),
     );
     expect(onLine("    pin: ", 9)).toEqual(expect.arrayContaining(["feet"]));
+    expect(onLine("    reach: ", 11)).not.toContain("pelvis");
+    expect(onLine("    pin: ", 9)).toContain("pelvis");
+    expect(onLine("    grip: ", 10)).toEqual(
+      expect.arrayContaining(["hands", "hand_left", "hand_right"]),
+    );
+    expect(onLine("    grip: ", 10)).not.toContain("feet");
+  });
+});
+
+describe("strict movement diagnostics", () => {
+  it("reports unsupported joint/action combinations as errors", () => {
+    const doc = [
+      'posecode posture "Bad knee"',
+      "  rig humanoid",
+      '  step "Pose" 1s linear:',
+      "    knee_left: abduct 20",
+    ].join("\n");
+    expect(getDiagnostics(doc)).toContainEqual(
+      expect.objectContaining({ line: 4, severity: "error", message: expect.stringMatching(/not supported/i) }),
+    );
+  });
+
+  it("nudges legacy axial rotation toward explicit direction", () => {
+    const doc = [
+      'posecode posture "Twist"',
+      "  rig humanoid",
+      '  step "Pose" 1s linear:',
+      "    chest: rotate-out 20",
+    ].join("\n");
+    expect(getDiagnostics(doc)).toContainEqual(
+      expect.objectContaining({ line: 4, severity: "hint", message: expect.stringContaining("twist-right") }),
+    );
   });
 });
 
diff --git a/packages/posecode-mcp/README.md b/packages/posecode-mcp/README.md
index e5a6bb5..7fd0400 100644
--- a/packages/posecode-mcp/README.md
+++ b/packages/posecode-mcp/README.md
@@ -1,9 +1,9 @@
 # posecode-mcp
 
 A [Model Context Protocol](https://modelcontextprotocol.io) server for **Posecode**.
-It gives any MCP-capable agent (Claude Desktop, Cursor, …) a native way to *show
-movement*: learn the `.posecode` language, validate a movement against healthy
-range-of-motion limits, and get a link that animates it as a 3D figure.
+It lets a model in an MCP client learn the `.posecode` language, validate a
+movement against configured range-of-motion limits, and return a link that
+animates the movement as a 3D figure.
 
 This closes the loop the playground left open: no copy-pasting a system prompt
 or shuttling text between a chat window and the editor.
@@ -12,14 +12,14 @@ or shuttling text between a chat window and the editor.
 
 | Tool | What it does |
 | --- | --- |
-| `posecode_authoring_guide` | Returns the Posecode authoring guide (grammar, joints, actions, example) so the model can write valid `.posecode`. |
-| `validate_posecode` | Parses a `.posecode` document and returns errors plus any **range-of-motion safety clamps** (the angles that were out of healthy range). |
+| `posecode_authoring_guide` | Returns the Posecode authoring guide (grammar, joints, actions, example) so a capable model can draft raw `.posecode` for validation. |
+| `validate_posecode` | Parses a `.posecode` document and returns errors plus any **range-of-motion clamps** (angles outside the configured rig bounds). |
 | `render_posecode` | Validates, then returns a **permalink** that renders the movement in the Posecode playground. Hand it to the user to watch. |
 
 `validate_posecode` / `render_posecode` flag invalid documents as MCP error results so
 the model knows to fix and retry.
 
-## Run
+## Use from an MCP client
 
 Run the latest published server directly from npm:
 
@@ -27,13 +27,7 @@ Run the latest published server directly from npm:
 npx -y posecode-mcp@latest
 ```
 
-For local repository development:
-
-```bash
-npm start -w posecode-mcp          # tsx src/stdio.ts
-```
-
-### Add to Claude Desktop / Cursor
+For an MCP client that accepts JSON server configuration:
 
 ```json
 {
@@ -50,9 +44,20 @@ npm start -w posecode-mcp          # tsx src/stdio.ts
 `POSECODE_BASE_URL` is optional: it sets the playground that render permalinks
 point at (defaults to the hosted playground).
 
+## Local development
+
+From the Posecode monorepo, run the TypeScript source with the workspace script:
+
+```bash
+npm start -w posecode-mcp
+```
+
+That development command uses `tsx src/stdio.ts`; MCP consumers do not need a
+repository checkout, an absolute source path, or a separate `tsx` install.
+
 ## How it fits
 
 `render_posecode` builds its links with [`posecode-share`](../posecode-share), the same
 permalink primitive the playground uses, and validates with
-[`posecode-parser`](../posecode-parser). The server holds no rendering itself; 3D math
-runs client-side when the link is opened.
+[`posecode-parser`](../posecode-parser). The server does not render the movement
+itself; 3D math runs in the user's browser when the link is opened.
diff --git a/packages/posecode-mcp/src/analyze.ts b/packages/posecode-mcp/src/analyze.ts
index 8ff3fe8..b7036c3 100644
--- a/packages/posecode-mcp/src/analyze.ts
+++ b/packages/posecode-mcp/src/analyze.ts
@@ -2,7 +2,7 @@
  * Pure, transport-agnostic core of the Posecode MCP server.
  *
  * Turns a `.posecode` document into the structured results the MCP tools
- * return: a validation summary (errors + ROM-safety clamps) and a render
+ * return: a validation summary (errors + configured ROM clamps) and a render
  * result that adds a playground permalink. No MCP or I/O here: just parse →
  * shape, so it is trivially unit-testable.
  */
@@ -31,7 +31,7 @@ export interface ValidationSummary {
   phases?: PhaseSummary[];
   /** Fatal parse/validation errors (empty when ok). */
   errors: { line: number; message: string }[];
-  /** Angles that exceeded a healthy range of motion and were clamped. */
+  /** Angles that exceeded the configured rig range and were clamped. */
   romWarnings: Warning[];
 }
 
diff --git a/packages/posecode-mcp/src/guide.ts b/packages/posecode-mcp/src/guide.ts
index f230f03..cc2fcb7 100644
--- a/packages/posecode-mcp/src/guide.ts
+++ b/packages/posecode-mcp/src/guide.ts
@@ -5,7 +5,7 @@
  * development; falls back to a compact inline grammar if neither is reachable.
  */
 
-import { existsSync, readFileSync } from "node:fs";
+import { readFileSync } from "node:fs";
 import { fileURLToPath } from "node:url";
 import { dirname, resolve } from "node:path";
 
@@ -13,44 +13,58 @@ let cached: string | null = null;
 
 export function authoringGuide(): string {
   if (cached !== null) return cached;
-  let guide: string;
-  try {
-    const here = dirname(fileURLToPath(import.meta.url));
-    const packagedGuide = resolve(here, "llm-authoring.md");
-    const repositoryGuide = resolve(here, "../../../spec/llm-authoring.md");
-    guide = readFileSync(
-      existsSync(packagedGuide) ? packagedGuide : repositoryGuide,
-      "utf8",
-    );
-  } catch {
-    guide = FALLBACK_GUIDE;
+  const here = dirname(fileURLToPath(import.meta.url));
+  // Published builds ship a generated copy beside the bundle. Repository
+  // development reads the canonical spec directly. Trying both fixes the old
+  // package behavior where every installed MCP server silently fell back to a
+  // stale, much smaller grammar because `../../../spec` was not published.
+  const candidates = [
+    resolve(here, "llm-authoring.md"),
+    resolve(here, "../../../spec/llm-authoring.md"),
+  ];
+  let guide = "";
+  for (const path of candidates) {
+    try {
+      guide = readFileSync(path, "utf8");
+      break;
+    } catch {
+      // Try the next distribution layout.
+    }
   }
+  if (!guide) guide = FALLBACK_GUIDE;
   cached = guide;
   return guide;
 }
 
 const FALLBACK_GUIDE = `# Authoring Posecode
 
-Output ONLY a \`.posecode\` document in a code block, no prose.
+When the request is representable, output ONLY the raw \`.posecode\` document,
+with no Markdown fence or prose. If it needs free flight, multiple people,
+arbitrary equipment, exact sign language, or detailed facial/scapular motion,
+say that Posecode cannot yet represent the missing capability.
 
 ## Grammar
 \`\`\`
 posecode <kind> "<Name>"          # kind = exercise | stretch | posture
   rig humanoid
-  pose start = <pose>          # neutral | standing | plank
+  prop <type>                  # optional: chair | wall | bar | box | dip-bars
+  pose start = <pose>          # neutral | standing | plank | supine | prone | seated
   step "<Phase>" <Ns> <mode>:  # mode = flow | settle | drive | snap | linear
     <joint>: <action> <degrees>
-    ground-lock: <contacts>    # feet/hands/forearms/back, or foot_left / left foot
+    ground-lock: <contacts>    # repeat feet/hands/forearms/back or side-specific supports
+    reach: <effector> <target> # supported hand/fist/elbow/knee/foot toward a validated target
+    pin: <effector> <anchor>   # move the body around one primary contact
+    grip: hands <anchor>       # declared bar / rails, two independent hand contacts
     cue "<short coaching cue>"
   repeat <count>
 \`\`\`
 
 Joints: neck head spine chest pelvis, and (singular or plural) shoulders elbows
 wrists hips knees ankles. Actions (degrees are absolute targets): flex/extend,
-abduct/adduct, rotate-in/rotate-out, dorsiflex/plantarflex, hold neutral, and
-hinge (hips only, closed-chain hip flexion: torso tips over planted feet with
-a neutral spine; use for deadlift / forward fold instead of hips: flex).
-Stay within healthy range of motion; the renderer hard-clamps anything beyond.
-Use ground-lock: feet when standing, hands and feet in a high plank, forearms
-and feet in a forearm plank, and back for supine floor work such as a dead bug.
-Do not invent other contact names.`;
+abduct/adduct, rotate-in/rotate-out (shoulder/hip), twist-left/twist-right
+(axial joints), dorsiflex/plantarflex, hold neutral, and hinge (pelvis only).
+Use only joint/action pairs and declared prop anchors accepted by the validator.
+Author the gross pose before reach; a parsed reach is not proof of contact.
+Keep cues, sides, and declared contacts consistent through every phase. Floor
+contacts are a closed vocabulary: use feet when standing, hands and feet in a
+high plank, forearms and feet in a forearm plank, and back for supine work.`;
diff --git a/packages/posecode-mcp/src/server.ts b/packages/posecode-mcp/src/server.ts
index 14d6805..349c922 100644
--- a/packages/posecode-mcp/src/server.ts
+++ b/packages/posecode-mcp/src/server.ts
@@ -3,7 +3,7 @@
  *
  * Three tools turn "an LLM knows biomechanics" into "an LLM can show movement":
  *   - posecode_authoring_guide: learn the .posecode language inline
- *   - validate_posecode:       parse + surface range-of-motion safety clamps
+ *   - validate_posecode:       parse + surface configured range-of-motion clamps
  *   - render_posecode:         get a playground link that animates the movement
  *
  * The server is decoupled from any transport so it can be driven over stdio in
@@ -49,7 +49,7 @@ export function createPosecodeServer(opts: PosecodeServerOptions = {}): McpServe
     {
       title: "Validate a Posecode movement",
       description:
-        "Parse a .posecode document and return any errors plus range-of-motion (ROM) safety clamps. Use this to check a movement before showing it to a user.",
+        "Parse a .posecode document and return any errors plus configured range-of-motion (ROM) clamps. Use this to check the source before showing it to a user; a clean result is not a clinical safety assessment.",
       inputSchema: sourceSchema,
     },
     async ({ source }) => {
diff --git a/packages/posecode-parser/README.md b/packages/posecode-parser/README.md
index ce7be16..c5ed8cd 100644
--- a/packages/posecode-parser/README.md
+++ b/packages/posecode-parser/README.md
@@ -56,9 +56,10 @@ aliases `ease-in`, `ease-out`, and `ease-in-out` remain accepted so existing
 movement files keep working.
 
 `parse()` never throws: malformed or out-of-range documents come back as
-structured `errors`/`warnings` instead. Every joint angle in `ir` is hard-clamped
-to a healthy range of motion, so a hallucinated `knee: flex 200` renders at its
-safe ceiling with a warning, never an anatomically impossible joint.
+structured `errors`/`warnings` instead. Every joint angle in `ir` is clamped to
+Posecode's configured range-of-motion bounds, so a hallucinated
+`knee: flex 200` renders at the configured 144° ceiling with a warning. These
+rig constraints are not a clinical safety assessment of the full movement.
 
 ## License
 
diff --git a/packages/posecode-parser/src/clamp.ts b/packages/posecode-parser/src/clamp.ts
index a4984cb..fcb318f 100644
--- a/packages/posecode-parser/src/clamp.ts
+++ b/packages/posecode-parser/src/clamp.ts
@@ -3,11 +3,12 @@
  *
  * This is the biomechanics-aware stage: it expands symmetric joint groups,
  * maps semantic actions to rotation axes (with left/right mirroring), and
- * clamps every angle into its safe Range of Motion (§5.1). All inputs are
+ * clamps every angle into the configured rig bounds (§5.1). All inputs are
  * treated as immutable: a fresh IR is built and returned.
  */
 
 import type {
+  Axis,
   EulerDeg,
   GripTarget,
   JointTarget,
@@ -19,8 +20,9 @@ import type {
   Warning,
 } from "./types.js";
 import { POSECODE_VERSION } from "./types.js";
-import type { AstDoc, AstStep } from "./parser.js";
+import type { AstDoc, AstJointTarget, AstStep } from "./parser.js";
 import {
+  BONES,
   actionAxis,
   boneType,
   expandEffector,
@@ -29,7 +31,8 @@ import {
   isGroundLockEffector,
   isLeft,
 } from "./joints.js";
-import { clampAngle, romFor } from "./rom.js";
+import { actionsForJoint, clampAngle, romFor } from "./rom.js";
+import { anchorsForProps, propForAnchor } from "./protocol.js";
 
 export interface ResolveResult {
   ir: PosecodeIR;
@@ -38,14 +41,30 @@ export interface ResolveResult {
 }
 
 const ZERO: EulerDeg = { x: 0, y: 0, z: 0 };
+const AXES: Axis[] = ["x", "y", "z"];
+const BODY_TARGETS = new Set<string>(BONES);
+
+interface AuthoredEuler {
+  euler: EulerDeg;
+  axes: Set<Axis>;
+}
 
 export function resolve(ast: AstDoc): ResolveResult {
   const warnings: Warning[] = [];
   const errors: ParseError[] = [];
+  const declaredAnchors = anchorsForProps(ast.props);
+  const semanticState = initialSemanticState(ast.startPose);
+  const phases: Phase[] = [];
 
-  const phases: Phase[] = ast.steps.map((step) =>
-    resolveStep(step, warnings, errors),
-  );
+  // Resolve in document order so cross-joint mechanics can be checked against
+  // the pose carried from preceding phases. This matters for a hinge authored
+  // after a deep hip flexion (and vice versa), not only when both share a step.
+  for (const step of ast.steps) {
+    const phase = resolveStep(step, declaredAnchors, warnings, errors);
+    enforceHipHingeLimit(step, phase, semanticState, warnings);
+    applyPhaseToState(semanticState, phase);
+    phases.push(phase);
+  }
 
   const ir: PosecodeIR = {
     version: POSECODE_VERSION,
@@ -64,11 +83,41 @@ export function resolve(ast: AstDoc): ResolveResult {
 
 function resolveStep(
   step: AstStep,
+  declaredAnchors: ReadonlySet<string>,
   warnings: Warning[],
   errors: ParseError[],
 ): Phase {
+  // `ground-lock`, `pin`, and `grip` each solve the floating root. Combining
+  // those solver families in one phase makes the later pass invalidate the
+  // earlier contact (for example, a knee pin sliding a ground-locked foot).
+  // Express multi-point support with one root anchor plus per-limb `reach`s.
+  if (step.groundLock.length > 0 && step.pins.length > 0) {
+    errors.push({
+      line: step.pins[0]!.line,
+      message: "`pin` cannot be combined with `ground-lock` in one step; use one primary pin plus `reach` for additional contacts",
+    });
+  }
+  if (step.groundLock.length > 0 && step.grips.length > 0) {
+    errors.push({
+      line: step.grips[0]!.line,
+      message: "`grip` cannot be combined with `ground-lock` in one step; use one root-support family per step",
+    });
+  }
+  if (step.pins.length > 0 && step.grips.length > 0) {
+    errors.push({
+      line: step.grips[0]!.line,
+      message: "`grip` cannot be combined with `pin` in one step; use the grip as the primary support plus `reach` for additional contacts",
+    });
+  }
+  if (step.pins.length > 1) {
+    errors.push({
+      line: step.pins[1]!.line,
+      message: "a step may declare only one primary `pin`; use a grouped effector or per-limb `reach` constraints for additional contacts",
+    });
+  }
+
   // Accumulate per-bone Euler so multiple action lines on the same joint merge.
-  const byBone = new Map<string, EulerDeg>();
+  const byBone = new Map<string, AuthoredEuler>();
 
   for (const target of step.targets) {
     const bones = expandJoint(target.joint);
@@ -79,7 +128,11 @@ function resolveStep(
 
     // `hold <pose>` keeps the joint at neutral.
     if (target.action === "hold") {
-      for (const bone of bones) ensure(byBone, bone);
+      for (const bone of bones) {
+        const authored = ensure(byBone, bone);
+        authored.euler = { ...ZERO };
+        for (const axis of AXES) authored.axes.add(axis);
+      }
       continue;
     }
 
@@ -96,6 +149,18 @@ function resolveStep(
       continue;
     }
 
+    const unsupported = bones.filter((bone) => romFor(bone, target.action) === null);
+    if (unsupported.length > 0) {
+      const allowed = actionsForJoint(target.joint);
+      errors.push({
+        line: target.line,
+        message:
+          `action "${target.action}" is not supported for ${target.joint}; ` +
+          `expected one of ${[...allowed, "hold"].join(", ")}`,
+      });
+      continue;
+    }
+
     for (const bone of bones) {
       const clamped = clampAngle(bone, target.action, target.degrees);
       if (clamped !== target.degrees) {
@@ -116,14 +181,16 @@ function resolveStep(
           : 1;
       const mirror = isLeft(bone) && aa.axis !== "x" ? -1 : 1;
       const sign = aa.sign * flexFlip * mirror;
-      const euler = ensure(byBone, bone);
-      euler[aa.axis] = sign * clamped;
+      const authored = ensure(byBone, bone);
+      authored.euler[aa.axis] = sign * clamped;
+      authored.axes.add(aa.axis);
     }
   }
 
-  const targets: JointTarget[] = [...byBone.entries()].map(([boneId, euler]) => ({
+  const targets: JointTarget[] = [...byBone.entries()].map(([boneId, authored]) => ({
     boneId,
-    euler,
+    euler: authored.euler,
+    axes: AXES.filter((axis) => authored.axes.has(axis)),
   }));
 
   const groundLock: string[] = [];
@@ -148,6 +215,23 @@ function resolveStep(
       errors.push({ line: r.line, message: `unknown reach effector: "${r.effector}"` });
       continue;
     }
+    if (sides.includes("pelvis")) {
+      errors.push({
+        line: r.line,
+        message: 'reach effector "pelvis" is unsupported; use `pin: pelvis <anchor>`',
+      });
+      continue;
+    }
+    if (!validateReachTarget(r.target, r.line, declaredAnchors, errors)) {
+      continue;
+    }
+    if (sides.some((effector) => contactBoneId(effector) === r.target)) {
+      errors.push({
+        line: r.line,
+        message: `reach effector "${r.effector}" cannot target its own joint "${r.target}"`,
+      });
+      continue;
+    }
     for (const effector of sides) reaches.push({ effector, target: r.target });
   }
   const pins: PinTarget[] = [];
@@ -157,6 +241,9 @@ function resolveStep(
       errors.push({ line: p.line, message: `unknown pin effector: "${p.effector}"` });
       continue;
     }
+    if (!validatePinAnchor(p.anchor, p.line, declaredAnchors, errors)) {
+      continue;
+    }
     for (const effector of sides) pins.push({ effector, anchor: p.anchor });
   }
 
@@ -170,6 +257,31 @@ function resolveStep(
       errors.push({ line: g.line, message: `unknown grip effector: "${g.effector}"` });
       continue;
     }
+    if (sides.some((effector) => !effector.startsWith("hand_"))) {
+      errors.push({
+        line: g.line,
+        message: `grip effector "${g.effector}" must resolve to a hand`,
+      });
+      continue;
+    }
+    if (!validateGripAnchor(g.anchor, g.line, declaredAnchors, errors)) {
+      continue;
+    }
+    const writtenSide = /_(left|right)$/.exec(g.anchor)?.[1];
+    if (writtenSide && sides.length > 1) {
+      errors.push({
+        line: g.line,
+        message: `grouped grip effector "${g.effector}" requires a bare anchor such as "${g.anchor.replace(/_(left|right)$/, "")}"`,
+      });
+      continue;
+    }
+    if (writtenSide && sides[0] && !sides[0].endsWith(`_${writtenSide}`)) {
+      errors.push({
+        line: g.line,
+        message: `grip anchor "${g.anchor}" does not match effector "${sides[0]}"`,
+      });
+      continue;
+    }
     for (const effector of sides) {
       grips.push({ effector, anchor: sideAnchor(g.anchor, effector) });
     }
@@ -199,6 +311,213 @@ function resolveStep(
   };
 }
 
+/** Reach accepts the floor, body landmarks, and declared prop anchors. */
+function validateReachTarget(
+  value: string,
+  line: number,
+  declaredAnchors: ReadonlySet<string>,
+  errors: ParseError[],
+): boolean {
+  if (value === "floor" || BODY_TARGETS.has(value) || declaredAnchors.has(value)) {
+    return true;
+  }
+  const prop = propForAnchor(value);
+  errors.push({
+    line,
+    message: prop
+      ? `reach target "${value}" requires declared prop "${prop}"`
+      : `unknown reach target: "${value}"`,
+  });
+  return false;
+}
+
+/** Pins are world/root anchors. A body landmark moves with the root and cannot anchor it. */
+function validatePinAnchor(
+  value: string,
+  line: number,
+  declaredAnchors: ReadonlySet<string>,
+  errors: ParseError[],
+): boolean {
+  if (value === "floor" || declaredAnchors.has(value)) return true;
+  if (BODY_TARGETS.has(value)) {
+    errors.push({
+      line,
+      message: `pin anchor "${value}" is body-relative and moves with the root; use floor or a declared prop anchor`,
+    });
+    return false;
+  }
+  const prop = propForAnchor(value);
+  errors.push({
+    line,
+    message: prop
+      ? `pin anchor "${value}" requires declared prop "${prop}"`
+      : `unknown pin anchor: "${value}"`,
+  });
+  return false;
+}
+
+/** Grips only have contact frames on the built-in overhead bar and dip rails. */
+function validateGripAnchor(
+  value: string,
+  line: number,
+  declaredAnchors: ReadonlySet<string>,
+  errors: ParseError[],
+): boolean {
+  const prop = propForAnchor(value);
+  if (prop !== "bar" && prop !== "dip-bars") {
+    errors.push({
+      line,
+      message: `grip anchor "${value}" must be an overhead-bar or dip-rail anchor`,
+    });
+    return false;
+  }
+  if (!declaredAnchors.has(value)) {
+    errors.push({ line, message: `grip anchor "${value}" requires declared prop "${prop}"` });
+    return false;
+  }
+  return true;
+}
+
+function contactBoneId(effector: string): string {
+  return effector
+    .replace(/^hand_/, "wrist_")
+    .replace(/^fist_/, "wrist_")
+    .replace(/^foot_/, "ankle_");
+}
+
+/**
+ * Keep the renderer's coupled local hip angle inside the flexion ceiling.
+ * Runtime local hip X is `semantic hip X - pelvis hinge X`; independently-safe
+ * authored values can therefore add to an impossible angle (110° + 50°).
+ */
+function enforceHipHingeLimit(
+  step: AstStep,
+  phase: Phase,
+  previous: ReadonlyMap<string, EulerDeg>,
+  warnings: Warning[],
+): void {
+  const candidate = cloneState(previous);
+  applyPhaseToState(candidate, phase);
+
+  let pelvisX = candidate.get("pelvis")?.x ?? 0;
+  const hips = ["hip_left", "hip_right"] as const;
+  const pelvisSource = sourceForAxis(step, "pelvis", "x");
+  let pelvisWarning: Warning | null = null;
+  const clampPelvisTo = (safeValue: number): void => {
+    if (!pelvisSource || pelvisX <= safeValue) return;
+    const requestedPelvisX = pelvisX;
+    const clamped = Math.max(0, safeValue);
+    setPhaseAxis(phase, "pelvis", "x", clamped);
+    ensureState(candidate, "pelvis").x = clamped;
+    pelvisX = clamped;
+    if (pelvisWarning) {
+      pelvisWarning.clamped = clamped;
+      pelvisWarning.limit = { min: 0, max: clamped };
+      return;
+    }
+    pelvisWarning = {
+      line: pelvisSource.line,
+      phase: step.name,
+      joint: "pelvis",
+      action: pelvisSource.action,
+      requested: pelvisSource.degrees ?? requestedPelvisX,
+      clamped,
+      limit: { min: 0, max: clamped },
+    };
+    warnings.push(pelvisWarning);
+  };
+
+  // When a newly-authored hinge meets a hip carried from an earlier phase,
+  // the hinge must yield first. Doing this before clamping same-step hips
+  // avoids needless left/right asymmetry in mixed carried/authored poses.
+  const carriedHipLimits = hips
+    .filter((hip) => sourceForAxis(step, hip, "x") === null)
+    .map((hip) => (candidate.get(hip)?.x ?? 0) + COMBINED_HIP_FLEX_MAX);
+  if (carriedHipLimits.length > 0) {
+    clampPelvisTo(Math.min(120, ...carriedHipLimits));
+  }
+
+  for (const hip of hips) {
+    const hipX = candidate.get(hip)?.x ?? 0;
+    if (hipX - pelvisX >= -COMBINED_HIP_FLEX_MAX) continue;
+
+    const source = sourceForAxis(step, hip, "x");
+    if (!source) continue;
+    const safeHipX = pelvisX - COMBINED_HIP_FLEX_MAX;
+    setPhaseAxis(phase, hip, "x", safeHipX);
+    ensureState(candidate, hip).x = safeHipX;
+    const maxDegrees = Math.max(0, COMBINED_HIP_FLEX_MAX - pelvisX);
+    warnings.push({
+      line: source.line,
+      phase: step.name,
+      joint: hip,
+      action: source.action,
+      requested: source.degrees ?? Math.abs(hipX),
+      clamped: maxDegrees,
+      limit: { min: 0, max: maxDegrees },
+    });
+  }
+
+  // If the hips were carried from a previous phase, the newly-authored hinge
+  // is the channel that must yield. Use the most restrictive side.
+  const safePelvisX = Math.min(
+    120,
+    ...hips.map((hip) => (candidate.get(hip)?.x ?? 0) + COMBINED_HIP_FLEX_MAX),
+  );
+  clampPelvisTo(safePelvisX);
+}
+
+const COMBINED_HIP_FLEX_MAX = 135;
+
+function sourceForAxis(
+  step: AstStep,
+  bone: string,
+  axis: Axis,
+): AstJointTarget | null {
+  for (let i = step.targets.length - 1; i >= 0; i--) {
+    const target = step.targets[i]!;
+    if (!expandJoint(target.joint).includes(bone)) continue;
+    if (target.action === "hold" || actionAxis(target.action)?.axis === axis) return target;
+  }
+  return null;
+}
+
+function setPhaseAxis(phase: Phase, bone: string, axis: Axis, value: number): void {
+  const target = phase.targets.find((entry) => entry.boneId === bone);
+  if (!target) return;
+  target.euler[axis] = value;
+  if (target.axes && !target.axes.includes(axis)) target.axes.push(axis);
+}
+
+function initialSemanticState(startPose: string | undefined): Map<string, EulerDeg> {
+  const state = new Map<string, EulerDeg>();
+  if (startPose === "seated") {
+    state.set("hip_left", { x: -90, y: 0, z: 0 });
+    state.set("hip_right", { x: -90, y: 0, z: 0 });
+  }
+  return state;
+}
+
+function applyPhaseToState(state: Map<string, EulerDeg>, phase: Phase): void {
+  for (const target of phase.targets) {
+    const current = ensureState(state, target.boneId);
+    for (const axis of target.axes ?? AXES) current[axis] = target.euler[axis];
+  }
+}
+
+function cloneState(state: ReadonlyMap<string, EulerDeg>): Map<string, EulerDeg> {
+  return new Map([...state].map(([bone, euler]) => [bone, { ...euler }]));
+}
+
+function ensureState(map: Map<string, EulerDeg>, bone: string): EulerDeg {
+  let euler = map.get(bone);
+  if (!euler) {
+    euler = { ...ZERO };
+    map.set(bone, euler);
+  }
+  return euler;
+}
+
 /** Max travel offset from the load spot, metres, in any single axis. */
 const TRAVEL_MAX = 3;
 
@@ -219,11 +538,11 @@ function sideAnchor(anchor: string, effector: string): string {
   return anchor;
 }
 
-function ensure(map: Map<string, EulerDeg>, bone: string): EulerDeg {
-  let euler = map.get(bone);
-  if (!euler) {
-    euler = { ...ZERO };
-    map.set(bone, euler);
+function ensure(map: Map<string, AuthoredEuler>, bone: string): AuthoredEuler {
+  let authored = map.get(bone);
+  if (!authored) {
+    authored = { euler: { ...ZERO }, axes: new Set<Axis>() };
+    map.set(bone, authored);
   }
-  return euler;
+  return authored;
 }
diff --git a/packages/posecode-parser/src/index.ts b/packages/posecode-parser/src/index.ts
index 7c16daf..85bf857 100644
--- a/packages/posecode-parser/src/index.ts
+++ b/packages/posecode-parser/src/index.ts
@@ -53,6 +53,9 @@ export {
   JOINT_NAMES,
   ACTION_NAMES,
   EFFECTOR_NAMES,
+  REACH_EFFECTOR_NAMES,
+  PIN_EFFECTOR_NAMES,
+  GRIP_EFFECTOR_NAMES,
   GROUND_LOCK_EFFECTOR_NAMES,
   expandJoint,
   expandEffector,
@@ -60,5 +63,31 @@ export {
   actionAxis,
   boneType,
 } from "./joints.js";
-export { romFor, clampAngle, eulerRomFor, type RomLimit, type EulerRom } from "./rom.js";
+export {
+  romFor,
+  clampAngle,
+  eulerRomFor,
+  isActionAllowed,
+  actionsForJoint,
+  isLegacyAxialAction,
+  type RomLimit,
+  type EulerRom,
+} from "./rom.js";
 export { EASINGS, MODES, LEGACY_MODE_ALIASES, normalizeMode } from "./schema.js";
+export {
+  MOVEMENT_KINDS,
+  RIG_NAMES,
+  START_POSE_NAMES,
+  PROP_TYPES,
+  PROP_ANCHORS,
+  isMovementKind,
+  isRigName,
+  isStartPoseName,
+  isPropType,
+  propForAnchor,
+  anchorsForProps,
+  type MovementKind,
+  type RigName,
+  type StartPoseName,
+  type PropType,
+} from "./protocol.js";
diff --git a/packages/posecode-parser/src/joints.ts b/packages/posecode-parser/src/joints.ts
index cb0fe66..74b1101 100644
--- a/packages/posecode-parser/src/joints.ts
+++ b/packages/posecode-parser/src/joints.ts
@@ -101,8 +101,14 @@ export function expandJoint(name: string): string[] {
 const EFFECTOR_SIDES = [
   "hand_left",
   "hand_right",
+  // Closed-fist floor contacts use the wrist chain for positioning, but retain
+  // their semantic contact surface for the renderer's orientation solver.
+  "fist_left",
+  "fist_right",
   "elbow_left",
   "elbow_right",
+  "knee_left",
+  "knee_right",
   "foot_left",
   "foot_right",
   // Axial support point for floor-based poses such as cobra. Unlike a reach,
@@ -113,13 +119,20 @@ const EFFECTOR_SIDES = [
 /** Symmetric effector groups → the per-side effectors they expand to. */
 const EFFECTOR_GROUPS: Record<string, string[]> = {
   hands: ["hand_left", "hand_right"],
+  fists: ["fist_left", "fist_right"],
   forearms: ["elbow_left", "elbow_right"],
+  knees: ["knee_left", "knee_right"],
   feet: ["foot_left", "foot_right"],
 };
 
 /** Every effector name `reach:` / `pin:` accept: groups + per-side aliases. */
 export const EFFECTOR_NAMES = [...Object.keys(EFFECTOR_GROUPS), ...EFFECTOR_SIDES];
 
+/** Capability-specific contact vocabularies exposed to validators/editors. */
+export const REACH_EFFECTOR_NAMES = EFFECTOR_NAMES.filter((name) => name !== "pelvis");
+export const PIN_EFFECTOR_NAMES = [...EFFECTOR_NAMES];
+export const GRIP_EFFECTOR_NAMES = ["hands", "hand_left", "hand_right"] as const;
+
 /**
  * Contacts accepted by `ground-lock:`. Ground locking has historically
  * supported the symmetric hand/forearm/foot groups; per-side aliases let a
@@ -177,6 +190,12 @@ const ACTIONS: Record<string, ActionAxis> = {
   adduct: { axis: "z", sign: 1 },
   "rotate-in": { axis: "y", sign: 1 },
   "rotate-out": { axis: "y", sign: -1 },
+  // Axial rotation must use world-independent anatomical directions. Internal
+  // and external rotation make sense for paired ball-and-socket joints, but
+  // are ambiguous on the spine/cervical chain. Facing +Z, +Y turns the torso
+  // toward the person's left (+X), and -Y turns it right (-X).
+  "twist-left": { axis: "y", sign: 1 },
+  "twist-right": { axis: "y", sign: -1 },
   supinate: { axis: "y", sign: 1 },
   pronate: { axis: "y", sign: -1 },
   // The foot points FORWARD (+Z): lifting the toes toward the shin
diff --git a/packages/posecode-parser/src/parser.ts b/packages/posecode-parser/src/parser.ts
index 9a65872..8778c3d 100644
--- a/packages/posecode-parser/src/parser.ts
+++ b/packages/posecode-parser/src/parser.ts
@@ -10,8 +10,19 @@ import { tokenize, TokenizeError, type Line, type Token } from "./tokenizer.js";
 import type { ParseError } from "./types.js";
 import { normalizeMode, MODES } from "./schema.js";
 import { GROUND_LOCK_EFFECTOR_NAMES } from "./joints.js";
+import {
+  MOVEMENT_KINDS,
+  PROP_TYPES,
+  RIG_NAMES,
+  START_POSE_NAMES,
+  isMovementKind,
+  isPropType,
+  isRigName,
+  isStartPoseName,
+} from "./protocol.js";
 
 const GROUND_LOCK_EFFECTORS = new Set<string>(GROUND_LOCK_EFFECTOR_NAMES);
+const TOP_LEVEL_HEADS = new Set(["rig", "prop", "clip", "pose", "repeat", "step"]);
 
 export interface AstJointTarget {
   joint: string;
@@ -91,7 +102,13 @@ export function parseToAst(source: string): ParseAstResult {
   // Header: `posecode <kind> "<name>"`
   const header = lines[0]!;
   const ht = header.tokens;
-  if (word(ht[0]) !== "posecode" || ht[1]?.type !== "word" || ht[2]?.type !== "str") {
+  if (
+    header.indent !== 0 ||
+    ht.length !== 3 ||
+    word(ht[0]) !== "posecode" ||
+    ht[1]?.type !== "word" ||
+    ht[2]?.type !== "str"
+  ) {
     return {
       ast: null,
       errors: [
@@ -103,6 +120,16 @@ export function parseToAst(source: string): ParseAstResult {
     };
   }
 
+  if (!isMovementKind(ht[1].value)) {
+    return {
+      ast: null,
+      errors: [{
+        line: header.line,
+        message: `unknown movement kind "${ht[1].value}"; expected one of ${MOVEMENT_KINDS.join(", ")}`,
+      }],
+    };
+  }
+
   const doc: AstDoc = {
     kind: ht[1].value,
     name: ht[2].value,
@@ -114,6 +141,9 @@ export function parseToAst(source: string): ParseAstResult {
 
   let current: AstStep | null = null;
   let invalidStepIndent: number | null = null;
+  let topLevelIndent: number | null = null;
+  let currentStepIndent: number | null = null;
+  let currentChildIndent: number | null = null;
 
   for (let i = 1; i < lines.length; i++) {
     const ln = lines[i]!;
@@ -127,40 +157,107 @@ export function parseToAst(source: string): ParseAstResult {
     const head = word(ln.tokens[0]);
     const t = ln.tokens;
 
+    // Indentation is syntax, not presentation. All document declarations share
+    // one indentation level beneath the header, and all children of a step
+    // share one deeper level. Without this gate an unindented joint silently
+    // attached to the preceding step, while an indented `repeat` or `rig`
+    // mutated the whole document from inside that step.
+    if (head && TOP_LEVEL_HEADS.has(head)) {
+      if (ln.indent <= header.indent) {
+        errors.push({ line: ln.line, message: `top-level \`${head}\` must be indented beneath the posecode header` });
+        current = null;
+        currentStepIndent = null;
+        currentChildIndent = null;
+        if (head === "step") invalidStepIndent = ln.indent;
+        continue;
+      }
+      if (topLevelIndent === null) topLevelIndent = ln.indent;
+      if (ln.indent !== topLevelIndent) {
+        errors.push({ line: ln.line, message: `top-level \`${head}\` must use the document indentation level (${topLevelIndent} spaces)` });
+        current = null;
+        currentStepIndent = null;
+        currentChildIndent = null;
+        if (head === "step") invalidStepIndent = ln.indent;
+        continue;
+      }
+      if (head !== "step") {
+        current = null;
+        currentStepIndent = null;
+        currentChildIndent = null;
+      }
+    } else {
+      if (!current || currentStepIndent === null) {
+        const err = parseStepChild(ln, null);
+        if (err) errors.push(err);
+        continue;
+      }
+      if (ln.indent <= currentStepIndent) {
+        errors.push({ line: ln.line, message: "step children must be indented beneath their `step` header" });
+        continue;
+      }
+      if (currentChildIndent === null) currentChildIndent = ln.indent;
+      if (ln.indent !== currentChildIndent) {
+        errors.push({ line: ln.line, message: `step children must use one indentation level (${currentChildIndent} spaces)` });
+        continue;
+      }
+    }
+
     switch (head) {
       case "rig": {
         const r = word(t[1]);
-        if (!r) errors.push({ line: ln.line, message: "rig requires a name" });
+        if (t.length !== 2 || !r) {
+          errors.push({ line: ln.line, message: "expected `rig humanoid`" });
+        } else if (!isRigName(r)) {
+          errors.push({
+            line: ln.line,
+            message: `unknown rig "${r}"; expected one of ${RIG_NAMES.join(", ")}`,
+          });
+        }
         else doc.rig = r;
         break;
       }
       case "prop": {
-        // `prop <type>`: a scene object (chair | wall | bar), repeatable.
+        // `prop <type>`: a built-in scene object, repeatable.
         const p = word(t[1]);
-        if (!p) errors.push({ line: ln.line, message: "prop requires a type" });
+        if (t.length !== 2 || !p) {
+          errors.push({ line: ln.line, message: "expected `prop <type>`" });
+        } else if (!isPropType(p)) {
+          errors.push({
+            line: ln.line,
+            message: `unknown prop "${p}"; expected one of ${PROP_TYPES.join(", ")}`,
+          });
+        }
         else doc.props.push(p);
         break;
       }
       case "clip": {
         // `clip "<name>"`: an optional mocap clip the renderer may play
         // (retargeted) instead of / blended with the procedural phases.
-        if (t[1]?.type === "str") doc.clip = t[1].value;
+        if (t.length === 2 && t[1]?.type === "str") doc.clip = t[1].value;
         else errors.push({ line: ln.line, message: 'expected `clip "<name>"`' });
         break;
       }
       case "pose": {
         // `pose start = <name>`
-        const name = t.length > 0 ? t[t.length - 1] : undefined;
-        if (word(t[1]) === "start" && name && name.type === "word") {
-          doc.startPose = name.value;
+        const name = word(t[3]);
+        if (t.length === 4 && word(t[1]) === "start" && t[2]?.type === "eq" && name) {
+          if (!isStartPoseName(name)) {
+            errors.push({
+              line: ln.line,
+              message: `unknown start pose "${name}"; expected one of ${START_POSE_NAMES.join(", ")}`,
+            });
+            break;
+          }
+          doc.startPose = name;
         } else {
           errors.push({ line: ln.line, message: "expected `pose start = <name>`" });
         }
         break;
       }
       case "repeat": {
-        if (t[1]?.type === "num") doc.repeat = Math.max(1, Math.round(Number(t[1].value)));
-        else errors.push({ line: ln.line, message: "repeat requires a count" });
+        const count = t[1]?.type === "num" ? Number(t[1].value) : NaN;
+        if (t.length === 2 && Number.isInteger(count) && count >= 1) doc.repeat = count;
+        else errors.push({ line: ln.line, message: "repeat requires a positive integer count" });
         break;
       }
       case "step": {
@@ -176,7 +273,8 @@ export function parseToAst(source: string): ParseAstResult {
           dur?.type !== "dur" ||
           !easingTok ||
           resolved.mode === null ||
-          colon?.type !== "colon"
+          colon?.type !== "colon" ||
+          t.length !== 5
         ) {
           errors.push({
             line: ln.line,
@@ -186,6 +284,8 @@ export function parseToAst(source: string): ParseAstResult {
                 : 'expected `step "<name>" <duration> <mode>:`',
           });
           current = null;
+          currentStepIndent = null;
+          currentChildIndent = null;
           invalidStepIndent = ln.indent;
           break;
         }
@@ -201,6 +301,8 @@ export function parseToAst(source: string): ParseAstResult {
           line: ln.line,
         };
         doc.steps.push(current);
+        currentStepIndent = ln.indent;
+        currentChildIndent = null;
         break;
       }
       default: {
@@ -224,7 +326,9 @@ function parseStepChild(ln: Line, current: AstStep | null): ParseError | null {
 
   if (head === "cue") {
     if (!current) return { line: ln.line, message: "`cue` outside of a step" };
-    if (t[1]?.type !== "str") return { line: ln.line, message: "`cue` requires a quoted string" };
+    if (t.length !== 2 || t[1]?.type !== "str") {
+      return { line: ln.line, message: "`cue` requires exactly one quoted string" };
+    }
     current.cue = t[1].value;
     return null;
   }
@@ -234,13 +338,16 @@ function parseStepChild(ln: Line, current: AstStep | null): ParseError | null {
     if (t[1]?.type !== "colon") {
       return { line: ln.line, message: "expected `ground-lock: <contacts>`" };
     }
+    if (t.slice(2).some((tok) => tok.type !== "word" && tok.type !== "comma")) {
+      return { line: ln.line, message: "expected `ground-lock: <effectors>`" };
+    }
     const words = t.slice(2).filter((tok) => tok.type === "word").map((tok) => tok.value);
     const effectors: string[] = [];
     for (let i = 0; i < words.length; i++) {
       const value = words[i]!;
       if (value === "and") continue;
       const next = words[i + 1];
-      if ((value === "left" || value === "right") && next) {
+      if (value === "left" || value === "right") {
         const base = next === "hand" ? "hand" : next === "foot" ? "foot" :
           next === "forearm" || next === "elbow" ? "elbow" : null;
         if (base) {
@@ -248,6 +355,7 @@ function parseStepChild(ln: Line, current: AstStep | null): ParseError | null {
           i++;
           continue;
         }
+        return { line: ln.line, message: `unknown ground-lock effector: "${value}${next ? ` ${next}` : ""}"` };
       }
       if (!GROUND_LOCK_EFFECTORS.has(value)) {
         return { line: ln.line, message: `unknown ground-lock effector: "${value}"` };
@@ -267,7 +375,7 @@ function parseStepChild(ln: Line, current: AstStep | null): ParseError | null {
     if (!current) return { line: ln.line, message: "`reach` outside of a step" };
     const effector = t[2]?.type === "word" ? t[2].value : null;
     const target = t[3]?.type === "word" ? t[3].value : null;
-    if (t[1]?.type !== "colon" || !effector || !target) {
+    if (t.length !== 4 || t[1]?.type !== "colon" || !effector || !target) {
       return { line: ln.line, message: "expected `reach: <effector> <target>`" };
     }
     current.reaches.push({ effector, target, line: ln.line });
@@ -279,7 +387,7 @@ function parseStepChild(ln: Line, current: AstStep | null): ParseError | null {
     if (!current) return { line: ln.line, message: "`pin` outside of a step" };
     const effector = t[2]?.type === "word" ? t[2].value : null;
     const anchor = t[3]?.type === "word" ? t[3].value : null;
-    if (t[1]?.type !== "colon" || !effector || !anchor) {
+    if (t.length !== 4 || t[1]?.type !== "colon" || !effector || !anchor) {
       return { line: ln.line, message: "expected `pin: <effector> <anchor>`" };
     }
     current.pins.push({ effector, anchor, line: ln.line });
@@ -293,7 +401,7 @@ function parseStepChild(ln: Line, current: AstStep | null): ParseError | null {
     if (!current) return { line: ln.line, message: "`grip` outside of a step" };
     const effector = t[2]?.type === "word" ? t[2].value : null;
     const anchor = t[3]?.type === "word" ? t[3].value : null;
-    if (t[1]?.type !== "colon" || !effector || !anchor) {
+    if (t.length !== 4 || t[1]?.type !== "colon" || !effector || !anchor) {
       return { line: ln.line, message: "expected `grip: <effector> <anchor>`" };
     }
     current.grips.push({ effector, anchor, line: ln.line });
@@ -304,7 +412,7 @@ function parseStepChild(ln: Line, current: AstStep | null): ParseError | null {
     // `turn: <degrees>`: the figure's facing (root yaw about world Y) at the
     // end of this phase. Absolute, accumulated forward like a joint target.
     if (!current) return { line: ln.line, message: "`turn` outside of a step" };
-    if (t[1]?.type !== "colon" || t[2]?.type !== "num") {
+    if (t.length !== 3 || t[1]?.type !== "colon" || t[2]?.type !== "num") {
       return { line: ln.line, message: "expected `turn: <degrees>`" };
     }
     current.turn = Number(t[2].value);
@@ -315,25 +423,44 @@ function parseStepChild(ln: Line, current: AstStep | null): ParseError | null {
     // `travel: <x> <z>`: the figure's ground position (world X/Z metres) at the
     // end of this phase. Absolute offset from the load spot, accumulated forward.
     if (!current) return { line: ln.line, message: "`travel` outside of a step" };
-    if (t[1]?.type !== "colon" || t[2]?.type !== "num" || t[3]?.type !== "num") {
+    if (
+      t.length !== 4 ||
+      t[1]?.type !== "colon" ||
+      t[2]?.type !== "num" ||
+      t[3]?.type !== "num"
+    ) {
       return { line: ln.line, message: "expected `travel: <x> <z>`" };
     }
     current.travel = { x: Number(t[2].value), z: Number(t[3].value) };
     return null;
   }
 
-  // Joint target: `<joint>: <action> [<degrees>]`
+  // Joint target: `<joint>: <action> <degrees>` or `<joint>: hold neutral`.
   if (!current) {
     return { line: ln.line, message: "joint target outside of a step" };
   }
   if (head === null || t[1]?.type !== "colon" || t[2]?.type !== "word") {
-    return { line: ln.line, message: "expected `<joint>: <action> [<degrees>]`" };
+    return { line: ln.line, message: "expected `<joint>: <action> <degrees>`" };
+  }
+  const action = t[2].value;
+  if (action === "hold") {
+    if (t.length !== 4 || word(t[3]) !== "neutral") {
+      return {
+        line: ln.line,
+        message: "expected `<joint>: hold neutral` (no trailing angle)",
+      };
+    }
+    current.targets.push({ joint: head, action, degrees: null, line: ln.line });
+    return null;
   }
   const degTok = t[3];
+  if (t.length !== 4 || degTok?.type !== "num") {
+    return { line: ln.line, message: "expected `<joint>: <action> <degrees>`" };
+  }
   current.targets.push({
     joint: head,
-    action: t[2].value,
-    degrees: degTok && degTok.type === "num" ? Number(degTok.value) : null,
+    action,
+    degrees: Number(degTok.value),
     line: ln.line,
   });
   return null;
diff --git a/packages/posecode-parser/src/protocol.ts b/packages/posecode-parser/src/protocol.ts
new file mode 100644
index 0000000..e2a3fdf
--- /dev/null
+++ b/packages/posecode-parser/src/protocol.ts
@@ -0,0 +1,63 @@
+/** Closed vocabulary for document-level Posecode protocol declarations. */
+
+export const MOVEMENT_KINDS = ["exercise", "stretch", "posture"] as const;
+export type MovementKind = (typeof MOVEMENT_KINDS)[number];
+
+export const RIG_NAMES = ["humanoid"] as const;
+export type RigName = (typeof RIG_NAMES)[number];
+
+export const START_POSE_NAMES = [
+  "neutral",
+  "standing",
+  "plank",
+  "supine",
+  "prone",
+  "seated",
+] as const;
+export type StartPoseName = (typeof START_POSE_NAMES)[number];
+
+export const PROP_TYPES = ["chair", "wall", "bar", "box", "dip-bars"] as const;
+export type PropType = (typeof PROP_TYPES)[number];
+
+/** World-anchor names supplied by each built-in prop. Sided grip aliases are included. */
+export const PROP_ANCHORS: Readonly<Record<PropType, readonly string[]>> = {
+  chair: ["seat"],
+  wall: ["wall"],
+  bar: ["bar", "bar_left", "bar_right"],
+  box: ["box"],
+  "dip-bars": ["bars", "bars_left", "bars_right"],
+};
+
+export function isMovementKind(value: string): value is MovementKind {
+  return (MOVEMENT_KINDS as readonly string[]).includes(value);
+}
+
+export function isRigName(value: string): value is RigName {
+  return (RIG_NAMES as readonly string[]).includes(value);
+}
+
+export function isStartPoseName(value: string): value is StartPoseName {
+  return (START_POSE_NAMES as readonly string[]).includes(value);
+}
+
+export function isPropType(value: string): value is PropType {
+  return (PROP_TYPES as readonly string[]).includes(value);
+}
+
+/** The prop type that owns an anchor, or null when the word is not a prop anchor. */
+export function propForAnchor(anchor: string): PropType | null {
+  for (const type of PROP_TYPES) {
+    if (PROP_ANCHORS[type].includes(anchor)) return type;
+  }
+  return null;
+}
+
+/** All anchor names made available by the props declared in one document. */
+export function anchorsForProps(props: readonly string[]): Set<string> {
+  const anchors = new Set<string>();
+  for (const value of props) {
+    if (!isPropType(value)) continue;
+    for (const anchor of PROP_ANCHORS[value]) anchors.add(anchor);
+  }
+  return anchors;
+}
diff --git a/packages/posecode-parser/src/rom.ts b/packages/posecode-parser/src/rom.ts
index 73bdfcd..3b20864 100644
--- a/packages/posecode-parser/src/rom.ts
+++ b/packages/posecode-parser/src/rom.ts
@@ -1,10 +1,11 @@
 /**
- * Range-of-Motion (ROM) hard limits per joint type and action, in degrees.
+ * Configured Range-of-Motion (ROM) limits per joint type and action, in degrees.
  *
- * Values follow the maximum healthy limits in the project research
- * (CDC / clinical normative data), §5.1 Tables 1 & 2. The clamp pass treats
+ * Values are implementation bounds informed by the project's cited references;
+ * they are not a clinical assessment or a guarantee that a complete motion is
+ * safe for a particular person. The clamp pass treats
  * `max` as a HARD ceiling: e.g. a requested knee flexion of 200° is clamped to
- * 144°, so the renderer can never produce an anatomically impossible joint.
+ * 144°, preventing that authored channel from exceeding its configured bound.
  *
  * `min` is the floor of the achievable angle for that action direction (0 for
  * most; small positive ceilings on extension capture hyperextension limits).
@@ -37,6 +38,9 @@ const ROM: Record<string, ActionLimits> = {
   wrist: {
     flex: { min: 0, max: 80 },
     extend: { min: 0, max: 70 },
+    // Radial/ulnar deviation expressed in the DSL's midline-relative terms.
+    abduct: { min: 0, max: 20 },
+    adduct: { min: 0, max: 30 },
   },
   // --- Lower extremity (research Table 2) ---
   hip: {
@@ -70,12 +74,16 @@ const ROM: Record<string, ActionLimits> = {
     adduct: { min: 0, max: 35 },
     "rotate-in": { min: 0, max: 45 },
     "rotate-out": { min: 0, max: 45 },
+    "twist-left": { min: 0, max: 45 },
+    "twist-right": { min: 0, max: 45 },
   },
   chest: {
     flex: { min: 0, max: 30 },
     extend: { min: 0, max: 20 },
     "rotate-in": { min: 0, max: 35 },
     "rotate-out": { min: 0, max: 35 },
+    "twist-left": { min: 0, max: 35 },
+    "twist-right": { min: 0, max: 35 },
   },
   neck: {
     flex: { min: 0, max: 50 },
@@ -84,6 +92,21 @@ const ROM: Record<string, ActionLimits> = {
     adduct: { min: 0, max: 45 },
     "rotate-in": { min: 0, max: 80 },
     "rotate-out": { min: 0, max: 80 },
+    "twist-left": { min: 0, max: 80 },
+    "twist-right": { min: 0, max: 80 },
+  },
+  // The head control is the upper-cervical share of motion, not a second full
+  // neck. Conservative limits prevent neck+head targets from silently doubling
+  // the complete cervical range.
+  head: {
+    flex: { min: 0, max: 25 },
+    extend: { min: 0, max: 25 },
+    abduct: { min: 0, max: 20 },
+    adduct: { min: 0, max: 20 },
+    "rotate-in": { min: 0, max: 40 },
+    "rotate-out": { min: 0, max: 40 },
+    "twist-left": { min: 0, max: 40 },
+    "twist-right": { min: 0, max: 40 },
   },
   // --- Hand / fingers (single-DOF curl per finger) ---
   index: { flex: { min: 0, max: 100 }, extend: { min: 0, max: 20 } },
@@ -98,7 +121,14 @@ const ROM: Record<string, ActionLimits> = {
   },
 };
 
-import { actionAxis, boneType, flexionSign, isLeft } from "./joints.js";
+import {
+  ACTION_NAMES,
+  actionAxis,
+  boneType,
+  expandJoint,
+  flexionSign,
+  isLeft,
+} from "./joints.js";
 import type { Axis } from "./types.js";
 
 /** Look up the ROM limit for a bone + action, or null if undefined. */
@@ -108,6 +138,35 @@ export function romFor(boneId: string, action: string): RomLimit | null {
   return limits[action] ?? null;
 }
 
+/** True when an anatomical action is defined for this concrete bone. */
+export function isActionAllowed(boneId: string, action: string): boolean {
+  return romFor(boneId, action) !== null;
+}
+
+/**
+ * Actions valid for every bone represented by a DSL joint/group name. The
+ * intersection makes completions for heterogeneous groups such as `fingers`
+ * safe: thumb-only abduction is not offered for all fingers at once.
+ */
+export function actionsForJoint(joint: string): string[] {
+  const bones = expandJoint(joint);
+  if (bones.length === 0) return [];
+  const axial = bones.every((bone) => AXIAL_TYPES.has(boneType(bone)));
+  return ACTION_NAMES.filter(
+    (action) =>
+      (!axial || (action !== "rotate-in" && action !== "rotate-out")) &&
+      bones.every((bone) => isActionAllowed(bone, action)),
+  );
+}
+
+const AXIAL_TYPES = new Set(["spine", "chest", "neck", "head"]);
+
+/** True for the accepted-but-deprecated ambiguous axial rotation spelling. */
+export function isLegacyAxialAction(boneId: string, action: string): boolean {
+  return AXIAL_TYPES.has(boneType(boneId)) &&
+    (action === "rotate-in" || action === "rotate-out");
+}
+
 /** Signed per-axis rotation range, degrees, in a bone's LOCAL Euler frame. */
 export type EulerRom = Record<Axis, RomLimit>;
 
@@ -117,8 +176,8 @@ export type EulerRom = Record<Axis, RomLimit>;
  * (flexion-sign per joint, Y/Z mirrored on left-side bones). Each axis range is
  * the union of every action that rotates it; axes with no ROM entry stay
  * `{min: 0, max: 0}`, locking them (a knee is a pure hinge). This is what lets
- * the IK solver honour the same hard limits as authored angles: any solved
- * joint rotation clamped into this box is inside the healthy ROM.
+ * the IK solver honour the same configured limits as authored angles: any
+ * solved joint rotation clamped into this box is inside that ROM box.
  *
  * Returns null for bones without ROM data (e.g. `head`).
  */
diff --git a/packages/posecode-parser/src/schema.ts b/packages/posecode-parser/src/schema.ts
index bb33ba5..f9cef04 100644
--- a/packages/posecode-parser/src/schema.ts
+++ b/packages/posecode-parser/src/schema.ts
@@ -10,6 +10,12 @@
 import { z } from "zod";
 import type { ParseError, TimingMode } from "./types.js";
 import type { AstDoc } from "./parser.js";
+import {
+  MOVEMENT_KINDS,
+  PROP_TYPES,
+  RIG_NAMES,
+  START_POSE_NAMES,
+} from "./protocol.js";
 
 export const MODES = ["flow", "settle", "drive", "snap", "linear"] as const;
 
@@ -71,13 +77,13 @@ const stepSchema = z.object({
 });
 
 const docSchema = z.object({
-  kind: z.string().min(1),
+  kind: z.enum(MOVEMENT_KINDS),
   name: z.string().min(1),
-  rig: z.string().min(1),
-  startPose: z.string().optional(),
-  props: z.array(z.string()),
+  rig: z.enum(RIG_NAMES),
+  startPose: z.enum(START_POSE_NAMES).optional(),
+  props: z.array(z.enum(PROP_TYPES)),
   repeat: z.number().int().positive(),
-  steps: z.array(stepSchema),
+  steps: z.array(stepSchema).min(1, "a Posecode document requires at least one step"),
 });
 
 /**
diff --git a/packages/posecode-parser/src/types.ts b/packages/posecode-parser/src/types.ts
index cb229e0..df10e34 100644
--- a/packages/posecode-parser/src/types.ts
+++ b/packages/posecode-parser/src/types.ts
@@ -27,6 +27,12 @@ export interface EulerDeg {
 export interface JointTarget {
   boneId: string;
   euler: EulerDeg;
+  /**
+   * Euler channels explicitly authored by this target. Renderers merge only
+   * these channels into the carried pose; omitted channels retain their prior
+   * value. Absent on legacy/manually-built IR, where all channels are applied.
+   */
+  axes?: Axis[];
 }
 
 /**
diff --git a/packages/posecode-parser/test/rom.test.ts b/packages/posecode-parser/test/rom.test.ts
index 6970143..55286df 100644
--- a/packages/posecode-parser/test/rom.test.ts
+++ b/packages/posecode-parser/test/rom.test.ts
@@ -77,7 +77,10 @@ describe("euler ROM boxes (eulerRomFor)", () => {
     expect(eulerRomFor("pelvis")!.x).toEqual({ min: 0, max: 120 });
   });
 
-  it("returns null for a bone without ROM data", () => {
-    expect(eulerRomFor("head")).toBeNull();
+  it("bounds the upper-cervical head share independently from the neck", () => {
+    const box = eulerRomFor("head")!;
+    expect(box.x).toEqual({ min: -25, max: 25 });
+    expect(box.y).toEqual({ min: -40, max: 40 });
+    expect(box.z).toEqual({ min: -20, max: 20 });
   });
 });
diff --git a/packages/posecode-parser/test/strict-validation.test.ts b/packages/posecode-parser/test/strict-validation.test.ts
new file mode 100644
index 0000000..b3b8060
--- /dev/null
+++ b/packages/posecode-parser/test/strict-validation.test.ts
@@ -0,0 +1,268 @@
+import { describe, expect, it } from "vitest";
+import { parse } from "../src/index.js";
+
+function doc(...body: string[]): string {
+  return [
+    'posecode posture "Test"',
+    "  rig humanoid",
+    '  step "Pose" 1s linear:',
+    ...body.map((line) => `    ${line}`),
+  ].join("\n");
+}
+
+describe("closed protocol vocabulary and arity", () => {
+  it.each([
+    ['posecode dance "X"\n  rig humanoid', /movement kind/i],
+    ['posecode posture "X"\n  rig robot', /unknown rig/i],
+    ['posecode posture "X"\n  pose start = crouching', /unknown start pose/i],
+    ['posecode posture "X"\n  prop sword', /unknown prop/i],
+  ])("rejects declarations outside the protocol: %s", (source, message) => {
+    const result = parse(source);
+    expect(result.ir).toBeNull();
+    expect(result.errors.some((error) => message.test(error.message))).toBe(true);
+  });
+
+  it("accepts exactly `hold neutral` and marks all channels explicit", () => {
+    const result = parse(doc("wrist_left: hold neutral"));
+    expect(result.errors).toEqual([]);
+    expect(result.ir?.phases[0]?.targets[0]?.axes).toEqual(["x", "y", "z"]);
+  });
+
+  it("rejects the legacy trailing zero instead of silently ignoring it", () => {
+    const result = parse(doc("wrist_left: hold neutral 0"));
+    expect(result.ir).toBeNull();
+    expect(result.errors[0]?.message).toContain("no trailing angle");
+  });
+
+  it("rejects surplus tokens on top-level and phase directives", () => {
+    expect(parse('posecode posture "X" extra').ir).toBeNull();
+    expect(parse('posecode posture "X"\n  rig humanoid extra').ir).toBeNull();
+    expect(parse(doc("cue \"one\" extra")).ir).toBeNull();
+  });
+
+  it("requires at least one movement step", () => {
+    const result = parse('posecode posture "Empty"\n  rig humanoid');
+    expect(result.ir).toBeNull();
+    expect(result.errors[0]?.message).toMatch(/at least one step/i);
+  });
+});
+
+describe("indentation grammar", () => {
+  it("rejects an unindented joint instead of attaching it to the preceding step", () => {
+    const result = parse([
+      'posecode posture "Indent"',
+      "  rig humanoid",
+      '  step "Pose" 1s linear:',
+      "hip_left: flex 30",
+    ].join("\n"));
+    expect(result.ir).toBeNull();
+    expect(result.errors[0]?.message).toMatch(/step children must be indented/i);
+  });
+
+  it("rejects a top-level directive nested inside a step", () => {
+    const result = parse([
+      'posecode posture "Indent"',
+      "  rig humanoid",
+      '  step "Pose" 1s linear:',
+      "    hips: flex 30",
+      "    repeat 8",
+    ].join("\n"));
+    expect(result.ir).toBeNull();
+    expect(result.errors[0]?.message).toMatch(/document indentation level/i);
+  });
+
+  it("rejects inconsistent child indentation", () => {
+    const result = parse([
+      'posecode posture "Indent"',
+      "  rig humanoid",
+      '  step "Pose" 1s linear:',
+      "    hips: flex 30",
+      "      knees: flex 40",
+    ].join("\n"));
+    expect(result.ir).toBeNull();
+    expect(result.errors[0]?.message).toMatch(/one indentation level/i);
+  });
+});
+
+describe("joint/action compatibility", () => {
+  it("errors instead of applying an unsupported action without a ROM", () => {
+    const result = parse(doc("knee_left: abduct 20"));
+    expect(result.ir).toBeNull();
+    expect(result.errors).toEqual([
+      expect.objectContaining({ line: 4, message: expect.stringMatching(/not supported.*knee_left/i) }),
+    ]);
+  });
+
+  it("enforces conservative upper-cervical head ROM", () => {
+    const result = parse(doc("head: flex 50"));
+    expect(result.errors).toEqual([]);
+    expect(result.warnings[0]).toEqual(expect.objectContaining({ clamped: 25 }));
+    expect(result.ir?.phases[0]?.targets[0]?.euler.x).toBe(25);
+  });
+
+  it("supports bounded wrist radial and ulnar deviation", () => {
+    const result = parse(doc("wrist_left: abduct 30", "wrist_right: adduct 25"));
+    expect(result.errors).toEqual([]);
+    expect(result.warnings).toHaveLength(1);
+    expect(result.warnings[0]).toEqual(expect.objectContaining({ clamped: 20 }));
+  });
+
+  it("supports explicit left/right axial twist while accepting the legacy alias", () => {
+    const result = parse(doc("chest: twist-left 20", "neck: rotate-out 15"));
+    expect(result.errors).toEqual([]);
+    expect(result.ir?.phases[0]?.targets.find((t) => t.boneId === "chest")?.euler.y).toBe(20);
+    expect(result.ir?.phases[0]?.targets.find((t) => t.boneId === "neck")?.euler.y).toBe(-15);
+  });
+});
+
+describe("contact namespace", () => {
+  it("accepts floor, body landmarks, declared props, fists, and knees", () => {
+    const source = [
+      'posecode posture "Landing"',
+      "  rig humanoid",
+      "  prop bar",
+      '  step "Land" 1s settle:',
+      "    reach: fists floor",
+      "    pin: knees floor",
+      "    reach: hand_left knee_left",
+      "    reach: hand_right bar",
+    ].join("\n");
+    const result = parse(source);
+    expect(result.errors).toEqual([]);
+    expect(result.ir?.phases[0]?.reaches).toEqual(expect.arrayContaining([
+      { effector: "fist_left", target: "floor" },
+      { effector: "fist_right", target: "floor" },
+    ]));
+    expect(result.ir?.phases[0]?.pins).toEqual([
+      { effector: "knee_left", anchor: "floor" },
+      { effector: "knee_right", anchor: "floor" },
+    ]);
+  });
+
+  it("requires prop anchors to be declared", () => {
+    const result = parse(doc("reach: hand_left bar"));
+    expect(result.ir).toBeNull();
+    expect(result.errors[0]?.message).toMatch(/requires declared prop "bar"/i);
+  });
+
+  it("keeps pelvis as a pin-only effector", () => {
+    const result = parse(doc("reach: pelvis floor"));
+    expect(result.ir).toBeNull();
+    expect(result.errors[0]).toEqual(expect.objectContaining({
+      line: 4,
+      message: expect.stringMatching(/pelvis.*unsupported.*pin/i),
+    }));
+    expect(parse(doc("pin: pelvis floor")).errors).toEqual([]);
+  });
+
+  it("rejects unknown anchors and non-hand grips", () => {
+    expect(parse(doc("pin: foot_left moon")).errors[0]?.message).toMatch(/unknown pin anchor/i);
+    expect(parse(doc("grip: fists floor")).errors[0]?.message).toMatch(/must resolve to a hand/i);
+  });
+
+  it("keeps reach, pin, and grip target namespaces semantically distinct", () => {
+    expect(parse(doc("pin: hand_left knee_left")).errors[0]?.message).toMatch(/body-relative/i);
+    expect(parse(doc("grip: hands floor")).errors[0]?.message).toMatch(/bar.*dip-rail/i);
+    expect(parse(doc("grip: hands knee_left")).errors[0]?.message).toMatch(/bar.*dip-rail/i);
+  });
+
+  it("rejects collapsed or crossed sided grip anchors", () => {
+    const grouped = [
+      'posecode exercise "Grip"',
+      "  rig humanoid",
+      "  prop bar",
+      '  step "Hold" 1s settle:',
+      "    grip: hands bar_left",
+    ].join("\n");
+    expect(parse(grouped).errors[0]?.message).toMatch(/grouped grip.*bare anchor/i);
+    const crossed = grouped.replace("hands bar_left", "hand_right bar_left");
+    expect(parse(crossed).errors[0]?.message).toMatch(/does not match/i);
+  });
+
+  it("rejects competing whole-root contact solvers in one step", () => {
+    const result = parse(doc("pin: knee_left floor", "ground-lock: foot_right"));
+    expect(result.ir).toBeNull();
+    expect(result.errors[0]?.message).toMatch(/pin.*cannot be combined.*ground-lock/i);
+  });
+
+  it("rejects multiple raw pins and self-referential reaches", () => {
+    expect(parse(doc("pin: pelvis floor", "pin: feet floor")).errors[0]?.message)
+      .toMatch(/only one primary.*pin/i);
+    expect(parse(doc("reach: hand_left wrist_left")).errors[0]?.message)
+      .toMatch(/cannot target its own joint/i);
+    expect(parse(doc("reach: knee_left knee_left")).errors[0]?.message)
+      .toMatch(/cannot target its own joint/i);
+  });
+});
+
+describe("sparse channels and coupled hip mechanics", () => {
+  it("records only the axis authored by each phase", () => {
+    const source = [
+      'posecode exercise "Curl"',
+      "  rig humanoid",
+      '  step "Curl" 1s flow:',
+      "    elbow_left: flex 70",
+      '  step "Turn palm" 1s settle:',
+      "    elbow_left: pronate 40",
+    ].join("\n");
+    const result = parse(source);
+    expect(result.errors).toEqual([]);
+    expect(result.ir?.phases[0]?.targets[0]?.axes).toEqual(["x"]);
+    expect(result.ir?.phases[1]?.targets[0]?.axes).toEqual(["y"]);
+  });
+
+  it("clamps same-phase hinge plus hip flexion to 135 degrees local", () => {
+    const result = parse(doc("pelvis: hinge 50", "hips: flex 110"));
+    expect(result.errors).toEqual([]);
+    const hips = result.ir?.phases[0]?.targets.filter((target) => target.boneId.startsWith("hip_"));
+    expect(hips?.map((target) => target.euler.x)).toEqual([-85, -85]);
+    expect(result.warnings.filter((warning) => warning.joint.startsWith("hip_"))).toHaveLength(2);
+  });
+
+  it("clamps a later hinge against carried hip flexion", () => {
+    const source = [
+      'posecode posture "Fold"',
+      "  rig humanoid",
+      '  step "Lift knee" 1s flow:',
+      "    hips: flex 110",
+      '  step "Hinge" 1s settle:',
+      "    pelvis: hinge 50",
+    ].join("\n");
+    const result = parse(source);
+    expect(result.errors).toEqual([]);
+    expect(result.ir?.phases[1]?.targets[0]?.euler.x).toBe(25);
+    expect(result.warnings).toContainEqual(expect.objectContaining({ joint: "pelvis", clamped: 25 }));
+  });
+
+  it("accounts for hip flexion in the seated base pose", () => {
+    const source = [
+      'posecode posture "Seated fold"',
+      "  rig humanoid",
+      "  pose start = seated",
+      '  step "Fold" 1s settle:',
+      "    pelvis: hinge 60",
+    ].join("\n");
+    const result = parse(source);
+    expect(result.errors).toEqual([]);
+    expect(result.ir?.phases[0]?.targets[0]?.euler.x).toBe(45);
+  });
+
+  it("reduces a new hinge before touching a same-step hip when the opposite hip is carried", () => {
+    const source = [
+      'posecode posture "Asymmetric fold"',
+      "  rig humanoid",
+      '  step "Carry left" 1s flow:',
+      "    hip_left: flex 110",
+      '  step "Add hinge and right" 1s settle:',
+      "    pelvis: hinge 50",
+      "    hip_right: flex 110",
+    ].join("\n");
+    const result = parse(source);
+    expect(result.errors).toEqual([]);
+    const phase = result.ir?.phases[1];
+    expect(phase?.targets.find((target) => target.boneId === "pelvis")?.euler.x).toBe(25);
+    expect(phase?.targets.find((target) => target.boneId === "hip_right")?.euler.x).toBe(-110);
+    expect(result.warnings).toContainEqual(expect.objectContaining({ joint: "pelvis", clamped: 25 }));
+    expect(result.warnings.some((warning) => warning.joint === "hip_right")).toBe(false);
+  });
+});
diff --git a/packages/posecode-render/src/character.ts b/packages/posecode-render/src/character.ts
index 6879683..9b07780 100644
--- a/packages/posecode-render/src/character.ts
+++ b/packages/posecode-render/src/character.ts
@@ -75,6 +75,10 @@ export interface Character {
   correctContacts(driver: Mannequin, boneIds: readonly string[]): void;
   /** Precise CPU-skinned world bounds for diagnostics/export validation. */
   getBounds(): THREE.Box3;
+  /** World position of one mapped character joint, addressed by driver id. */
+  getJointWorldPosition(driverId: string): THREE.Vector3 | null;
+  /** Character orientation expressed back in the driver's semantic frame. */
+  getJointDriverQuaternion(driverId: string): THREE.Quaternion | null;
   /** Fast sampled visible-surface correction; returns the applied Y delta. */
   reconcileFloor(floorY?: number): number;
   /**
@@ -447,6 +451,24 @@ export function rigCharacter(charScene: THREE.Object3D): Character {
     return foundSkin ? box : new THREE.Box3().setFromObject(group);
   }
 
+  function getJointWorldPosition(driverId: string): THREE.Vector3 | null {
+    const mappedBone = mappedById.get(driverId);
+    if (!mappedBone) return null;
+    return mappedBone.node.getWorldPosition(new THREE.Vector3());
+  }
+
+  function getJointDriverQuaternion(driverId: string): THREE.Quaternion | null {
+    const mappedBone = mappedById.get(driverId);
+    if (!mappedBone) return null;
+    // sync writes characterWorld = driverWorld * calibratedRestWorld.
+    // Removing the rest frame yields an orientation whose local axes match the
+    // driver metrics (sole/palm/knuckle normals) while still sampling the
+    // actual retargeted character skeleton.
+    return mappedBone.node
+      .getWorldQuaternion(new THREE.Quaternion())
+      .multiply(mappedBone.restWorld.clone().invert());
+  }
+
   // A dense uniform sample plus every rest-pose axis extremum. Xbot's 28k
   // vertices reduce to ~3.6k skin transforms per frame while retaining sole,
   // back, head, hand, and limb surface coverage under arbitrary articulation.
@@ -497,6 +519,8 @@ export function rigCharacter(charScene: THREE.Object3D): Character {
     sync,
     correctContacts,
     getBounds,
+    getJointWorldPosition,
+    getJointDriverQuaternion,
     reconcileFloor,
     skinnedMesh,
     drivenNodes,
diff --git a/packages/posecode-render/src/contacts.ts b/packages/posecode-render/src/contacts.ts
index 0a1fdee..8735939 100644
--- a/packages/posecode-render/src/contacts.ts
+++ b/packages/posecode-render/src/contacts.ts
@@ -2,57 +2,234 @@
 import * as THREE from "three";
 import { eulerRomFor, type PinTarget, type ReachTarget, type GripTarget } from "posecode-parser";
 import type { Mannequin } from "./mannequin.js";
+import { effectorBoneId } from "./reach.js";
 
 const DOWN = new THREE.Vector3(0, -1, 0);
 const DEG = Math.PI / 180;
+const CONTACT_EULER = new THREE.Euler();
+
+export type HandSide = "left" | "right";
+export type HandContactKind = "palm" | "fist";
 
 /**
- * Rotate contacting wrists so the palm face normal points into the floor.
- * Applies to hands pressed to the floor via `reach`/`pin: hands floor` AND via
- * `ground-lock: hands` (a high plank / push-up / mountain-climber): those bear
- * weight flat on the ground and must be palm-down, not left in their raw FK
- * (pronated) orientation.
+ * Actual outward normal of the flattened procedural palm geometry. The palm
+ * ellipsoid is shallow on local Z for both hands (see mannequin.addPalm).
  */
-export function alignFloorPalms(
+export const PALM_LOCAL_NORMAL = [0, 0, 1] as const;
+/** Knuckle-bearing direction from wrist to the curled finger bases. */
+export const FIST_LOCAL_NORMAL = [0, -1, 0] as const;
+
+function strictClampToRom(node: THREE.Object3D, boneId: string): boolean {
+  const rom = eulerRomFor(boneId);
+  if (!rom) return false;
+  CONTACT_EULER.setFromQuaternion(node.quaternion, "XYZ");
+  const x = THREE.MathUtils.clamp(CONTACT_EULER.x, rom.x.min * DEG, rom.x.max * DEG);
+  const y = THREE.MathUtils.clamp(CONTACT_EULER.y, rom.y.min * DEG, rom.y.max * DEG);
+  const z = THREE.MathUtils.clamp(CONTACT_EULER.z, rom.z.min * DEG, rom.z.max * DEG);
+  if (
+    Math.abs(x - CONTACT_EULER.x) < 1e-10 &&
+    Math.abs(y - CONTACT_EULER.y) < 1e-10 &&
+    Math.abs(z - CONTACT_EULER.z) < 1e-10
+  ) return false;
+  CONTACT_EULER.set(x, y, z, "XYZ");
+  node.quaternion.setFromEuler(CONTACT_EULER);
+  return true;
+}
+
+/**
+ * Final safety assertion for renderer-authored terminal corrections. It is
+ * intentionally limited to wrists/ankles: timeline hip counter-rotation for a
+ * pelvis hinge may legitimately sit outside a raw isolated hip box, whereas
+ * contact wrist and ankle locals have no such coupled exception. All three
+ * ankle axes are clamped, including the normally locked Y/Z axes.
+ */
+export function enforceContactRom(m: Mannequin): void {
+  let changed = false;
+  for (const side of ["left", "right"] as const) {
+    for (const joint of [`wrist_${side}`, `ankle_${side}`]) {
+      const node = m.bones.get(joint);
+      if (node) changed = strictClampToRom(node, joint) || changed;
+    }
+  }
+  if (changed) m.root.updateMatrixWorld(true);
+}
+
+function alignWristNormal(
   m: Mannequin,
+  side: HandSide,
+  normal: readonly [number, number, number],
+  weight: number,
+): boolean {
+  const wristId = `wrist_${side}`;
+  const wrist = m.bones.get(wristId);
+  if (!wrist?.parent) return false;
+  const world = wrist.getWorldQuaternion(new THREE.Quaternion());
+  const current = new THREE.Vector3(...normal).applyQuaternion(world).normalize();
+  const correction = new THREE.Quaternion().setFromUnitVectors(current, DOWN);
+  const safeWeight = THREE.MathUtils.clamp(weight, 0, 1);
+  if (safeWeight < 1) {
+    correction.slerp(new THREE.Quaternion(), 1 - safeWeight);
+  }
+  const desiredWorld = correction.multiply(world);
+  const parentWorld = wrist.parent.getWorldQuaternion(new THREE.Quaternion());
+  wrist.quaternion.copy(parentWorld.invert().multiply(desiredWorld));
+  // Contact correction is never allowed to buy contact with a broken wrist.
+  strictClampToRom(wrist, wristId);
+  return true;
+}
+
+function collectFloorHandContacts(
   reaches: readonly (ReachTarget & { weight?: number })[],
   pins: readonly PinTarget[],
-  groundLock: readonly string[] = [],
-): void {
-  const sides = new Map<"left" | "right", number>();
-  const collect = (effector: string, target: string, weight = 1) => {
+  groundLock: readonly string[],
+): Map<HandSide, { kind: HandContactKind; weight: number }> {
+  const contacts = new Map<HandSide, { kind: HandContactKind; weight: number }>();
+  const collect = (effector: string, target: string, weight = 1): void => {
     if (target !== "floor") return;
-    if (effector === "hands" || effector === "hand_left") {
-      sides.set("left", Math.max(sides.get("left") ?? 0, weight));
-    }
-    if (effector === "hands" || effector === "hand_right") {
-      sides.set("right", Math.max(sides.get("right") ?? 0, weight));
-    }
+    const fistMatch = /^fist_(left|right)$/.exec(effector);
+    const palmMatch = /^(?:hand|wrist)_(left|right)$/.exec(effector);
+    const isFist = effector === "fists" || Boolean(fistMatch);
+    const isPalm = effector === "hands" || Boolean(palmMatch);
+    if (!isFist && !isPalm) return;
+    const kind: HandContactKind = isFist ? "fist" : "palm";
+    const add = (side: HandSide): void => {
+      const previous = contacts.get(side);
+      // An explicit fist wins over a simultaneous generic hand contact.
+      if (!previous || kind === "fist" || previous.kind !== "fist") {
+        contacts.set(side, {
+          kind,
+          weight: Math.max(previous?.weight ?? 0, weight),
+        });
+      }
+    };
+    if (effector === "hands" || effector === "fists" || fistMatch?.[1] === "left" || palmMatch?.[1] === "left") add("left");
+    if (effector === "hands" || effector === "fists" || fistMatch?.[1] === "right" || palmMatch?.[1] === "right") add("right");
   };
   reaches.forEach((r) => collect(r.effector, r.target, r.weight));
   pins.forEach((p) => collect(p.effector, p.anchor));
-  if (groundLock.includes("hands") || groundLock.includes("hand_left")) {
-    sides.set("left", 1);
+  groundLock.forEach((effector) => collect(effector, "floor"));
+  return contacts;
+}
+
+/**
+ * Orient floor contacts by their real geometry: a palm presents its flattened
+ * +Z face, while a fist presents the wrist→knuckle (-Y) direction. The two are
+ * intentionally distinct, and both corrections are strict wrist-ROM-clamped.
+ */
+export function alignFloorContacts(
+  m: Mannequin,
+  reaches: readonly (ReachTarget & { weight?: number })[],
+  pins: readonly PinTarget[],
+  groundLock: readonly string[] = [],
+): void {
+  const contacts = collectFloorHandContacts(reaches, pins, groundLock);
+  let changed = false;
+  for (const [side, contact] of contacts) {
+    const normal = contact.kind === "fist" ? FIST_LOCAL_NORMAL : PALM_LOCAL_NORMAL;
+    changed = alignWristNormal(m, side, normal, contact.weight) || changed;
+  }
+  if (changed) m.root.updateMatrixWorld(true);
+}
+
+/** Backwards-compatible name retained for eval/embedders; now handles fists too. */
+export function alignFloorPalms(
+  m: Mannequin,
+  reaches: readonly (ReachTarget & { weight?: number })[],
+  pins: readonly PinTarget[],
+  groundLock: readonly string[] = [],
+): void {
+  alignFloorContacts(m, reaches, pins, groundLock);
+}
+
+/**
+ * Bone-origin target whose corresponding visible contact surface rests on y=0.
+ * Joint effectors (knee/elbow) use their local contact radius instead of the
+ * whole descendant subtree—otherwise a knee target incorrectly measures the
+ * shin/foot and folds the knee upward while still claiming floor contact.
+ */
+export function floorTargetForEffector(
+  m: Mannequin,
+  effectorName: string,
+): THREE.Vector3 | null {
+  const effector = m.bones.get(effectorBoneId(effectorName));
+  if (!effector) return null;
+  const p = effector.getWorldPosition(new THREE.Vector3());
+  if (effectorName === "pelvis") {
+    p.y = pelvisFloorDrop(m);
+    return p;
+  }
+  if (effectorName.startsWith("knee_")) {
+    // Measure only the two rounded caps meeting at the knee. A subtree would
+    // wrongly include the whole shin/foot, while a fixed proxy radius misses
+    // the vertical extent as the bent limb changes orientation.
+    const side = effectorName.endsWith("_left") ? "left" : "right";
+    p.y = jointSurfaceDrop(
+      m,
+      `knee_${side}`,
+      m.contactSurfaces[`knee_${side}`],
+      Math.max(m.collision.shin, m.collision.thigh),
+    );
+    return p;
   }
-  if (groundLock.includes("hands") || groundLock.includes("hand_right")) {
-    sides.set("right", 1);
+  if (effectorName.startsWith("elbow_")) {
+    p.y = m.collision.arm;
+    return p;
   }
+  const box = new THREE.Box3().setFromObject(effector);
+  p.y = Number.isFinite(box.min.y) ? Math.max(0, p.y - box.min.y) : 0;
+  return p;
+}
 
-  for (const [side, weight] of sides) {
-    const wrist = m.bones.get(`wrist_${side}`);
-    if (!wrist?.parent) continue;
-    const world = wrist.getWorldQuaternion(new THREE.Quaternion());
-    const localNormal = side === "left"
-      ? new THREE.Vector3(1, 0, 0)
-      : new THREE.Vector3(-1, 0, 0);
-    const current = localNormal.applyQuaternion(world).normalize();
-    const correction = new THREE.Quaternion().setFromUnitVectors(current, DOWN);
-    if (weight < 1) correction.slerp(new THREE.Quaternion(), 1 - weight);
-    const desiredWorld = correction.multiply(world);
-    const parentWorld = wrist.parent.getWorldQuaternion(new THREE.Quaternion());
-    wrist.quaternion.copy(parentWorld.invert().multiply(desiredWorld));
+/** Signed height of an effector's actual contact surface above the floor. */
+export function floorContactHeight(m: Mannequin, effectorName: string): number | null {
+  const effector = m.bones.get(effectorBoneId(effectorName));
+  if (!effector) return null;
+  const originY = effector.getWorldPosition(new THREE.Vector3()).y;
+  if (effectorName.startsWith("elbow_")) return originY - m.collision.arm;
+  if (effectorName.startsWith("knee_")) {
+    const side = effectorName.endsWith("_left") ? "left" : "right";
+    return originY - jointSurfaceDrop(
+      m,
+      `knee_${side}`,
+      m.contactSurfaces[`knee_${side}`],
+      Math.max(m.collision.shin, m.collision.thigh),
+    );
   }
-  if (sides.size > 0) m.root.updateMatrixWorld(true);
+  if (effectorName === "pelvis") return originY - pelvisFloorDrop(m);
+  const minY = new THREE.Box3().setFromObject(effector).min.y;
+  return Number.isFinite(minY) ? minY : null;
+}
+
+function jointSurfaceDrop(
+  m: Mannequin,
+  boneId: string,
+  surfaces: readonly THREE.Object3D[],
+  fallback: number,
+): number {
+  const bone = m.bones.get(boneId);
+  if (!bone) return fallback;
+  const originY = bone.getWorldPosition(new THREE.Vector3()).y;
+  let minY = Infinity;
+  for (const surface of surfaces) {
+    const y = new THREE.Box3().setFromObject(surface).min.y;
+    if (Number.isFinite(y)) minY = Math.min(minY, y);
+  }
+  return Number.isFinite(minY) ? Math.max(0.001, originY - minY) : fallback;
+}
+
+/** Current trunk-surface drop below the pelvis origin (translation invariant). */
+function pelvisFloorDrop(m: Mannequin): number {
+  const pelvis = m.bones.get("pelvis");
+  if (!pelvis) return Math.max(0.08, m.collision.torso * 0.85);
+  const originY = pelvis.getWorldPosition(new THREE.Vector3()).y;
+  let minY = Infinity;
+  for (const surface of m.contactSurfaces.pelvis) {
+    const y = new THREE.Box3().setFromObject(surface).min.y;
+    if (Number.isFinite(y)) minY = Math.min(minY, y);
+  }
+  return Number.isFinite(minY)
+    ? Math.max(0.08, originY - minY)
+    : Math.max(0.08, m.collision.torso * 0.85);
 }
 
 const SOLE_LOCAL = new THREE.Vector3(0, -1, 0);
@@ -85,8 +262,12 @@ export function levelPlantedFeet(m: Mannequin, activeGroundLock: readonly string
     // deliberate relevé / calf-raise / demi-plié — leave it on its toes.
     TMP_EULER.setFromQuaternion(ankle.quaternion, "XYZ");
     const authoredX = TMP_EULER.x;
-    const authoredZ = TMP_EULER.z;
-    if (authoredX > PLANTARFLEX_SKIP) continue;
+    if (authoredX > PLANTARFLEX_SKIP) {
+      // Preserve deliberate tiptoe pitch, but still assert the ankle's locked
+      // axial/frontal axes and configured plantarflexion ceiling.
+      changed = strictClampToRom(ankle, `ankle_${side}`) || changed;
+      continue;
+    }
     // Planted-ness weight from the foot mesh bottom height: fully level when the
     // sole is on the floor, fading out as a swing foot lifts past PLANT_FADE.
     const box = new THREE.Box3().setFromObject(ankle);
@@ -101,36 +282,118 @@ export function levelPlantedFeet(m: Mannequin, activeGroundLock: readonly string
     const desiredWorld = correction.multiply(world);
     const parentWorld = ankle.parent.getWorldQuaternion(new THREE.Quaternion());
     const local = parentWorld.invert().multiply(desiredWorld);
-    // Clamp the corrected ankle to its ROM, widened to admit the authored angle
-    // so leveling can never push the joint past a healthy range.
-    const rom = eulerRomFor(`ankle_${side}`);
-    if (rom) {
-      TMP_EULER.setFromQuaternion(local, "XYZ");
-      const cx = THREE.MathUtils.clamp(
-        TMP_EULER.x,
-        Math.min(rom.x.min * DEG, authoredX),
-        Math.max(rom.x.max * DEG, authoredX),
-      );
-      const cz = THREE.MathUtils.clamp(
-        TMP_EULER.z,
-        Math.min(rom.z.min * DEG, authoredZ),
-        Math.max(rom.z.max * DEG, authoredZ),
-      );
-      TMP_EULER.set(cx, TMP_EULER.y, cz, "XYZ");
-      local.setFromEuler(TMP_EULER);
-    }
     ankle.quaternion.copy(local);
+    // Clamp X/Y/Z strictly. In particular, ankle Y/Z are locked axes; leaving
+    // either component from the world-space correction created twisted soles.
+    strictClampToRom(ankle, `ankle_${side}`);
     changed = true;
   }
   if (changed) m.root.updateMatrixWorld(true);
 }
 
 /** Finger curl (radians about the knuckle X axis) that wraps a gripping hand. */
-export const FINGER_CURL = 1.35;
+export const FINGER_CURL = -1.35;
 /** Thumb opposition curl (radians) toward the fingers. */
-export const THUMB_CURL = 0.9;
+export const THUMB_CURL = -0.9;
+/** Sideways thumb opposition kept inside the thumb's adduction ROM. */
+export const THUMB_OPPOSE = 0.5;
+/** Closed-fist finger curl, still inside the 100deg finger-flexion limit. */
+export const FIST_CURL = -1.5;
+export const FIST_THUMB_CURL = -1.15;
+export const FIST_THUMB_OPPOSE = 0.45;
 const FINGERS = ["index", "middle", "ring", "pinky"] as const;
 
+/** True for the parallel-rail anchors belonging to the dip-bars prop. */
+export function isDipBarGrip(anchor: string): boolean {
+  return anchor === "bars" || anchor.startsWith("bars_");
+}
+
+/**
+ * Establish a deterministic dip-bar forearm frame before body translation/IK.
+ * Removing inherited elbow axial twist makes the palm face available for the
+ * downward support contact instead of leaving each hand turned toward a thigh.
+ */
+export function prepareGripFrames(
+  m: Mannequin,
+  grips: readonly { effector: string; anchor: string }[],
+): void {
+  let changed = false;
+  for (const grip of grips) {
+    if (!isDipBarGrip(grip.anchor)) continue;
+    const match = /_(left|right)$/.exec(grip.effector);
+    if (!match) continue;
+    const side = match[1] as HandSide;
+    const elbowId = `elbow_${side}`;
+    const elbow = m.bones.get(elbowId);
+    if (!elbow) continue;
+    CONTACT_EULER.setFromQuaternion(elbow.quaternion, "XYZ");
+    CONTACT_EULER.y = 0;
+    elbow.quaternion.setFromEuler(CONTACT_EULER);
+    strictClampToRom(elbow, elbowId);
+    changed = true;
+  }
+  if (changed) m.root.updateMatrixWorld(true);
+}
+
+/**
+ * Finish the stable dip-bar frame after IK: the flattened palm presses down on
+ * the rail while wrist flexion/extension remains strictly ROM-safe.
+ */
+export function alignGripFrames(
+  m: Mannequin,
+  grips: readonly { effector: string; anchor: string }[],
+): void {
+  let changed = false;
+  for (const grip of grips) {
+    if (!isDipBarGrip(grip.anchor)) continue;
+    const match = /_(left|right)$/.exec(grip.effector);
+    if (!match) continue;
+    changed = alignWristNormal(
+      m,
+      match[1] as HandSide,
+      PALM_LOCAL_NORMAL,
+      1,
+    ) || changed;
+  }
+  if (changed) m.root.updateMatrixWorld(true);
+}
+
+/**
+ * Close semantic fist effectors without overwriting explicitly authored digit
+ * bones. Wrist/contact corrections never touch these locals, so the curl is
+ * preserved while the knuckles are oriented onto a target.
+ */
+export function formFists(
+  m: Mannequin,
+  sides: ReadonlySet<HandSide>,
+  authoredFingers: ReadonlySet<string> = new Set(),
+): void {
+  let changed = false;
+  for (const side of sides) {
+    for (const finger of FINGERS) {
+      const id = `${finger}_${side}`;
+      if (authoredFingers.has(id)) continue;
+      const bone = m.bones.get(id);
+      if (!bone) continue;
+      bone.rotation.set(FIST_CURL, 0, 0);
+      changed = true;
+    }
+    const thumbId = `thumb_${side}`;
+    if (!authoredFingers.has(thumbId)) {
+      const thumb = m.bones.get(thumbId);
+      if (thumb) {
+        thumb.rotation.set(
+          FIST_THUMB_CURL,
+          0,
+          side === "left" ? -FIST_THUMB_OPPOSE : FIST_THUMB_OPPOSE,
+        );
+        changed = true;
+      }
+    }
+  }
+  if (changed) m.root.updateMatrixWorld(true);
+}
+
 /**
  * Curl the fingers of each gripping hand around the bar. Grips are per-side
  * after resolution (`hand_left` / `hand_right`), so the side comes straight off
@@ -152,7 +415,7 @@ export function wrapGrip(m: Mannequin, grips: readonly GripTarget[]): void {
     const thumb = m.bones.get(`thumb_${side}`);
     if (thumb) {
       // Thumb wraps from the opposite side: curl plus a sideways opposition.
-      thumb.rotation.set(THUMB_CURL, 0, side === "left" ? -THUMB_CURL : THUMB_CURL);
+      thumb.rotation.set(THUMB_CURL, 0, side === "left" ? -THUMB_OPPOSE : THUMB_OPPOSE);
       changed = true;
     }
   }
@@ -164,16 +427,18 @@ export function wrapGrip(m: Mannequin, grips: readonly GripTarget[]): void {
  * relaxed hand is not flat: the fingers settle into a soft inward hook (~30°),
  * which reads as a natural cupped hand instead of a stiff splayed palm.
  */
-export const REST_CURL = 0.55;
-/** Slight finger adduction (radians) drawing splayed digits toward the middle
- * finger, so a relaxed hand closes softly rather than fanning like jazz-hands. */
-export const REST_ADDUCT = 0.12;
+export const REST_CURL = -0.55;
+/** Gentle thumb opposition for a relaxed hand, within adduction ROM. */
+export const REST_THUMB_OPPOSE = 0.4;
+/** Finger bones are intentionally single-DOF; their authored rest offsets
+ * provide natural spacing without inventing an out-of-ROM lateral rotation. */
+export const REST_ADDUCT = 0;
 /**
  * Near-flat curl (radians) for a hand pressed onto the floor (plank, push-up,
  * cobra). The palm lies flat with the fingers extended forward; the resting
  * inward hook would instead claw the fingertips into the ground.
  */
-export const FLOOR_CURL = 0.06;
+export const FLOOR_CURL = -0.06;
 
 /**
  * Give idle hands a natural relaxed shape instead of a flat splayed palm.
@@ -219,7 +484,7 @@ export function relaxHands(
       if (thumb) {
         // Planted: thumb lies alongside the flat palm. Free: opposes softly.
         const thumbCurl = planted ? FLOOR_CURL : REST_CURL * 0.6;
-        const thumbOppose = planted ? 0 : REST_CURL;
+        const thumbOppose = planted ? 0 : REST_THUMB_OPPOSE;
         thumb.rotation.set(thumbCurl, 0, side === "left" ? -thumbOppose : thumbOppose);
         changed = true;
       }
@@ -238,16 +503,16 @@ const HIP_EULER = new THREE.Euler();
  * (right leg forward ↔ left arm forward). Adds a swing to each free shoulder
  * proportional to the OPPOSITE hip's sagittal (local X) angle, so any move that
  * animates the hips (walk, march, box-step) gets natural arm swing for free.
- * Skips shoulders the document authors and any gripping side.
+ * Skips shoulders the document authors and any contact-constrained hand side.
  */
 export function swingArms(
   m: Mannequin,
   authoredShoulders: ReadonlySet<string>,
-  gripSides: ReadonlySet<"left" | "right">,
+  protectedSides: ReadonlySet<"left" | "right">,
 ): void {
   let changed = false;
   for (const side of ["left", "right"] as const) {
-    if (gripSides.has(side)) continue;
+    if (protectedSides.has(side)) continue;
     const shoulderId = `shoulder_${side}`;
     if (authoredShoulders.has(shoulderId)) continue;
     const shoulder = m.bones.get(shoulderId);
diff --git a/packages/posecode-render/src/depenetrate.ts b/packages/posecode-render/src/depenetrate.ts
index b4cea52..f6ef964 100644
--- a/packages/posecode-render/src/depenetrate.ts
+++ b/packages/posecode-render/src/depenetrate.ts
@@ -1,12 +1,13 @@
 /**
- * Self-collision resolution: stop limbs from passing through the body.
+ * Bounded self-penetration correction for selected limb/body samples.
  *
  * Authored poses are pure per-joint rotations, so nothing prevents a biceps
  * curl from dragging the forearm through the thighs, or a cross-body reach
  * from sweeping the hand through the chest. This pass approximates the body
  * with capsules (torso, head, thighs, shins), samples points along each
  * forearm/hand and each lower leg, and when a sample sits inside an obstacle
- * it rotates the limb's proximal joint (shoulder / hip) just enough to clear.
+ * it rotates the limb's proximal joint (shoulder / hip) toward clearance. It
+ * is not a comprehensive collision detector or physics solver.
  *
  * Principles:
  * - **Minimal**: corrections only remove actual overlap, so intentional
@@ -14,8 +15,8 @@
  *   inside it. A pose with no overlap is untouched.
  * - **Deterministic**: corrections are a pure function of the pose, so looping
  *   animations stay smooth (no frame-to-frame jitter).
- * - **Safe**: each adjusted joint is clamped back into its healthy ROM
- *   (widened to admit the authored angle), the same guarantee reach-IK gives.
+ * - **Bounded**: each adjusted joint is clamped back into its configured ROM
+ *   (widened to admit the authored angle), matching reach-IK's constraint.
  *
  * Runs on the driver skeleton right after FK sampling, before ground-lock, in
  * both the viewer's frame loop and its load-time anchor capture, so ground
diff --git a/packages/posecode-render/src/groundlock.ts b/packages/posecode-render/src/groundlock.ts
index 0bea147..e9c0829 100644
--- a/packages/posecode-render/src/groundlock.ts
+++ b/packages/posecode-render/src/groundlock.ts
@@ -33,6 +33,7 @@
 
 import * as THREE from "three";
 import type { Mannequin } from "./mannequin.js";
+import { floorTargetForEffector } from "./contacts.js";
 
 const ROOT_X = new THREE.Vector3(1, 0, 0);
 
@@ -121,11 +122,24 @@ export function applyGroundLock(
     // Newton iterations: rotate about the toes until the authored upper-body
     // support reaches the floor (palms for high plank, elbows for forearm
     // plank). The final bbox correction accounts for the support mesh radius.
+    const upperSurfaceError = (): number => {
+      let sum = 0;
+      let count = 0;
+      for (const id of upperSupports) {
+        const node = m.bones.get(id);
+        if (!node) continue;
+        const semantic = id.replace("wrist_", "hand_");
+        const targetY = floorTargetForEffector(m, semantic)?.y ?? 0;
+        sum += node.getWorldPosition(new THREE.Vector3()).y - targetY;
+        count++;
+      }
+      return count > 0 ? sum / count : 0;
+    };
     for (let i = 0; i < 8; i++) {
-      const y0 = avgWorld(m, upperSupports).y;
+      const y0 = upperSurfaceError();
       if (Math.abs(y0) < 0.004) break;
       rotateRootAboutPivot(m, pivot, 0.01);
-      const y1 = avgWorld(m, upperSupports).y;
+      const y1 = upperSurfaceError();
       rotateRootAboutPivot(m, pivot, -0.01);
       const deriv = (y1 - y0) / 0.01;
       if (Math.abs(deriv) < 1e-4) break;
diff --git a/packages/posecode-render/src/ik.ts b/packages/posecode-render/src/ik.ts
index 1317dc0..531593f 100644
--- a/packages/posecode-render/src/ik.ts
+++ b/packages/posecode-render/src/ik.ts
@@ -7,8 +7,9 @@
  * world target while the rest of the body moves. Chains may carry per-joint
  * Euler angle limits (the joint's Range of Motion expressed as a local-frame
  * box, see posecode-parser's `eulerRomFor`); each iteration clamps the joint back
- * inside its box, so a solved pose can never exceed the healthy ROM any more
- * than an authored angle can.
+ * inside its box, so a solved joint cannot exceed the configured ROM any more
+ * than an authored joint can. This is a mechanical constraint, not a safety
+ * or clinical assessment of the complete movement.
  */
 
 import * as THREE from "three";
diff --git a/packages/posecode-render/src/index.ts b/packages/posecode-render/src/index.ts
index 64ba663..8aa747e 100644
--- a/packages/posecode-render/src/index.ts
+++ b/packages/posecode-render/src/index.ts
@@ -12,7 +12,6 @@
 import * as THREE from "three";
 import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js";
 import { RoomEnvironment } from "three/examples/jsm/environments/RoomEnvironment.js";
-import { eulerRomFor } from "posecode-parser";
 import type { PosecodeIR, ReachTarget, PinTarget, GripTarget } from "posecode-parser";
 import { buildMannequin, type Mannequin } from "./mannequin.js";
 import { applyGroundLock as applyGroundLockTo, groundFigure as groundFigureOf } from "./groundlock.js";
@@ -22,7 +21,6 @@ import {
   type PhaseSegment,
   type WeightedReachTarget,
 } from "./timeline.js";
-import { solveCCD, type JointLimits } from "./ik.js";
 import { buildProps, type PropScene } from "./props.js";
 import { loadCharacter, type Character } from "./character.js";
 import {
@@ -34,7 +32,30 @@ import {
 } from "./clips.js";
 import { depenetrate } from "./depenetrate.js";
 import { resolvePropContacts, propContactExemptions } from "./propcontact.js";
-import { alignFloorPalms, levelPlantedFeet, wrapGrip, relaxHands, swingArms, aimHead } from "./contacts.js";
+import {
+  alignFloorContacts,
+  alignGripFrames,
+  enforceContactRom,
+  floorContactHeight,
+  floorTargetForEffector,
+  formFists,
+  isDipBarGrip,
+  levelPlantedFeet,
+  prepareGripFrames,
+  wrapGrip,
+  relaxHands,
+  swingArms,
+  aimHead,
+} from "./contacts.js";
+import {
+  REACH_TOLERANCE,
+  effectorBoneId,
+  missingReachTarget,
+  reachChain,
+  solveReachToPoint,
+  type ReachResidual,
+} from "./reach.js";
+import { solveCCD } from "./ik.js";
 
 const DEG = Math.PI / 180;
 
@@ -65,6 +86,8 @@ export interface Viewer {
   /** True while a retargeted mocap clip is driving (or fading over) the pose. */
   get clipActive(): boolean;
   getTimeline(): TimelineInfo | null;
+  /** Diagnostics for every active reach, including missing/unreachable targets. */
+  getReachResiduals(): readonly ReachResidual[];
   /** Precise visible world bounds; intended for audits and deterministic export. */
   getVisibleBounds(): THREE.Box3;
   getMannequin(): any;
@@ -312,6 +335,14 @@ export function createViewer(
   // The last loaded document, kept so the viewer can re-solve base pose and
   // ground anchors when the character (with its own proportions) arrives.
   let lastIR: PosecodeIR | null = null;
+  // Rebuilt on every solved frame. Missing target names and unreachable
+  // effectors remain visible here instead of disappearing behind `continue`.
+  let reachResiduals: ReachResidual[] = [];
+  type ReachResidualTarget =
+    | { kind: "fixed"; point: THREE.Vector3 }
+    | { kind: "floor"; point: THREE.Vector3 }
+    | { kind: "landmark"; boneId: string };
+  let reachResidualTargets: Array<ReachResidualTarget | null> = [];
   let groundTargets = new Map<string, THREE.Vector3>();
   const segmentStartEffectors: Map<string, THREE.Vector3>[] = [];
   // World-space anchor points contributed by scene props (chair seat, bar grip,
@@ -332,6 +363,11 @@ export function createViewer(
   let loopCb: () => void = () => {};
   let lastPhaseName = "";
   let activeSegIndex = 0;
+  // `load()` briefly solves each real phase endpoint to seed any floor pin
+  // introduced by the following phase from the *fully solved* prior pose.
+  // Keep those internal solves out of callbacks, character/mocap state, and
+  // the canvas; they are deterministic anchor preparation, not visible frames.
+  let precomputingAnchors = false;
 
   // Camera easing targets.
   const desiredTarget = new THREE.Vector3(0, 0.9, 0);
@@ -398,79 +434,12 @@ export function createViewer(
     return frameAnchorMap;
   }
 
-  // Friendly DSL effector aliases → the distal bone whose world position is
-  // driven to the reach target.
-  const EFFECTOR_BONE: Record<string, string> = {
-    hand_left: "wrist_left",
-    hand_right: "wrist_right",
-    foot_left: "ankle_left",
-    foot_right: "ankle_right",
-  };
-
-  /**
-   * The rotatable joint chain (proximal → distal) that moves an effector, with
-   * each joint's ROM expressed as local Euler limits for the constrained solve.
-   * A limit box is widened to include the joint's CURRENT (authored FK) angle:
-   * the timeline pose is already ROM-clamped in author terms, but rig mechanics
-   * such as the hip-hinge counter-rotation can place a bone outside its raw box
-   * on purpose: IK must never fight the authored pose, only be prevented from
-   * pushing beyond it.
-   */
-  function reachChain(effectorBone: string): {
-    joints: THREE.Object3D[];
-    limits: (JointLimits | null)[];
-  } {
-    const side = effectorBone.endsWith("_left") ? "left" : "right";
-    const ids = effectorBone.startsWith("wrist")
-      ? [`shoulder_${side}`, `elbow_${side}`]
-      : effectorBone.startsWith("elbow")
-        ? [`shoulder_${side}`]
-        : effectorBone.startsWith("ankle")
-        ? [`hip_${side}`, `knee_${side}`]
-        : [];
-    const joints: THREE.Object3D[] = [];
-    const limits: (JointLimits | null)[] = [];
-    for (const id of ids) {
-      const node = mannequin.bones.get(id);
-      if (!node) continue;
-      joints.push(node);
-      limits.push(jointLimitsFor(id, node));
-    }
-    return { joints, limits };
-  }
-
-  const REACH_EULER = new THREE.Euler();
-
-  /** A bone's ROM as radian Euler limits, widened to admit its current pose. */
-  function jointLimitsFor(boneId: string, node: THREE.Object3D): JointLimits | null {
-    const rom = eulerRomFor(boneId);
-    if (!rom) return null;
-    REACH_EULER.setFromQuaternion(node.quaternion, "XYZ");
-    return {
-      x: widen(rom.x.min * DEG, rom.x.max * DEG, REACH_EULER.x),
-      y: widen(rom.y.min * DEG, rom.y.max * DEG, REACH_EULER.y),
-      z: widen(rom.z.min * DEG, rom.z.max * DEG, REACH_EULER.z),
-    };
-  }
-
-  function widen(min: number, max: number, current: number): [number, number] {
-    return [Math.min(min, current), Math.max(max, current)];
-  }
-
   /** Resolve a reach target name to a world point: floor / prop anchor / landmark. */
   function resolveReachTarget(
     target: string,
-    effector: THREE.Object3D,
+    effectorName: string,
   ): THREE.Vector3 | null {
-    if (target === "floor") {
-      // Rest the effector's MESH on the floor, not its bone origin: the hand
-      // mesh extends below the wrist bone, so a bone target of y=0 would sink
-      // the palm and force the floor safety clamp to lift the whole body.
-      const p = effector.getWorldPosition(new THREE.Vector3());
-      const box = new THREE.Box3().setFromObject(effector);
-      p.y = Number.isFinite(box.min.y) ? Math.max(0, p.y - box.min.y) : 0;
-      return p;
-    }
+    if (target === "floor") return floorTargetForEffector(mannequin, effectorName);
     const anchor = propAnchors.get(target);
     if (anchor) return anchor.clone();
     const bone = mannequin.bones.get(target);
@@ -487,24 +456,63 @@ export function createViewer(
    * joints keep their authored FK pose.
    */
   function applyReaches(reaches: WeightedReachTarget[]): void {
+    reachResiduals = [];
+    reachResidualTargets = [];
     for (const r of reaches) {
-      const effectorBone = EFFECTOR_BONE[r.effector] ?? r.effector;
+      const effectorBone = effectorBoneId(r.effector);
       const effector = mannequin.bones.get(effectorBone);
-      if (!effector) continue;
-      const target = resolveReachTarget(r.target, effector);
-      if (!target) continue;
-      const { joints, limits } = reachChain(effectorBone);
-      if (joints.length === 0) continue;
-      const before = joints.map((joint) => joint.quaternion.clone());
-      solveCCD({ joints, limits, effector, target }, 12);
-      for (let i = 0; i < joints.length; i++) {
-        const solved = joints[i]!.quaternion.clone();
-        joints[i]!.quaternion.slerpQuaternions(before[i]!, solved, r.weight);
+      if (!effector) {
+        reachResiduals.push(
+          solveReachToPoint(mannequin, r.effector, r.target, new THREE.Vector3(), r.weight),
+        );
+        reachResidualTargets.push(null);
+        continue;
       }
-      mannequin.root.updateMatrixWorld(true);
+      const target = resolveReachTarget(r.target, r.effector);
+      if (!target) {
+        reachResiduals.push(missingReachTarget(r.effector, r.target, r.weight));
+        reachResidualTargets.push(null);
+        continue;
+      }
+      reachResiduals.push(
+        solveReachToPoint(mannequin, r.effector, r.target, target, r.weight),
+      );
+      reachResidualTargets.push(
+        r.target === "floor"
+          ? { kind: "floor", point: target.clone() }
+          : mannequin.bones.has(r.target)
+            ? { kind: "landmark", boneId: r.target }
+            : { kind: "fixed", point: target.clone() },
+      );
     }
   }
 
+  /** Re-measure after later contacts/root grounding so diagnostics are final. */
+  function refreshReachResiduals(): void {
+    reachResiduals = reachResiduals.map((residual, index) => {
+      const targetRef = reachResidualTargets[index];
+      if (!targetRef || residual.distance === null) return residual;
+      const effector = mannequin.bones.get(effectorBoneId(residual.effector));
+      if (!effector) return residual;
+      // Body landmarks and contact surfaces can move during later root/contact
+      // reconciliation. Re-read their final geometry while preserving a floor
+      // contact's solved world-space X/Z anchor.
+      const point = effector.getWorldPosition(new THREE.Vector3());
+      let target: THREE.Vector3 | undefined;
+      if (targetRef.kind === "fixed") {
+        target = targetRef.point;
+      } else if (targetRef.kind === "landmark") {
+        target = mannequin.bones.get(targetRef.boneId)?.getWorldPosition(new THREE.Vector3());
+      } else {
+        const height = floorContactHeight(mannequin, residual.effector);
+        if (height !== null) target = targetRef.point.clone().setY(point.y - height);
+      }
+      if (!target) return residual;
+      const distance = point.distanceTo(target);
+      return { ...residual, distance, reached: distance <= REACH_TOLERANCE };
+    });
+  }
+
   /**
    * Contact pins: translate the WHOLE figure so each pinned effector sits on its
    * anchor. Where ground-lock keeps a planted foot on the floor, a pin keeps a
@@ -515,10 +523,12 @@ export function createViewer(
    */
   function applyPins(pins: PinTarget[]): void {
     if (pins.length === 0) return;
+    const dipBarPins = pins.filter((pin) => isDipBarGrip(pin.anchor));
+    prepareGripFrames(mannequin, dipBarPins);
     const delta = new THREE.Vector3();
     let n = 0;
     for (const p of pins) {
-      const effectorBone = EFFECTOR_BONE[p.effector] ?? p.effector;
+      const effectorBone = effectorBoneId(p.effector);
       const effector = mannequin.bones.get(effectorBone);
       if (!effector) continue;
       let anchor: THREE.Vector3 | null = null;
@@ -526,14 +536,12 @@ export function createViewer(
         const startPos = segmentStartEffectors[activeSegIndex]?.get(effectorBone);
         if (startPos) {
           anchor = startPos.clone();
-          const isFoot = effectorBone.startsWith("ankle") || effectorBone.startsWith("foot");
-          const drop = isFoot ? (character?.proportions.soleDrop ?? 0.042) : 0;
-          anchor.y = drop;
+          anchor.y = floorTargetForEffector(mannequin, p.effector)?.y ?? 0;
         } else {
-          anchor = resolveReachTarget(p.anchor, effector);
+          anchor = resolveReachTarget(p.anchor, p.effector);
         }
       } else {
-        anchor = resolveReachTarget(p.anchor, effector);
+        anchor = resolveReachTarget(p.anchor, p.effector);
       }
       if (!anchor) continue;
       delta.add(anchor.sub(effector.getWorldPosition(new THREE.Vector3())));
@@ -543,6 +551,7 @@ export function createViewer(
       mannequin.root.position.add(delta.multiplyScalar(1 / n));
       mannequin.root.updateMatrixWorld(true);
     }
+    alignGripFrames(mannequin, dipBarPins);
   }
 
   /**
@@ -555,17 +564,20 @@ export function createViewer(
    */
   function applyGrips(grips: GripTarget[]): void {
     if (grips.length === 0) return;
-    const resolveGrip = (anchor: string, effector: THREE.Object3D): THREE.Vector3 | null =>
-      resolveReachTarget(anchor, effector) ??
-      resolveReachTarget(anchor.replace(/_(left|right)$/, ""), effector);
+    // Dip support begins from a deterministic untwisted forearm frame; doing
+    // this before translation/IK means the later wrist target remains exact.
+    prepareGripFrames(mannequin, grips);
+    const resolveGrip = (anchor: string, effectorName: string): THREE.Vector3 | null =>
+      resolveReachTarget(anchor, effectorName) ??
+      resolveReachTarget(anchor.replace(/_(left|right)$/, ""), effectorName);
     // 1. Body translate (the vertical pull).
     const delta = new THREE.Vector3();
     let n = 0;
     for (const g of grips) {
-      const effectorBone = EFFECTOR_BONE[g.effector] ?? g.effector;
+      const effectorBone = effectorBoneId(g.effector);
       const effector = mannequin.bones.get(effectorBone);
       if (!effector) continue;
-      const target = resolveGrip(g.anchor, effector);
+      const target = resolveGrip(g.anchor, g.effector);
       if (!target) continue;
       delta.add(target.clone().sub(effector.getWorldPosition(new THREE.Vector3())));
       n++;
@@ -576,17 +588,26 @@ export function createViewer(
     }
     // 2. Per-hand arm IK onto each grip point (ROM-clamped via reachChain).
     for (const g of grips) {
-      const effectorBone = EFFECTOR_BONE[g.effector] ?? g.effector;
+      const effectorBone = effectorBoneId(g.effector);
       const effector = mannequin.bones.get(effectorBone);
       if (!effector) continue;
-      const target = resolveGrip(g.anchor, effector);
+      const target = resolveGrip(g.anchor, g.effector);
       if (!target) continue;
-      const { joints, limits } = reachChain(effectorBone);
+      const { joints, limits } = reachChain(mannequin, g.effector);
       if (joints.length === 0) continue;
+      if (isDipBarGrip(g.anchor)) {
+        // Keep forearm twist stable while CCD positions the hand. Otherwise
+        // equally-valid axial solutions flip palms between/away from the rails.
+        for (let i = 0; i < joints.length; i++) {
+          if (!joints[i]!.name.startsWith("elbow_")) continue;
+          const limit = limits[i];
+          if (limit) limits[i] = { ...limit, y: [0, 0] };
+        }
+      }
       solveCCD({ joints, limits, effector, target }, 12);
     }
-    // 3. Finger wrap. Wrist orientation remains inherited until the semantic
-    // contact-frame solver can account for this character's calibrated axes.
+    // 3. Stable contact frame followed by an anatomically signed finger wrap.
+    alignGripFrames(mannequin, grips);
     wrapGrip(mannequin, grips);
   }
 
@@ -599,12 +620,12 @@ export function createViewer(
     if (authoredHead) return;
     const pts: THREE.Vector3[] = [];
     const collect = (effectorName: string, anchorName: string): void => {
-      const bone = EFFECTOR_BONE[effectorName] ?? effectorName;
+      const bone = effectorBoneId(effectorName);
       const eff = mannequin.bones.get(bone);
       if (!eff) return;
       const t =
-        resolveReachTarget(anchorName, eff) ??
-        resolveReachTarget(anchorName.replace(/_(left|right)$/, ""), eff);
+        resolveReachTarget(anchorName, effectorName) ??
+        resolveReachTarget(anchorName.replace(/_(left|right)$/, ""), effectorName);
       if (t) pts.push(t);
     };
     for (const g of info.grips) collect(g.effector, g.anchor);
@@ -671,7 +692,7 @@ export function createViewer(
       }
       // Life layer rides on wall-clock time (not timeline time) so the figure
       // keeps breathing and blinking while paused or scrubbing.
-      applyLife(performance.now() / 1000);
+      if (!precomputingAnchors) applyLife(performance.now() / 1000);
       // Recompute root contact from the grounded base each frame (no drift).
       mannequin.root.position.copy(baseRootPos);
       mannequin.root.quaternion.copy(baseRootQuat);
@@ -687,6 +708,32 @@ export function createViewer(
       mannequin.root.position.x += info.rootOffset.x;
       mannequin.root.position.z += info.rootOffset.z;
       mannequin.root.updateMatrixWorld(true);
+      // A semantic fist is geometry as well as an endpoint name. Close any
+      // unauthored digits before floor target/bounds resolution; authored curl
+      // remains untouched and survives the later wrist contact correction.
+      const fistSides = fistSidesOf(info.reaches, info.pins, info.groundLock);
+      const activeGripSides = gripSidesOf(info.grips);
+      const constrainedHandSides = contactHandSidesOf(
+        info.reaches,
+        info.pins,
+        info.grips,
+        info.groundLock,
+      );
+      const palmFloorSides = floorHandSidesOf(info.reaches, info.pins, info.groundLock);
+      formFists(mannequin, fistSides, authoredFingers);
+      // Finger surface shape is part of a floor target too. Flatten palms (and
+      // relax free hands) before measuring their subtree bounds; fist/grip
+      // sides are protected from this pass.
+      relaxHands(
+        mannequin,
+        unionHandSides(activeGripSides, fistSides),
+        authoredFingers,
+        palmFloorSides,
+      );
+      // Establish the intended palm/knuckle surface BEFORE any floor target is
+      // measured. The post-IK pass below restores the same frame after parent
+      // joints move, keeping contact-surface height consistent at both ends.
+      alignFloorContacts(mannequin, info.reaches, info.pins, info.groundLock);
       // Self-collision: nudge limbs out of the body BEFORE contact solving so
       // ground-lock and pins see the corrected pose (same order as load()).
       depenetrate(mannequin);
@@ -710,22 +757,35 @@ export function createViewer(
       // bug. Ground-lock and pins have already fixed the root placement that
       // floor/landmark targets resolve against.
       applyReaches(info.reaches);
-      alignFloorPalms(mannequin, info.reaches, info.pins, info.groundLock);
+      alignFloorContacts(mannequin, info.reaches, info.pins, info.groundLock);
       // Plantigrade correction: keep planted soles flat to the floor so grounded
       // lower-body poses (squat, lunge, deadlift) don't balance on the toes.
       // Runs before the floor clamp so the leveled sole is what rests on y=0.
       levelPlantedFeet(mannequin, info.groundLock);
       // L4.2 aliveness: contralateral arm swing during locomotion (free arms only).
-      swingArms(mannequin, authoredShoulders, gripSidesOf(info.grips));
-      // L4.1 aliveness: relax idle hands into a natural curl (grips still wrap).
-      relaxHands(
-        mannequin,
-        gripSidesOf(info.grips),
-        authoredFingers,
-        floorHandSidesOf(info.reaches, info.pins, info.groundLock),
-      );
+      swingArms(mannequin, authoredShoulders, constrainedHandSides);
       // L4.3 aliveness: turn the head toward the active contact (bar / floor reach).
       applyLookAt(info);
+      // Final renderer-authored contact mutations stay inside strict terminal
+      // ROM (notably wrist and every ankle axis, including locked ankle Y/Z).
+      enforceContactRom(mannequin);
+      // A floor reach can change a limb after floating-root ground-lock has
+      // placed the existing supports. Reconcile once more in constraint order:
+      // replant the root support, then re-solve the independent limbs. Without
+      // this bounded refinement, the global floor safety clamp could rescue a
+      // reached knee/hand by lifting the declared planted foot several cm.
+      if (info.groundLock.length > 0 && info.reaches.length > 0) {
+        for (let refinement = 0; refinement < 3; refinement++) {
+          applyGroundLockTo(
+            mannequin,
+            info.groundLock,
+            frameAnchors(info.rootYaw, info.rootOffset),
+          );
+          applyReaches(info.reaches);
+          alignFloorContacts(mannequin, info.reaches, info.pins, info.groundLock);
+          enforceContactRom(mannequin);
+        }
+      }
       // Safety net: reconcile the fully-solved pose with the floor.
       //
       // A ground-locked phase asserts its effectors (feet, and for a plank the
@@ -751,11 +811,13 @@ export function createViewer(
         mannequin.root.position.y -= box.min.y;
         mannequin.root.updateMatrixWorld(true);
       }
-      if (info.phaseName !== lastPhaseName) {
+      refreshReachResiduals();
+      if (!precomputingAnchors && info.phaseName !== lastPhaseName) {
         lastPhaseName = info.phaseName;
         phaseCb({ phaseName: info.phaseName, ...(info.cue ? { cue: info.cue } : {}) });
       }
     }
+    if (precomputingAnchors) return;
     // Mirror the fully-solved driver pose onto the skinned character.
     character?.sync(mannequin);
     // Mocap layer: ease the crossfade weight, then blend the retargeted clip
@@ -822,6 +884,29 @@ export function createViewer(
       timeline = buildTimeline(ir);
       time = 0;
       lastPhaseName = "";
+      reachResiduals = [];
+      reachResidualTargets = [];
+      authoredFingers = new Set(timeline.bonesUsed.filter(isFingerId));
+      authoredShoulders = new Set(timeline.bonesUsed.filter((id) => id.startsWith("shoulder_")));
+      authoredHead = timeline.bonesUsed.some((id) => id === "head" || id === "neck");
+      const initialPhase = ir.phases[0];
+      const initialFistSides = fistSidesOf(
+        initialPhase?.reaches ?? [],
+        initialPhase?.pins ?? [],
+        initialPhase?.groundLock ?? [],
+      );
+      const initialGripSides = gripSidesOf(initialPhase?.grips ?? []);
+      const initialConstrainedHandSides = contactHandSidesOf(
+        initialPhase?.reaches ?? [],
+        initialPhase?.pins ?? [],
+        initialPhase?.grips ?? [],
+        initialPhase?.groundLock ?? [],
+      );
+      const initialPalmFloorSides = floorHandSidesOf(
+        initialPhase?.reaches ?? [],
+        initialPhase?.pins ?? [],
+        initialPhase?.groundLock ?? [],
+      );
       // Scene props: tear down any previous set, build the declared ones, and
       // expose their anchors to reach-IK.
       if (propScene) {
@@ -841,23 +926,28 @@ export function createViewer(
       applyBaseRoot();
       timeline.sample(0, mannequin.bones);
       mannequin.root.updateMatrixWorld(true);
+      formFists(mannequin, initialFistSides, authoredFingers);
+      relaxHands(
+        mannequin,
+        unionHandSides(initialGripSides, initialFistSides),
+        authoredFingers,
+        initialPalmFloorSides,
+      );
+      alignFloorContacts(
+        mannequin,
+        initialPhase?.reaches ?? [],
+        initialPhase?.pins ?? [],
+        initialPhase?.groundLock ?? [],
+      );
       depenetrate(mannequin);
       groundFigureOf(mannequin);
       if (propScene) {
         resolvePropContacts(mannequin, propScene.colliders, contactExemptionsOf(ir.phases[0] ?? {}));
       }
       levelPlantedFeet(mannequin, ir.phases[0]?.groundLock ?? []);
-      authoredFingers = new Set(timeline.bonesUsed.filter(isFingerId));
-      authoredShoulders = new Set(timeline.bonesUsed.filter((id) => id.startsWith("shoulder_")));
-      authoredHead = timeline.bonesUsed.some((id) => id === "head" || id === "neck");
-      swingArms(mannequin, authoredShoulders, gripSidesOf(ir.phases[0]?.grips ?? []));
-      relaxHands(
-        mannequin,
-        gripSidesOf(ir.phases[0]?.grips ?? []),
-        authoredFingers,
-        floorHandSidesOf(ir.phases[0]?.reaches ?? [], ir.phases[0]?.pins ?? [], ir.phases[0]?.groundLock ?? []),
-      );
+      swingArms(mannequin, authoredShoulders, initialConstrainedHandSides);
       applyLookAt({ grips: ir.phases[0]?.grips ?? [], reaches: ir.phases[0]?.reaches ?? [] });
+      enforceContactRom(mannequin);
       captureGroundTargets();
       baseRootPos.copy(mannequin.root.position);
       baseRootQuat.copy(mannequin.root.quaternion);
@@ -872,8 +962,8 @@ export function createViewer(
           for (const bone of mannequin.bones.values()) bone.quaternion.identity();
           const info = timeline.sample(seg.start, mannequin.bones);
           
-          const wasPinned = (id: string) => prevPins.some(p => (EFFECTOR_BONE[p.effector] ?? p.effector) === id && p.anchor === "floor");
-          const isPinned = (id: string) => info.pins.some(p => (EFFECTOR_BONE[p.effector] ?? p.effector) === id && p.anchor === "floor");
+          const wasPinned = (id: string) => prevPins.some(p => effectorBoneId(p.effector) === id && p.anchor === "floor");
+          const isPinned = (id: string) => info.pins.some(p => effectorBoneId(p.effector) === id && p.anchor === "floor");
 
           mannequin.root.position.copy(baseRootPos);
           mannequin.root.quaternion.copy(baseRootQuat);
@@ -904,16 +994,76 @@ export function createViewer(
           prevPins = info.pins;
         }
 
+        // The raw FK pass above provides deterministic first-phase anchors,
+        // but a pin introduced later must inherit the contact position from
+        // the preceding phase *after* ground-lock, reach IK, ROM enforcement,
+        // and floor reconciliation. Otherwise a ground-lock→pin handoff snaps
+        // the whole body to the next phase's unsolved FK location (the original
+        // superhero knee planted abruptly; bridge lowers jumped by ~60 cm).
+        let previousSolvedEffectors: Map<string, THREE.Vector3> | null = null;
+        const activeFloorPinTargets = new Map<string, THREE.Vector3>();
+        precomputingAnchors = true;
+        try {
+          for (let i = 0; i < timeline.segments.length; i++) {
+            const seg = timeline.segments[i]!;
+            const currentPins = new Set(
+              (ir.phases[i]?.pins ?? [])
+                .filter((pin) => pin.anchor === "floor")
+                .map((pin) => effectorBoneId(pin.effector)),
+            );
+            for (const id of [...activeFloorPinTargets.keys()]) {
+              if (!currentPins.has(id)) activeFloorPinTargets.delete(id);
+            }
+            for (const id of currentPins) {
+              let anchor = activeFloorPinTargets.get(id);
+              if (!anchor) {
+                anchor = previousSolvedEffectors?.get(id)?.clone()
+                  ?? segmentStartEffectors[i]?.get(id)?.clone();
+                if (anchor) activeFloorPinTargets.set(id, anchor);
+              }
+              if (anchor) segmentStartEffectors[i]?.set(id, anchor.clone());
+            }
+
+            // Stay inside the segment because sample(duration) wraps to zero.
+            time = Math.max(seg.start, seg.end - 1e-5);
+            frame();
+            previousSolvedEffectors = new Map();
+            for (const ids of Object.values(mannequin.effectors)) {
+              for (const id of ids) {
+                const node = mannequin.bones.get(id);
+                if (node) previousSolvedEffectors.set(id, node.getWorldPosition(new THREE.Vector3()));
+              }
+            }
+          }
+        } finally {
+          precomputingAnchors = false;
+          time = 0;
+        }
+
         // Restore initial pose
         for (const bone of mannequin.bones.values()) bone.quaternion.identity();
         applyBaseRoot();
         timeline.sample(0, mannequin.bones);
+        formFists(mannequin, initialFistSides, authoredFingers);
+        relaxHands(
+          mannequin,
+          unionHandSides(initialGripSides, initialFistSides),
+          authoredFingers,
+          initialPalmFloorSides,
+        );
+        alignFloorContacts(
+          mannequin,
+          initialPhase?.reaches ?? [],
+          initialPhase?.pins ?? [],
+          initialPhase?.groundLock ?? [],
+        );
         mannequin.root.position.copy(baseRootPos);
         mannequin.root.quaternion.copy(baseRootQuat);
         mannequin.root.updateMatrixWorld(true);
         depenetrate(mannequin);
         groundFigureOf(mannequin);
         levelPlantedFeet(mannequin, ir.phases[0]?.groundLock ?? []);
+        enforceContactRom(mannequin);
       }
 
       requestClip(ir);
@@ -964,6 +1114,9 @@ export function createViewer(
         segments: timeline.segments,
       };
     },
+    getReachResiduals() {
+      return reachResiduals.map((residual) => ({ ...residual }));
+    },
     getVisibleBounds() {
       return character?.getBounds() ?? new THREE.Box3().setFromObject(mannequin.root);
     },
@@ -1052,6 +1205,10 @@ function contactBoneIds(info: {
     if (effector === "feet" || effector === "foot_right") ids.add("ankle_right");
     if (effector === "hands" || effector === "hand_left") ids.add("wrist_left");
     if (effector === "hands" || effector === "hand_right") ids.add("wrist_right");
+    if (effector === "fists" || effector === "fist_left") ids.add("wrist_left");
+    if (effector === "fists" || effector === "fist_right") ids.add("wrist_right");
+    if (effector === "knees" || effector === "knee_left") ids.add("knee_left");
+    if (effector === "knees" || effector === "knee_right") ids.add("knee_right");
     if (effector === "forearms") {
       ids.add("elbow_left");
       ids.add("elbow_right");
@@ -1096,6 +1253,50 @@ function gripSidesOf(grips: readonly { effector: string }[]): Set<"left" | "righ
   return sides;
 }
 
+/** Every hand side whose arm participates in an active contact constraint. */
+function contactHandSidesOf(
+  reaches: readonly { effector: string }[],
+  pins: readonly { effector: string }[],
+  grips: readonly { effector: string }[],
+  groundLock: readonly string[] = [],
+): Set<"left" | "right"> {
+  const sides = gripSidesOf(grips);
+  const add = (effector: string): void => {
+    if (/^(?:hand|fist|elbow)_left$/.test(effector)
+      || effector === "hands" || effector === "fists" || effector === "forearms") sides.add("left");
+    if (/^(?:hand|fist|elbow)_right$/.test(effector)
+      || effector === "hands" || effector === "fists" || effector === "forearms") sides.add("right");
+  };
+  reaches.forEach((contact) => add(contact.effector));
+  pins.forEach((contact) => add(contact.effector));
+  groundLock.forEach(add);
+  return sides;
+}
+
+/** Hand sides whose semantic endpoint is a closed fist (at any target). */
+function fistSidesOf(
+  reaches: readonly { effector: string }[],
+  pins: readonly { effector: string }[],
+  groundLock: readonly string[] = [],
+): Set<"left" | "right"> {
+  const sides = new Set<"left" | "right">();
+  const add = (effector: string): void => {
+    if (effector === "fists" || effector === "fist_left") sides.add("left");
+    if (effector === "fists" || effector === "fist_right") sides.add("right");
+  };
+  reaches.forEach((reach) => add(reach.effector));
+  pins.forEach((pin) => add(pin.effector));
+  groundLock.forEach(add);
+  return sides;
+}
+
+function unionHandSides(
+  a: ReadonlySet<"left" | "right">,
+  b: ReadonlySet<"left" | "right">,
+): Set<"left" | "right"> {
+  return new Set([...a, ...b]);
+}
+
 /**
  * Hand sides pressed onto the floor this phase — via `reach`/`pin: hands floor`
  * OR `ground-lock: hands` (a high plank / push-up / mountain-climber, where the
@@ -1147,6 +1348,16 @@ export { applyGroundLock, groundFigure } from "./groundlock.js";
 export type { Mannequin, Proportions, CollisionRadii } from "./mannequin.js";
 export { buildTimeline } from "./timeline.js";
 export { solveCCD, type IkChain, type JointLimits } from "./ik.js";
+export {
+  EFFECTOR_BONE,
+  REACH_TOLERANCE,
+  effectorBoneId,
+  reachChain,
+  solveReachToPoint,
+  missingReachTarget,
+  type ReachResidual,
+  type ReachResidualReason,
+} from "./reach.js";
 export { buildProps, type PropScene, type FaceCollider, type BlockedPart } from "./props.js";
 export { resolvePropContacts, propContactExemptions, type PropContactExemptions } from "./propcontact.js";
 export { loadCharacter, rigCharacter, type Character } from "./character.js";
@@ -1158,5 +1369,19 @@ export {
   type ClipSource,
 } from "./clips.js";
 export { depenetrate } from "./depenetrate.js";
-export { alignFloorPalms, levelPlantedFeet } from "./contacts.js";
+export {
+  PALM_LOCAL_NORMAL,
+  FIST_LOCAL_NORMAL,
+  alignFloorContacts,
+  alignFloorPalms,
+  prepareGripFrames,
+  alignGripFrames,
+  isDipBarGrip,
+  floorTargetForEffector,
+  floorContactHeight,
+  enforceContactRom,
+  formFists,
+  levelPlantedFeet,
+  wrapGrip,
+} from "./contacts.js";
 export type { PhaseSegment } from "./timeline.js";
diff --git a/packages/posecode-render/src/mannequin.ts b/packages/posecode-render/src/mannequin.ts
index e9e086d..dcaaf5c 100644
--- a/packages/posecode-render/src/mannequin.ts
+++ b/packages/posecode-render/src/mannequin.ts
@@ -24,6 +24,14 @@ export interface Mannequin {
   effectors: Record<string, string[]>;
   /** Body-part radii for the self-collision pass (metres). */
   collision: CollisionRadii;
+  /** Visible meshes that form semantic local support surfaces. */
+  contactSurfaces: {
+    /** Trunk/mat surface used by `pin: pelvis floor`. */
+    pelvis: THREE.Object3D[];
+    /** Rounded thigh/shin caps that meet at each supporting knee. */
+    knee_left: THREE.Object3D[];
+    knee_right: THREE.Object3D[];
+  };
 }
 
 /** Capsule/sphere radii approximating the visible body for self-collision. */
@@ -185,6 +193,7 @@ export function buildMannequin(material?: THREE.Material, proportions?: Proporti
   root.name = "posecode-mannequin";
 
   const bones = new Map<string, THREE.Object3D>();
+  const jointCaps = new Map<string, THREE.Object3D[]>();
 
   for (const spec of SKELETON) {
     const bone = new THREE.Object3D();
@@ -201,9 +210,25 @@ export function buildMannequin(material?: THREE.Material, proportions?: Proporti
     // Draw the segment from the parent joint to this joint, on the parent.
     if (spec.parent && spec.radius) {
       const mat = segmentMaterial(spec.id, mats);
-      const seg = isFinger(spec.id)
-        ? makeSegment(offset.length(), spec.radius, mats.skin)
-        : makeTaperedSegment(offset.length(), spec.radius, spec.radiusEnd ?? spec.radius, mat);
+      let seg: THREE.Object3D;
+      if (isFinger(spec.id)) {
+        seg = makeSegment(offset.length(), spec.radius, mats.skin);
+      } else {
+        const tapered = makeTaperedSegment(
+          offset.length(),
+          spec.radius,
+          spec.radiusEnd ?? spec.radius,
+          mat,
+        );
+        seg = tapered.group;
+        const addCap = (joint: string, cap: THREE.Object3D): void => {
+          const caps = jointCaps.get(joint) ?? [];
+          caps.push(cap);
+          jointCaps.set(joint, caps);
+        };
+        addCap(spec.parent, tapered.proximalCap);
+        addCap(spec.id, tapered.distalCap);
+      }
       orientSegment(seg, offset);
       bones.get(spec.parent)!.add(seg);
     }
@@ -227,6 +252,23 @@ export function buildMannequin(material?: THREE.Material, proportions?: Proporti
   addShoe(bones.get("ankle_left")!, mats, proportions?.soleDrop);
   addShoe(bones.get("ankle_right")!, mats, proportions?.soleDrop);
 
+  // A pelvis floor pin represents the trunk's mat contact, whose thickness
+  // changes with orientation (supine/prone) and spinal pose. A fixed proxy
+  // radius cannot serve both a flat prone lower and a supine bridge. Record
+  // the actual trunk meshes so contact code can measure that surface without
+  // accidentally including descendant arms or legs in the pelvis subtree.
+  const boneIdByNode = new Map<THREE.Object3D, string>(
+    [...bones].map(([id, node]) => [node, id]),
+  );
+  const trunkIds = new Set(["pelvis", "spine", "chest", "neck", "head"]);
+  const pelvisSurface: THREE.Object3D[] = [];
+  root.traverse((obj) => {
+    if (!(obj as THREE.Mesh).isMesh) return;
+    let owner = obj.parent;
+    while (owner && !boneIdByNode.has(owner)) owner = owner.parent;
+    if (owner && trunkIds.has(boneIdByNode.get(owner)!)) pelvisSurface.push(obj);
+  });
+
   return {
     root,
     bones,
@@ -234,9 +276,15 @@ export function buildMannequin(material?: THREE.Material, proportions?: Proporti
       hands: ["wrist_left", "wrist_right"],
       hand_left: ["wrist_left"],
       hand_right: ["wrist_right"],
+      fists: ["wrist_left", "wrist_right"],
+      fist_left: ["wrist_left"],
+      fist_right: ["wrist_right"],
       forearms: ["elbow_left", "elbow_right"],
       elbow_left: ["elbow_left"],
       elbow_right: ["elbow_right"],
+      knees: ["knee_left", "knee_right"],
+      knee_left: ["knee_left"],
+      knee_right: ["knee_right"],
       feet: ["ankle_left", "ankle_right"],
       foot_left: ["ankle_left"],
       foot_right: ["ankle_right"],
@@ -244,6 +292,11 @@ export function buildMannequin(material?: THREE.Material, proportions?: Proporti
       back: ["pelvis", "spine", "chest"],
     },
     collision: proportions?.collision ?? DEFAULT_COLLISION,
+    contactSurfaces: {
+      pelvis: pelvisSurface,
+      knee_left: jointCaps.get("knee_left") ?? [],
+      knee_right: jointCaps.get("knee_right") ?? [],
+    },
   };
 }
 
@@ -265,7 +318,11 @@ function makeTaperedSegment(
   rProx: number,
   rDist: number,
   mat: THREE.Material,
-): THREE.Object3D {
+): {
+  group: THREE.Group;
+  proximalCap: THREE.Mesh;
+  distalCap: THREE.Mesh;
+} {
   const group = new THREE.Group();
   // +Y end maps to the CHILD joint after orientSegment (dir = offset).
   const shaft = new THREE.Mesh(new THREE.CylinderGeometry(rDist, rProx, length, 22, 1), mat);
@@ -276,7 +333,7 @@ function makeTaperedSegment(
   const capProx = new THREE.Mesh(new THREE.SphereGeometry(rProx, 22, 16), mat);
   capProx.position.y = -length / 2;
   group.add(capProx);
-  return group;
+  return { group, proximalCap: capProx, distalCap: capDist };
 }
 
 /** Position/orient a +Y segment so it spans from the parent joint to `offset`. */
@@ -372,7 +429,11 @@ function addHead(head: THREE.Object3D, mats: FigureMaterials, headLength?: numbe
 
 /** A flattened palm instead of a ball: hands read as hands, not maracas. */
 function addPalm(wrist: THREE.Object3D, mat: THREE.Material): void {
-  addEllipsoid(wrist, 0.045, [0.85, 1.05, 0.5], [0, -0.02, 0.004], mat);
+  // The ellipsoid's thinnest axis is local Z, so +Z is the procedural palm's
+  // outward face normal on BOTH sides. Contact orientation must use this mesh
+  // convention (not an anatomical left/right guess such as +/-X).
+  const palm = addEllipsoid(wrist, 0.045, [0.85, 1.05, 0.5], [0, -0.02, 0.004], mat);
+  palm.name = `palm_${wrist.name.replace("wrist_", "")}`;
 }
 
 /**
diff --git a/packages/posecode-render/src/propcontact.ts b/packages/posecode-render/src/propcontact.ts
index 1f7624f..2f8420a 100644
--- a/packages/posecode-render/src/propcontact.ts
+++ b/packages/posecode-render/src/propcontact.ts
@@ -1,13 +1,13 @@
 /**
- * Prop contact solving: props are solid, not just visual.
+ * Bounded prop-contact correction for selected blocking surfaces.
  *
  * Authored poses are pure joint rotations relative to the root, and the root
  * solvers (ground-lock, pins) only know about the floor and named anchors, so
  * nothing stopped a wall-sit's pelvis from hinging straight through the wall
  * or a sit-to-stand's torso from sinking into the chair's backrest. This pass
  * samples the body as capsules (torso, head, thighs, shins, forearms) against
- * each prop's declared solid faces (`FaceCollider`, see props.ts) and removes
- * any overlap:
+ * selected declared faces (`FaceCollider`, see props.ts) and reduces sampled
+ * overlap. This is deliberately not comprehensive collision detection:
  *
  * - **Body-resolved faces** (wall, backrest, seat edge) translate the WHOLE
  *   figure along the face normal — the physical resolution of leaning into a
@@ -21,7 +21,7 @@
  *
  * Same principles as the self-collision pass (depenetrate.ts): minimal (a
  * pose with no overlap is untouched, contact settles ON the surface),
- * deterministic (pure function of the pose), and ROM-safe.
+ * deterministic (pure function of the pose), and ROM-bounded.
  *
  * Runs after ground-lock / pins / grips (it must see the final root
  * placement) and before reach-IK (reached hands must not be dragged off
@@ -127,8 +127,20 @@ export function propContactExemptions(
   for (const c of contacts) {
     if (c.anchor === "floor") continue;
     for (const side of ["left", "right"] as const) {
-      if (c.effector === "feet" || c.effector === `foot_${side}` || c.effector === `ankle_${side}`) legs.add(side);
-      if (c.effector === "hands" || c.effector === `hand_${side}` || c.effector === `wrist_${side}`) arms.add(side);
+      if (
+        c.effector === "feet" ||
+        c.effector === "knees" ||
+        c.effector === `foot_${side}` ||
+        c.effector === `ankle_${side}` ||
+        c.effector === `knee_${side}`
+      ) legs.add(side);
+      if (
+        c.effector === "hands" ||
+        c.effector === "fists" ||
+        c.effector === `hand_${side}` ||
+        c.effector === `fist_${side}` ||
+        c.effector === `wrist_${side}`
+      ) arms.add(side);
     }
   }
   return { legs, arms };
diff --git a/packages/posecode-render/src/props.ts b/packages/posecode-render/src/props.ts
index 4fe981e..43434c6 100644
--- a/packages/posecode-render/src/props.ts
+++ b/packages/posecode-render/src/props.ts
@@ -147,7 +147,9 @@ export function buildProps(types: string[], material?: THREE.Material): PropScen
       // the floor. The single `bars` grip anchor sits at the midpoint between
       // the rails at grip height: pins translate the BODY so the average hand
       // position meets the anchor, which leaves each authored hand over its
-      // own rail.
+      // own rail. Side-specific anchors are required because grouped grips are
+      // resolved to `bars_left` / `bars_right`; falling back to the centre
+      // collapses both hands onto one point and twists the shoulders together.
       const railH = 1.1;
       const halfSpan = 0.22;
       for (const x of [-halfSpan, halfSpan]) {
@@ -168,6 +170,8 @@ export function buildProps(types: string[], material?: THREE.Material): PropScen
         }
       }
       anchors.set("bars", new THREE.Vector3(0, railH, 0));
+      anchors.set("bars_left", new THREE.Vector3(halfSpan, railH, 0));
+      anchors.set("bars_right", new THREE.Vector3(-halfSpan, railH, 0));
     } else if (type === "box") {
       // A low step/plateau placed IN FRONT of the figure (+Z): the lead foot
       // steps forward and up onto it. Top surface at ~0.30 m; `box` anchor sits
diff --git a/packages/posecode-render/src/reach.ts b/packages/posecode-render/src/reach.ts
new file mode 100644
index 0000000..761fb34
--- /dev/null
+++ b/packages/posecode-render/src/reach.ts
@@ -0,0 +1,170 @@
+/** Reach-effector resolution and ROM-constrained IK shared by the viewer/tests. */
+import * as THREE from "three";
+import { eulerRomFor } from "posecode-parser";
+import type { Mannequin } from "./mannequin.js";
+import { solveCCD, type JointLimits } from "./ik.js";
+
+const DEG = Math.PI / 180;
+const REACH_EULER = new THREE.Euler();
+
+/** Friendly/canonical contact effectors mapped to their driven rig bone. */
+export const EFFECTOR_BONE: Readonly<Record<string, string>> = {
+  hand_left: "wrist_left",
+  hand_right: "wrist_right",
+  fist_left: "wrist_left",
+  fist_right: "wrist_right",
+  foot_left: "ankle_left",
+  foot_right: "ankle_right",
+  knee_left: "knee_left",
+  knee_right: "knee_right",
+};
+
+export type ReachResidualReason =
+  | "missing-effector"
+  | "missing-target"
+  | "unsupported-effector";
+
+/**
+ * Runtime outcome for one active reach. `distance` is the actual post-blend
+ * world-space effector error in metres. A null distance means the target or
+ * effector could not be resolved; these cases are deliberately retained
+ * instead of being silently discarded by the renderer.
+ */
+export interface ReachResidual {
+  effector: string;
+  target: string;
+  weight: number;
+  distance: number | null;
+  reached: boolean;
+  reason?: ReachResidualReason;
+}
+
+/** Viewer/testing tolerance for considering a terminal contact reached. */
+export const REACH_TOLERANCE = 0.03;
+
+/** Resolve a canonical effector name to the bone that occupies its endpoint. */
+export function effectorBoneId(effector: string): string {
+  return EFFECTOR_BONE[effector] ?? effector;
+}
+
+/**
+ * The proximal-to-distal chain allowed to move a terminal effector.
+ * Knee contact rotates the hip only: the knee itself is the endpoint, not a
+ * joint that may rotate itself toward its own target. Fists share the arm
+ * chain with palms while retaining distinct contact geometry in contacts.ts.
+ */
+export function reachChain(
+  m: Mannequin,
+  effector: string,
+): { joints: THREE.Object3D[]; limits: (JointLimits | null)[] } {
+  const boneId = effectorBoneId(effector);
+  const side = boneId.endsWith("_left") ? "left" : "right";
+  const ids = boneId.startsWith("wrist")
+    ? [`shoulder_${side}`, `elbow_${side}`]
+    : boneId.startsWith("elbow")
+      ? [`shoulder_${side}`]
+      : boneId.startsWith("ankle")
+        ? [`hip_${side}`, `knee_${side}`]
+        : boneId.startsWith("knee")
+          ? [`hip_${side}`]
+          : [];
+  const joints: THREE.Object3D[] = [];
+  const limits: (JointLimits | null)[] = [];
+  for (const id of ids) {
+    const node = m.bones.get(id);
+    if (!node) continue;
+    joints.push(node);
+    limits.push(widenedJointLimits(id, node));
+  }
+  return { joints, limits };
+}
+
+/** A bone's ROM in radians, widened only enough to preserve authored FK. */
+export function widenedJointLimits(
+  boneId: string,
+  node: THREE.Object3D,
+): JointLimits | null {
+  const rom = eulerRomFor(boneId);
+  if (!rom) return null;
+  REACH_EULER.setFromQuaternion(node.quaternion, "XYZ");
+  return {
+    x: widen(rom.x.min * DEG, rom.x.max * DEG, REACH_EULER.x),
+    y: widen(rom.y.min * DEG, rom.y.max * DEG, REACH_EULER.y),
+    z: widen(rom.z.min * DEG, rom.z.max * DEG, REACH_EULER.z),
+  };
+}
+
+function widen(min: number, max: number, current: number): [number, number] {
+  return [Math.min(min, current), Math.max(max, current)];
+}
+
+/**
+ * Solve one named effector to an already-resolved world point and report the
+ * residual after reach-weight blending. This low-level entry point lets tests
+ * and non-WebGL consumers exercise the exact viewer solve.
+ */
+export function solveReachToPoint(
+  m: Mannequin,
+  effectorName: string,
+  targetName: string,
+  target: THREE.Vector3,
+  weight = 1,
+): ReachResidual {
+  const safeWeight = THREE.MathUtils.clamp(weight, 0, 1);
+  const effector = m.bones.get(effectorBoneId(effectorName));
+  if (!effector) {
+    return {
+      effector: effectorName,
+      target: targetName,
+      weight: safeWeight,
+      distance: null,
+      reached: false,
+      reason: "missing-effector",
+    };
+  }
+  const { joints, limits } = reachChain(m, effectorName);
+  if (joints.length === 0) {
+    return {
+      effector: effectorName,
+      target: targetName,
+      weight: safeWeight,
+      distance: null,
+      reached: false,
+      reason: "unsupported-effector",
+    };
+  }
+
+  const before = joints.map((joint) => joint.quaternion.clone());
+  solveCCD({ joints, limits, effector, target }, 12);
+  for (let i = 0; i < joints.length; i++) {
+    const solved = joints[i]!.quaternion.clone();
+    joints[i]!.quaternion.slerpQuaternions(before[i]!, solved, safeWeight);
+  }
+  m.root.updateMatrixWorld(true);
+  const distance = effector
+    .getWorldPosition(new THREE.Vector3())
+    .distanceTo(target);
+  return {
+    effector: effectorName,
+    target: targetName,
+    weight: safeWeight,
+    distance,
+    reached: distance <= REACH_TOLERANCE,
+  };
+}
+
+/** Construct an explicit diagnostic for a target name that did not resolve. */
+export function missingReachTarget(
+  effector: string,
+  target: string,
+  weight = 1,
+): ReachResidual {
+  return {
+    effector,
+    target,
+    weight: THREE.MathUtils.clamp(weight, 0, 1),
+    distance: null,
+    reached: false,
+    reason: "missing-target",
+  };
+}
diff --git a/packages/posecode-render/src/timeline.ts b/packages/posecode-render/src/timeline.ts
index fd3cad2..ed66850 100644
--- a/packages/posecode-render/src/timeline.ts
+++ b/packages/posecode-render/src/timeline.ts
@@ -8,12 +8,21 @@
  */
 
 import * as THREE from "three";
-import type { PosecodeIR, ReachTarget, PinTarget, GripTarget, TimingMode } from "posecode-parser";
+import type {
+  Axis,
+  PosecodeIR,
+  ReachTarget,
+  PinTarget,
+  GripTarget,
+  TimingMode,
+} from "posecode-parser";
 import { poseFor, type PoseSpec } from "./poses.js";
 
 const DEG = Math.PI / 180;
 
 type EulerDegTuple = [number, number, number];
+const AXIS_INDEX: Record<Axis, 0 | 1 | 2> = { x: 0, y: 1, z: 2 };
+const ALL_AXES: Axis[] = ["x", "y", "z"];
 
 interface Keyframe {
   time: number;
@@ -228,7 +237,11 @@ export function buildTimeline(ir: PosecodeIR): BuiltTimeline {
   let t = 0;
   for (const phase of ir.phases) {
     for (const target of phase.targets) {
-      curr.set(target.boneId, [target.euler.x, target.euler.y, target.euler.z]);
+      const next = [...(curr.get(target.boneId) ?? [0, 0, 0])] as EulerDegTuple;
+      for (const axis of target.axes ?? ALL_AXES) {
+        next[AXIS_INDEX[axis]] = target.euler[axis];
+      }
+      curr.set(target.boneId, next);
     }
     if (phase.turnDeg !== undefined) currYaw = phase.turnDeg;
     if (phase.travel) currPos = { x: phase.travel.x, z: phase.travel.z };
@@ -404,7 +417,10 @@ function snapshot(curr: Map<string, EulerDegTuple>): Map<string, EulerDegTuple>
   if (pelvisX !== 0) {
     for (const hip of ["hip_left", "hip_right"]) {
       const [hx, hy, hz] = curr.get(hip) ?? [0, 0, 0];
-      out.set(hip, [hx - pelvisX, hy, hz]);
+      // Parser-produced IR already enforces this coupled limit. Clamp here too
+      // because PosecodeIR is public and hosts may construct legacy/manual IR
+      // without running the parser first.
+      out.set(hip, [THREE.MathUtils.clamp(hx - pelvisX, -135, 20), hy, hz]);
     }
   }
   return out;
diff --git a/packages/posecode-render/test/contacts.test.ts b/packages/posecode-render/test/contacts.test.ts
index cf968fd..67192fe 100644
--- a/packages/posecode-render/test/contacts.test.ts
+++ b/packages/posecode-render/test/contacts.test.ts
@@ -1,7 +1,20 @@
 import { describe, it, expect } from "vitest";
 import * as THREE from "three";
 import { buildMannequin } from "../src/mannequin.js";
-import { levelPlantedFeet, relaxHands, swingArms, aimHead } from "../src/contacts.js";
+import {
+  FIST_LOCAL_NORMAL,
+  PALM_LOCAL_NORMAL,
+  alignFloorContacts,
+  alignGripFrames,
+  enforceContactRom,
+  floorTargetForEffector,
+  formFists,
+  levelPlantedFeet,
+  prepareGripFrames,
+  relaxHands,
+  swingArms,
+  aimHead,
+} from "../src/contacts.js";
 import { groundFigure } from "../src/groundlock.js";
 
 const DEG = Math.PI / 180;
@@ -65,20 +78,122 @@ describe("levelPlantedFeet", () => {
   });
 });
 
+describe("contact geometry", () => {
+  const down = new THREE.Vector3(0, -1, 0);
+
+  it("uses the flattened palm mesh's +Z face on both sides and stays in wrist ROM", () => {
+    const m = buildMannequin();
+    for (const side of ["left", "right"] as const) {
+      const palm = m.bones.get(`wrist_${side}`)!.getObjectByName(`palm_${side}`) as THREE.Mesh;
+      palm.geometry.computeBoundingBox();
+      const size = palm.geometry.boundingBox!.getSize(new THREE.Vector3()).multiply(palm.scale);
+      // Ground the axis convention in the actual mesh: Z is its shallow face.
+      expect(size.z).toBeLessThan(size.x);
+      expect(size.z).toBeLessThan(size.y);
+      // Twenty degrees of safe shoulder extension lets the wrist's 70deg
+      // extension ceiling reach a fully palm-down 90deg world frame.
+      m.bones.get(`shoulder_${side}`)!.rotation.x = 20 * DEG;
+    }
+    m.root.updateMatrixWorld(true);
+
+    alignFloorContacts(m, [], [{ effector: "hands", anchor: "floor" }], []);
+    for (const side of ["left", "right"] as const) {
+      const wrist = m.bones.get(`wrist_${side}`)!;
+      const normal = new THREE.Vector3(...PALM_LOCAL_NORMAL)
+        .applyQuaternion(wrist.getWorldQuaternion(new THREE.Quaternion()))
+        .normalize();
+      expect(normal.dot(down)).toBeGreaterThan(0.995);
+      const local = new THREE.Euler().setFromQuaternion(wrist.quaternion, "XYZ");
+      expect(local.x).toBeLessThanOrEqual(70 * DEG + 1e-6);
+      expect(Math.abs(local.y)).toBeLessThan(1e-6);
+      expect(Math.abs(local.z)).toBeLessThan(1e-6);
+    }
+  });
+
+  it("plants a fist on its knuckles, distinctly from a palm, without losing curl", () => {
+    const m = buildMannequin();
+    m.bones.get("wrist_left")!.rotation.x = -30 * DEG;
+    formFists(m, new Set(["left"]));
+    const curlBefore = m.bones.get("index_left")!.quaternion.clone();
+    alignFloorContacts(m, [{ effector: "fist_left", target: "floor", weight: 1 }], [], []);
+
+    const wristWorld = m.bones.get("wrist_left")!.getWorldQuaternion(new THREE.Quaternion());
+    const knuckles = new THREE.Vector3(...FIST_LOCAL_NORMAL).applyQuaternion(wristWorld).normalize();
+    const palm = new THREE.Vector3(...PALM_LOCAL_NORMAL).applyQuaternion(wristWorld).normalize();
+    expect(knuckles.dot(down)).toBeGreaterThan(0.995);
+    expect(Math.abs(palm.dot(down))).toBeLessThan(0.1);
+    expect(m.bones.get("index_left")!.quaternion.angleTo(curlBefore)).toBeLessThan(1e-8);
+    expect(m.bones.get("index_left")!.rotation.x).toBeLessThan(-1);
+  });
+
+  it("targets the knee surface, not the bottom of its shin/foot subtree", () => {
+    const m = buildMannequin();
+    m.root.updateMatrixWorld(true);
+    const wristBefore = m.bones.get("wrist_left")!.quaternion.clone();
+    const target = floorTargetForEffector(m, "knee_left");
+    expect(target).not.toBeNull();
+    expect(m.contactSurfaces.knee_left).toHaveLength(2);
+    expect(target!.y).toBeGreaterThan(0.05);
+    expect(target!.y).toBeLessThan(0.07);
+    alignFloorContacts(m, [{ effector: "knee_left", target: "floor", weight: 1 }], [], []);
+    expect(m.bones.get("wrist_left")!.quaternion.angleTo(wristBefore)).toBeLessThan(1e-8);
+  });
+
+  it("targets the local pelvis surface instead of its whole body subtree", () => {
+    const m = buildMannequin();
+    m.root.updateMatrixWorld(true);
+    const target = floorTargetForEffector(m, "pelvis");
+    expect(target).not.toBeNull();
+    expect(m.contactSurfaces.pelvis.length).toBeGreaterThan(0);
+    expect(target!.y).toBeGreaterThan(0.08);
+    expect(target!.y).toBeLessThan(0.16);
+  });
+
+  it("strictly clears forbidden ankle Y/Z and clamps terminal joints", () => {
+    const m = buildMannequin();
+    m.bones.get("ankle_left")!.rotation.set(0.2, 0.5, -0.4);
+    m.bones.get("wrist_right")!.rotation.set(0.2, 0.3, -0.8);
+    enforceContactRom(m);
+    const ankle = new THREE.Euler().setFromQuaternion(m.bones.get("ankle_left")!.quaternion, "XYZ");
+    const wrist = new THREE.Euler().setFromQuaternion(m.bones.get("wrist_right")!.quaternion, "XYZ");
+    expect(Math.abs(ankle.y)).toBeLessThan(1e-7);
+    expect(Math.abs(ankle.z)).toBeLessThan(1e-7);
+    expect(ankle.x).toBeLessThanOrEqual(50 * DEG + 1e-6);
+    expect(wrist.x).toBeLessThanOrEqual(70 * DEG + 1e-6);
+    expect(Math.abs(wrist.y)).toBeLessThan(1e-7);
+    expect(wrist.z).toBeGreaterThanOrEqual(-20 * DEG - 1e-6);
+    expect(wrist.z).toBeLessThanOrEqual(30 * DEG + 1e-6);
+  });
+
+  it("builds a stable palm-down dip-bar frame", () => {
+    const m = buildMannequin();
+    m.bones.get("shoulder_left")!.rotation.x = 20 * DEG;
+    m.bones.get("elbow_left")!.rotation.y = 80 * DEG;
+    const grips = [{ effector: "hand_left", anchor: "bars_left" }];
+    prepareGripFrames(m, grips);
+    expect(Math.abs(m.bones.get("elbow_left")!.rotation.y)).toBeLessThan(1e-7);
+    alignGripFrames(m, grips);
+    const normal = new THREE.Vector3(...PALM_LOCAL_NORMAL).applyQuaternion(
+      m.bones.get("wrist_left")!.getWorldQuaternion(new THREE.Quaternion()),
+    );
+    expect(normal.dot(down)).toBeGreaterThan(0.995);
+  });
+});
+
 describe("relaxHands (L4.1)", () => {
   it("curls the fingers of an idle, un-authored hand into a natural rest", () => {
     const m = buildMannequin();
     expect(m.bones.get("index_left")!.rotation.x).toBeCloseTo(0, 5); // flat at rest
     relaxHands(m, new Set(), new Set());
-    expect(m.bones.get("index_left")!.rotation.x).toBeGreaterThan(0.1);
-    expect(m.bones.get("middle_right")!.rotation.x).toBeGreaterThan(0.1);
+    expect(m.bones.get("index_left")!.rotation.x).toBeLessThan(-0.1);
+    expect(m.bones.get("middle_right")!.rotation.x).toBeLessThan(-0.1);
   });
 
   it("leaves a gripping hand for wrapGrip (skips grip sides)", () => {
     const m = buildMannequin();
     relaxHands(m, new Set(["left"]), new Set());
     expect(m.bones.get("index_left")!.rotation.x).toBeCloseTo(0, 5); // untouched
-    expect(m.bones.get("index_right")!.rotation.x).toBeGreaterThan(0.1); // right relaxed
+    expect(m.bones.get("index_right")!.rotation.x).toBeLessThan(-0.1); // right relaxed
   });
 
   it("does not override an explicitly authored finger", () => {
@@ -93,11 +208,11 @@ describe("relaxHands (L4.1)", () => {
     // A free hand takes the soft inward hook...
     relaxHands(m, new Set(), new Set(), new Set());
     const freeCurl = m.bones.get("index_left")!.rotation.x;
-    expect(freeCurl).toBeGreaterThan(0.3);
+    expect(freeCurl).toBeLessThan(-0.3);
     // ...but a hand pressed to the floor (plank/push-up) lies extended.
     relaxHands(m, new Set(), new Set(), new Set(["left"]));
     expect(m.bones.get("index_left")!.rotation.x).toBeLessThan(0.1); // flat
-    expect(m.bones.get("index_right")!.rotation.x).toBeGreaterThan(0.3); // right still hooked
+    expect(m.bones.get("index_right")!.rotation.x).toBeLessThan(-0.3); // right still hooked
   });
 });
 
diff --git a/packages/posecode-render/test/propcontact.test.ts b/packages/posecode-render/test/propcontact.test.ts
index c6531e3..fdd983f 100644
--- a/packages/posecode-render/test/propcontact.test.ts
+++ b/packages/posecode-render/test/propcontact.test.ts
@@ -91,11 +91,11 @@ describe("solid prop contact", () => {
 
   it("maps effector spellings and floor anchors correctly in propContactExemptions", () => {
     const e = propContactExemptions([
-      { effector: "feet", anchor: "box" },
-      { effector: "hand_left", anchor: "bar" },
+      { effector: "knee_left", anchor: "seat" },
+      { effector: "fist_right", anchor: "wall" },
       { effector: "foot_right", anchor: "floor" }, // floor: not a prop contact
     ]);
-    expect([...e.legs].sort()).toEqual(["left", "right"]);
-    expect([...e.arms]).toEqual(["left"]);
+    expect([...e.legs]).toEqual(["left"]);
+    expect([...e.arms]).toEqual(["right"]);
   });
 });
diff --git a/packages/posecode-render/test/render.test.ts b/packages/posecode-render/test/render.test.ts
index a2b219f..aad7e5f 100644
--- a/packages/posecode-render/test/render.test.ts
+++ b/packages/posecode-render/test/render.test.ts
@@ -7,6 +7,7 @@ import { poseFor } from "../src/poses.js";
 import { buildProps } from "../src/props.js";
 import { applyGroundLock, groundFigure } from "../src/groundlock.js";
 import { levelPlantedFeet, wrapGrip } from "../src/contacts.js";
+import { effectorBoneId, missingReachTarget, solveReachToPoint } from "../src/reach.js";
 import { parse, eulerRomFor } from "posecode-parser";
 
 const DEG = Math.PI / 180;
@@ -36,6 +37,11 @@ describe("mannequin", () => {
     expect(m.effectors.feet).toEqual(["ankle_left", "ankle_right"]);
     expect(m.effectors.foot_right).toEqual(["ankle_right"]);
     expect(m.effectors.back).toEqual(["pelvis", "spine", "chest"]);
+    expect(m.effectors.fist_left).toEqual(["wrist_left"]);
+    expect(m.effectors.fists).toEqual(["wrist_left", "wrist_right"]);
+    expect(m.effectors.knees).toEqual(["knee_left", "knee_right"]);
+    expect(effectorBoneId("fist_right")).toBe("wrist_right");
+    expect(effectorBoneId("knee_left")).toBe("knee_left");
   });
 });
 
@@ -368,6 +374,45 @@ describe("reach-IK", () => {
 
     expect(after).toBeLessThan(0.06);
   });
+
+  it("solves a canonical knee effector through the hip and reports residual", () => {
+    const m = buildMannequin();
+    m.root.updateMatrixWorld(true);
+    const hip = m.bones.get("hip_left")!;
+    const knee = m.bones.get("knee_left")!;
+    const hipPos = hip.getWorldPosition(new THREE.Vector3());
+    const radius = knee.getWorldPosition(new THREE.Vector3()).sub(hipPos);
+    const target = hipPos.clone().add(radius.applyAxisAngle(new THREE.Vector3(1, 0, 0), -0.2));
+    const kneeBefore = knee.quaternion.clone();
+
+    const residual = solveReachToPoint(m, "knee_left", "world", target);
+
+    expect(residual.reason).toBeUndefined();
+    expect(residual.distance).not.toBeNull();
+    expect(residual.distance!).toBeLessThan(0.04);
+    expect(residual.reached).toBe(true);
+    // The endpoint knee does not rotate itself; its hip is the reach chain.
+    expect(knee.quaternion.angleTo(kneeBefore)).toBeLessThan(1e-8);
+    expect(hip.quaternion.angleTo(new THREE.Quaternion())).toBeGreaterThan(0.05);
+  });
+
+  it("retains an unreachable fist residual and an unresolved target diagnostic", () => {
+    const m = buildMannequin();
+    m.root.updateMatrixWorld(true);
+    const far = new THREE.Vector3(5, 5, 5);
+    const residual = solveReachToPoint(m, "fist_right", "far", far);
+    expect(residual.distance).not.toBeNull();
+    expect(residual.distance!).toBeGreaterThan(5);
+    expect(residual.reached).toBe(false);
+
+    expect(missingReachTarget("fist_right", "missing_anchor")).toMatchObject({
+      effector: "fist_right",
+      target: "missing_anchor",
+      distance: null,
+      reached: false,
+      reason: "missing-target",
+    });
+  });
 });
 
 describe("hand rig", () => {
@@ -568,13 +613,11 @@ describe("contact pins", () => {
     '  step "Hang" 1.5s ease-in-out:',
     "    shoulders: flex 175",
     "    elbows: flex 5",
-    "    pin: hand_left bar",
-    "    pin: hand_right bar",
+    "    pin: hands bar",
     '  step "Pull up" 1.2s ease-out:',
     "    shoulders: flex 150",
     "    elbows: flex 130",
-    "    pin: hand_left bar",
-    "    pin: hand_right bar",
+    "    pin: hands bar",
     "  repeat 2",
   ].join("\n");
 
@@ -675,7 +718,7 @@ describe("ROM-constrained reach-IK", () => {
     const { joints, limits, effector } = armChain(m);
     const [shoulder, elbow] = joints;
     // High behind the back (figure faces +Z): reaching it would demand
-    // shoulder extension far past the 60° healthy ceiling.
+    // shoulder extension far past the configured 60° ceiling.
     const target = shoulder!
       .getWorldPosition(new THREE.Vector3())
       .add(new THREE.Vector3(0, 0.3, -0.5));
@@ -709,7 +752,7 @@ describe("ROM-constrained reach-IK", () => {
       free.joints[0]!.quaternion,
       "XYZ",
     );
-    expect(eFree.x).toBeGreaterThan(60 * DEG + 0.05); // past healthy extension
+    expect(eFree.x).toBeGreaterThan(60 * DEG + 0.05); // past configured extension
   });
 
   it("keeps a knee hinge-only: no lateral splay while a foot reaches", () => {
@@ -813,6 +856,10 @@ describe("dip bars prop", () => {
     expect(grip.y).toBeGreaterThan(0.9); // high enough that feet clear the floor
     expect(grip.y).toBeLessThan(1.6); // but well below the pull-up bar
     expect(group.children.length).toBeGreaterThan(0);
+    expect(anchors.get("bars_left")!.x).toBeGreaterThan(0);
+    expect(anchors.get("bars_right")!.x).toBeLessThan(0);
+    expect(anchors.get("bars_left")!.y).toBeCloseTo(grip.y, 6);
+    expect(anchors.get("bars_left")!.distanceTo(anchors.get("bars_right")!)).toBeGreaterThan(0.4);
   });
 
   // Same root-translation logic as the viewer's applyPins (see contact pins).
@@ -1011,9 +1058,11 @@ describe("bar grip (L3.2)", () => {
     const restIndex = m.bones.get("index_left")!.rotation.x;
     const restThumb = m.bones.get("thumb_left")!.rotation.x;
     wrapGrip(m, [{ effector: "hand_left", anchor: "bar_left" }]);
-    expect(m.bones.get("index_left")!.rotation.x).toBeGreaterThan(restIndex + 0.5);
-    expect(m.bones.get("middle_left")!.rotation.x).toBeGreaterThan(0.5);
-    expect(m.bones.get("thumb_left")!.rotation.x).toBeGreaterThan(restThumb + 0.3);
+    // Finger flexion is local -X in the rig/parser ROM convention. The former
+    // positive renderer curl was actually extension (digits bent off the palm).
+    expect(m.bones.get("index_left")!.rotation.x).toBeLessThan(restIndex - 0.5);
+    expect(m.bones.get("middle_left")!.rotation.x).toBeLessThan(-0.5);
+    expect(m.bones.get("thumb_left")!.rotation.x).toBeLessThan(restThumb - 0.3);
     // the un-gripped right hand is untouched
     expect(m.bones.get("index_right")!.rotation.x).toBeCloseTo(0, 5);
   });
diff --git a/packages/posecode-render/test/timeline-sparse.test.ts b/packages/posecode-render/test/timeline-sparse.test.ts
new file mode 100644
index 0000000..587b244
--- /dev/null
+++ b/packages/posecode-render/test/timeline-sparse.test.ts
@@ -0,0 +1,75 @@
+import { describe, expect, it } from "vitest";
+import * as THREE from "three";
+import { parse, type PosecodeIR } from "posecode-parser";
+import { buildMannequin } from "../src/mannequin.js";
+import { buildTimeline } from "../src/timeline.js";
+
+const DEG = 180 / Math.PI;
+
+function eulerDegrees(node: THREE.Object3D): THREE.Euler {
+  return new THREE.Euler().setFromQuaternion(node.quaternion, "XYZ");
+}
+
+describe("sparse timeline targets", () => {
+  it("preserves an unauthored standing-pose forearm rotation", () => {
+    const result = parse([
+      'posecode posture "Curl"',
+      "  rig humanoid",
+      "  pose start = standing",
+      '  step "Curl" 1s settle:',
+      "    elbow_left: flex 30",
+    ].join("\n"));
+    const timeline = buildTimeline(result.ir!);
+    const mannequin = buildMannequin();
+    timeline.sample(1, mannequin.bones);
+    const euler = eulerDegrees(mannequin.bones.get("elbow_left")!);
+    expect(euler.x * DEG).toBeCloseTo(-30, 4);
+    expect(euler.y * DEG).toBeCloseTo(80, 4);
+  });
+
+  it("carries flexion when a later phase authors only axial rotation", () => {
+    const result = parse([
+      'posecode exercise "Curl and turn"',
+      "  rig humanoid",
+      '  step "Curl" 1s flow:',
+      "    elbow_right: flex 60",
+      '  step "Turn" 1s settle:',
+      "    elbow_right: pronate 35",
+    ].join("\n"));
+    const timeline = buildTimeline(result.ir!);
+    const mannequin = buildMannequin();
+    timeline.sample(2, mannequin.bones);
+    const euler = eulerDegrees(mannequin.bones.get("elbow_right")!);
+    expect(euler.x * DEG).toBeCloseTo(-60, 4);
+    expect(euler.y * DEG).toBeCloseTo(-35, 4);
+  });
+
+  it("defensively clamps coupled hips in manually constructed legacy IR", () => {
+    const ir: PosecodeIR = {
+      version: "0.2",
+      kind: "posture",
+      name: "Legacy fold",
+      rig: "humanoid",
+      props: [],
+      repeat: 1,
+      phases: [{
+        name: "Fold",
+        durationSec: 1,
+        easing: "linear",
+        targets: [
+          { boneId: "pelvis", euler: { x: 50, y: 0, z: 0 } },
+          { boneId: "hip_left", euler: { x: -110, y: 0, z: 0 } },
+        ],
+        groundLock: [],
+        reaches: [],
+        pins: [],
+        grips: [],
+      }],
+    };
+    const timeline = buildTimeline(ir);
+    const mannequin = buildMannequin();
+    timeline.sample(1, mannequin.bones);
+    const hip = eulerDegrees(mannequin.bones.get("hip_left")!);
+    expect(hip.x * DEG).toBeCloseTo(-135, 4);
+  });
+});
diff --git a/playground/index.html b/playground/index.html
index 9d58b63..72a879a 100644
--- a/playground/index.html
+++ b/playground/index.html
@@ -8,7 +8,7 @@
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
     <meta
       name="description"
-      content="Posecode is an open-source text-to-motion language for LLMs. Describe exercises, physiotherapy, yoga, or dance in plain text and watch an anatomically safe 3D figure animate in your browser."
+      content="Posecode is an open-source text-to-motion language for LLMs. Describe single-person movement as validated, inspectable text and animate it as a 3D figure in your browser."
     />
     <meta
       name="keywords"
@@ -19,7 +19,7 @@
     <meta property="og:title" content="Posecode: human movement, written as text" />
     <meta
       property="og:description"
-      content="A Mermaid-style language for kinematic motion. LLMs write it; the browser renders an animated, anatomically safe 3D figure."
+      content="A Mermaid-style language for kinematic motion. Capable LLMs can write it; the browser validates and renders an inspectable animated 3D figure."
     />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/" />
@@ -31,7 +31,7 @@
     <meta name="twitter:title" content="Posecode: human movement, written as text" />
     <meta
       name="twitter:description"
-      content="A Mermaid-style language for kinematic motion. LLMs write it; the browser renders an animated, anatomically safe 3D figure."
+      content="A Mermaid-style language for kinematic motion. Capable LLMs can write it; the browser validates and renders an inspectable animated 3D figure."
     />
     <meta name="twitter:image" content="https://www.posecode.org/og.png" />
     <link rel="preconnect" href="https://fonts.googleapis.com" />
@@ -75,9 +75,9 @@
             "url": "https://www.posecode.org/",
             "applicationCategory": "DeveloperApplication",
             "operatingSystem": "Any (web browser)",
-            "description": "Posecode is a tiny language LLMs can write to describe human movement: exercises, stretches, physiotherapy, yoga, and dance. The browser renders it as an animated 3D figure, with every joint clamped to a safe range of motion.",
+            "description": "Posecode is a small language capable LLMs can use to describe single-person movement. The browser validates a closed vocabulary, constrains joint targets to configured ranges, and renders an inspectable animated 3D figure.",
             "offers": { "@type": "Offer", "price": "0", "priceCurrency": "USD" },
-            "license": "https://opensource.org/license/mit",
+            "license": "https://www.apache.org/licenses/LICENSE-2.0",
             "sameAs": ["https://github.com/posecode-dev/posecode"],
             "keywords": "text to motion, LLM, kinematic motion, 3D animation, exercise, physiotherapy, open source"
           },
@@ -90,7 +90,7 @@
                 "name": "What is Posecode?",
                 "acceptedAnswer": {
                   "@type": "Answer",
-                  "text": "Posecode is an open-source text-to-motion language. You describe a human movement in plain text (phases, joint angles, timing) and the browser renders it as an animated 3D figure. It is designed so LLMs like ChatGPT, Claude, and Gemini can write it reliably."
+                  "text": "Posecode is an open-source text-to-motion language. You describe single-person movement as phases, joint targets, timing, and contacts; the browser validates the document and renders it as an animated 3D figure."
                 }
               },
               {
@@ -98,15 +98,15 @@
                 "name": "How do I generate an exercise animation with an LLM?",
                 "acceptedAnswer": {
                   "@type": "Answer",
-                  "text": "Copy the Posecode LLM prompt from posecode.org, paste it into any chat model, and ask for a movement such as a deadlift or a hamstring stretch. Paste the model's .posecode reply into the playground and it animates instantly."
+                  "text": "Copy the authoring guide into a capable chat model and ask for a representable movement such as a hip hinge or hamstring stretch. For a representable request, the model should return raw .posecode text. Paste it into the playground: valid documents animate, while parse errors, range clamps, and unresolved reach targets appear as diagnostics."
                 }
               },
               {
                 "@type": "Question",
-                "name": "Is the movement anatomically safe?",
+                "name": "Does Posecode guarantee a movement is safe?",
                 "acceptedAnswer": {
                   "@type": "Answer",
-                  "text": "Every joint angle is hard-clamped to a clinical range of motion, so even a hallucinated angle cannot produce an impossible pose. Range-of-motion values are general literature data, not medical advice."
+                  "text": "No. Posecode constrains authored and IK-generated joint targets to configured reference ranges and reports unresolved reach targets. A simplified rig cannot certify that a whole movement is safe, accurate, or appropriate for a person. It is not medical advice."
                 }
               },
               {
@@ -114,7 +114,7 @@
                 "name": "Is Posecode free to use?",
                 "acceptedAnswer": {
                   "@type": "Answer",
-                  "text": "Yes. Posecode is Apache-2.0-licensed and open source: the parser, 3D renderer, share codec, MCP server, and VS Code extension are all free, and rendering runs client-side with no GPU required."
+                  "text": "Yes. Posecode is Apache-2.0-licensed and open source: the parser, 3D renderer, share codec, MCP server, and VS Code extension are all free, and rendering runs locally in a WebGL-capable browser without server-side motion generation."
                 }
               }
             ]
@@ -151,7 +151,7 @@ <h1 class="headline">
           Write the move.<br /><span class="hl">Watch it happen.</span>
         </h1>
         <p class="subhead">
-          Turn readable instructions into precise 3D movement. Build exercises,
+          Turn readable instructions into structured, inspectable 3D motion. Build exercises,
           stretches, dance phrases, and rehab routines, then edit every beat live in
           the browser.
         </p>
@@ -161,30 +161,32 @@ <h1 class="headline">
             <span class="lbl">Copy LLM prompt</span>
           </button>
         </div>
-        <p class="hero-meta">
-          65+ moves included &nbsp;·&nbsp; 60&nbsp;fps &nbsp;·&nbsp; open source &nbsp;·&nbsp; runs on-device
+        <p id="catalog-meta" class="hero-meta">
+          48 launch-ready moves &nbsp;·&nbsp; 25 experimental previews &nbsp;·&nbsp; validated text &nbsp;·&nbsp; open source
         </p>
       </div>
 
-      <div class="hero-stage reveal" aria-label="Live 3D preview of a Posecode movement">
+      <div class="hero-stage reveal" aria-label="Live 3D preview with a contact-phase source excerpt">
         <div class="studio">
           <div class="studio-bar" aria-hidden="true">
             <span class="dots"></span>
-            <span class="studio-title">jumping-jacks.posecode</span>
+            <span class="studio-title">superhero-landing.posecode</span>
             <span class="studio-live"><i></i>live</span>
           </div>
           <canvas id="hero-canvas"></canvas>
-          <div class="studio-hud"><span id="hero-phase">Out</span></div>
+          <div class="studio-hud"><span id="hero-phase">Drop into the landing</span></div>
         </div>
 
-        <!-- Overlapping code chip: the text that produces the motion -->
-        <pre class="code-chip" aria-hidden="true"><span class="t-kw">posecode</span> <span class="t-kind">exercise</span> <span class="t-str">"Jumping jacks"</span>
+        <!-- Overlapping code chip: an excerpt from the contact phase on screen -->
+        <pre class="code-chip" aria-hidden="true"># contact-phase excerpt
+<span class="t-kw">posecode</span> <span class="t-kind">posture</span> <span class="t-str">"Superhero Three-Point Landing"</span>
   <span class="t-kw">pose</span> start <span class="t-punct">=</span> <span class="t-atom">standing</span>
 
-  <span class="t-kw">step</span> <span class="t-str">"Out"</span> <span class="t-num">0.5s</span> <span class="t-atom">settle</span><span class="t-punct">:</span>
-    <span class="t-joint">shoulders</span><span class="t-punct">:</span> <span class="t-act">abduct</span> <span class="t-num">160</span>
-    <span class="t-joint">hips</span><span class="t-punct">:</span> <span class="t-act">abduct</span> <span class="t-num">30</span>
-    <span class="t-kw">ground-lock</span><span class="t-punct">:</span> <span class="t-atom">feet</span></pre>
+  <span class="t-kw">step</span> <span class="t-str">"Make three-point contact"</span> <span class="t-num">0.3s</span> <span class="t-atom">settle</span><span class="t-punct">:</span>
+    <span class="t-kw">pin</span><span class="t-punct">:</span> <span class="t-atom">knee_left floor</span>
+    <span class="t-kw">reach</span><span class="t-punct">:</span> <span class="t-atom">foot_right floor</span>
+    <span class="t-kw">reach</span><span class="t-punct">:</span> <span class="t-atom">fist_left floor</span>
+    <span class="t-kw">cue</span> <span class="t-str">"Set all three contacts"</span></pre>
       </div>
     </section>
 
@@ -195,23 +197,23 @@ <h1 class="headline">
         <h3>Semantic, not matrices</h3>
         <p>
           Models write phases and joint angles, like <code>knees: flex 95</code>,
-          instead of 3D transforms. It's the biomechanics an LLM already knows, given a syntax.
+          instead of 3D transforms. The closed syntax makes the intended anatomy inspectable.
         </p>
       </article>
       <article class="prop reveal">
         <div class="prop-mark">⛨</div>
-        <h3>Anatomically safe</h3>
+        <h3>Range-aware &amp; testable</h3>
         <p>
-          Every angle is hard-clamped to a clinical range of motion. A hallucinated
-          “knee flex 200°” can't produce an impossible joint: it's pinned to 144°.
+          Joint targets are constrained to configured reference ranges, while reach
+          residuals expose a fist, foot, or knee that remains short of its target.
         </p>
       </article>
       <article class="prop reveal">
         <div class="prop-mark">◴</div>
         <h3>Cheap &amp; client-side</h3>
         <p>
-          Generation is a fraction of a cent of text. Rendering is forward kinematics in
-          Three.js: 60fps on a phone, no diffusion model, no GPU farm.
+          Generation is compact text. Rendering is forward kinematics and constrained IK
+          in Three.js on the user's device, with no server-side diffusion pipeline.
         </p>
       </article>
     </section>
@@ -223,7 +225,7 @@ <h3>Cheap &amp; client-side</h3>
         <h2>One language, many practices</h2>
         <p class="section-sub">
           A taste of the library, from physiotherapy and posture to yoga, dance, and
-          sign language. Every movement opens in the playground, editable and
+          martial arts. Every movement opens in the playground, editable and
           shareable.
         </p>
       </header>
@@ -239,18 +241,18 @@ <h2>From a sentence to a moving figure</h2>
       <ol class="how-steps">
         <li class="reveal">
           <span class="how-n">1</span>
-          <h3>An LLM writes <code>.posecode</code></h3>
-          <p>Paste the Posecode prompt into any model and ask for a movement. It replies with a small, readable document.</p>
+          <h3>A capable model writes <code>.posecode</code></h3>
+          <p>Give the Posecode authoring guide to a capable model and ask for a representable movement. For a supported request, its raw <code>.posecode</code> output remains editable and reviewable.</p>
         </li>
         <li class="reveal">
           <span class="how-n">2</span>
           <h3>The parser validates &amp; clamps</h3>
-          <p>A pure-TypeScript parser turns the text into a typed IR and pins every angle to its safe range of motion.</p>
+          <p>A TypeScript parser enforces the closed vocabulary, joint/action compatibility, contacts, and configured range limits.</p>
         </li>
         <li class="reveal">
           <span class="how-n">3</span>
           <h3>Three.js renders it</h3>
-          <p>Forward kinematics plus ground-lock IK animate a low-poly figure live in the browser, at 60fps.</p>
+          <p>Forward kinematics plus constrained contact IK animate a low-poly figure live in the browser.</p>
         </li>
       </ol>
     </section>
@@ -268,8 +270,8 @@ <h3>Playground →</h3>
         </a>
         <div class="dev-card reveal">
           <h3>MCP server</h3>
-          <p>Let any agent validate a movement and get back a render link, natively.</p>
-          <code class="dev-code">npx tsx posecode-mcp</code>
+          <p>Let a model in an MCP client validate a movement and get back a render link.</p>
+          <code class="dev-code">npx -y posecode-mcp</code>
         </div>
         <div class="dev-card reveal">
           <h3>VS Code extension</h3>
@@ -292,27 +294,28 @@ <h2>Common questions</h2>
         <div class="faq-item reveal">
           <dt>What is Posecode?</dt>
           <dd>
-            Posecode is an open-source text-to-motion language. You describe a human
-            movement in plain text (phases, joint angles, timing) and the browser renders
-            it as an animated 3D figure. It is designed so LLMs like ChatGPT, Claude, and
-            Gemini can write it reliably.
+            Posecode is an open-source text-to-motion language. You describe single-person
+            movement as phases, joint targets, timing, and contacts; the browser validates
+            the document and renders it as an animated 3D figure.
           </dd>
         </div>
         <div class="faq-item reveal">
           <dt>How do I generate an exercise animation with an LLM?</dt>
           <dd>
-            Copy the LLM prompt above, paste it into any chat model, and ask for a
-            movement such as <em>“write a deadlift”</em> or <em>“a hamstring stretch”</em>.
-            Paste the model's <code>.posecode</code> reply into the playground and it
-            animates instantly.
+            Copy the authoring guide into a capable chat model and ask for a representable
+            movement such as a hip hinge or hamstring stretch. For a representable request,
+            the model should return raw <code>.posecode</code> text. Paste it into the
+            playground: valid documents animate, while parse errors, range clamps, and
+            unresolved reach targets appear as diagnostics.
           </dd>
         </div>
         <div class="faq-item reveal">
-          <dt>Is the movement anatomically safe?</dt>
+          <dt>Does Posecode guarantee a movement is safe?</dt>
           <dd>
-            Every joint angle is hard-clamped to a clinical range of motion, so even a
-            hallucinated angle cannot produce an impossible pose. Range-of-motion values
-            are general literature data, not medical advice.
+            No. Posecode constrains authored and IK-generated joint targets to configured
+            reference ranges and reports unresolved reach targets. A simplified rig cannot
+            certify that a whole movement is safe, accurate, or appropriate for a person.
+            It is not medical advice.
           </dd>
         </div>
         <div class="faq-item reveal">
@@ -320,7 +323,7 @@ <h2>Common questions</h2>
           <dd>
             Yes. Posecode is Apache-2.0-licensed and open source: the parser, 3D renderer, share
             codec, MCP server, and VS Code extension are all free, and rendering runs
-            client-side with no GPU required.
+            locally in a WebGL-capable browser without server-side motion generation.
           </dd>
         </div>
       </dl>
diff --git a/playground/package.json b/playground/package.json
index 52036b3..e320846 100644
--- a/playground/package.json
+++ b/playground/package.json
@@ -6,6 +6,7 @@
   "type": "module",
   "scripts": {
     "dev": "vite",
+    "prebuild": "node ../scripts/generate-content-pages.mjs",
     "build": "vite build",
     "preview": "vite preview"
   },
diff --git a/playground/play.html b/playground/play.html
index ce48ac3..398d4e8 100644
--- a/playground/play.html
+++ b/playground/play.html
@@ -17,14 +17,14 @@
     />
     <meta
       name="description"
-      content="Try Posecode live: paste text from ChatGPT, Claude, or Gemini and watch it animate a 3D figure. Browse a library of movements across fitness, physiotherapy, yoga, and dance."
+      content="Try Posecode live: paste a valid .posecode document from a capable model and watch it animate a 3D figure. Browse movements across fitness, physiotherapy, yoga, and dance."
     />
     <link rel="canonical" href="https://www.posecode.org/play" />
     <meta name="theme-color" content="#0a0d12" />
     <meta property="og:title" content="Posecode Playground: live editor for movement as text" />
     <meta
       property="og:description"
-      content="Paste a .posecode document and watch a 3D figure animate it, with every joint clamped to a safe range of motion."
+      content="Paste a valid .posecode document and watch a 3D figure animate it, with joint targets constrained to configured reference ranges and unresolved reach targets reported."
     />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/play" />
@@ -75,6 +75,7 @@
         >
           <span class="lib-btn-kicker">Movement</span>
           <span id="lib-current" class="lib-btn-name"></span>
+          <span id="lib-current-status" class="lib-current-status" hidden>Experimental</span>
           <span class="lib-caret" aria-hidden="true"></span>
         </button>
         <span class="tb-divider" aria-hidden="true"></span>
@@ -203,7 +204,7 @@ <h2>How to use Posecode</h2>
             <span class="step-n">1</span>
             <div>
               <b>Copy the prompt.</b> Click <em>Copy LLM prompt</em> (top right). It teaches
-              any model (ChatGPT, Claude, Gemini) to write the Posecode language.
+              a capable model how to write the Posecode language.
             </div>
           </li>
           <li>
@@ -211,15 +212,16 @@ <h2>How to use Posecode</h2>
             <div>
               <b>Ask an LLM for a movement.</b> Paste the prompt, then ask for what you want:
               <em>“write a deadlift”</em>, <em>“a hamstring stretch”</em>, <em>“cat-cow”</em>.
-              It replies with a <code>.posecode</code> block.
+              For a representable request, it should reply with only the raw
+              <code>.posecode</code> document.
             </div>
           </li>
           <li>
             <span class="step-n">3</span>
             <div>
-              <b>Paste it here.</b> Drop the <code>.posecode</code> text into the editor on the
-              left and watch it animate. Out-of-range angles are clamped automatically and
-              flagged below the editor.
+              <b>Paste it here.</b> Drop the raw <code>.posecode</code> text into the editor on
+              the left. Valid documents animate; parse errors, range clamps, and unresolved
+              reach targets appear below the editor.
             </div>
           </li>
         </ol>
@@ -248,6 +250,7 @@ <h2>Movement library <span id="lib-count" class="count"></span></h2>
           aria-label="Search movements"
           autocomplete="off"
         />
+        <div id="lib-readiness" class="chip-row" role="group" aria-label="Filter by launch readiness"></div>
         <div id="lib-domains" class="chip-row" role="group" aria-label="Filter by practice"></div>
         <div id="lib-levels" class="chip-row" role="group" aria-label="Filter by level"></div>
       </div>
diff --git a/playground/public/llm-guide.html b/playground/public/llm-guide.html
index 57ccf2a..7c637d9 100644
--- a/playground/public/llm-guide.html
+++ b/playground/public/llm-guide.html
@@ -6,11 +6,11 @@
     <title>How to Teach an LLM to Write Posecode: The Authoring Guide</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="The system prompt that teaches ChatGPT, Claude, or Gemini to author valid .posecode documents: syntax, joints, phases, and worked examples." />
+    <meta name="description" content="An authoring guide for capable language models: syntax, joints, phases, and worked examples for producing raw .posecode documents that the playground can validate." />
     <link rel="canonical" href="https://www.posecode.org/llm-guide.html" />
     <meta name="theme-color" content="#0a0d12" />
     <meta property="og:title" content="How to Teach an LLM to Write Posecode: The Authoring Guide" />
-    <meta property="og:description" content="The system prompt that teaches ChatGPT, Claude, or Gemini to author valid .posecode documents: syntax, joints, phases, and worked examples." />
+    <meta property="og:description" content="An authoring guide for capable language models: syntax, joints, phases, and worked examples for producing raw .posecode documents that the playground can validate." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/llm-guide.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -122,7 +122,9 @@
 <h1>Authoring <code>.posecode</code> with an LLM</h1>
 <p>Paste the prompt below into ChatGPT, Claude, or any capable model. Then ask for a movement (&quot;write a squat&quot;, &quot;show a hamstring stretch&quot;) and paste the reply into the Posecode playground.</p>
 <hr>
-<p>You write <strong>Posecode</strong>, a small text language that describes a single person's movement so a 3D mannequin can animate it. Output ONLY a <code>.posecode</code> document in a code block, no prose.</p>
+<p>You write <strong>Posecode</strong>, a small text language that describes one person's movement so a 3D figure can animate it.</p>
+<p>When the request is representable, output ONLY the raw <code>.posecode</code> document: no Markdown fence and no prose. Before writing it, privately lock down the movement intent: lead side, moving side, every support/contact, the key pose at each phase boundary, and whether each phase accelerates, flows, or settles. Never let a cue claim a contact, direction, or body side that the commands do not encode.</p>
+<p>If the request requires an unsupported capability—free flight, two people, arbitrary equipment, exact sign language, or detailed scapular/facial motion—do not fabricate a convincing-sounding document. Reply with one short sentence beginning <code>Posecode cannot yet represent...</code> and name the missing capability.</p>
 <h2>Grammar</h2>
 <pre class="code-block"><code>posecode &lt;kind&gt; &quot;&lt;Name&gt;&quot;          # kind = exercise | stretch | posture
   rig humanoid
@@ -130,8 +132,10 @@ <h2>Grammar</h2>
   pose start = &lt;pose&gt;          # neutral | standing | plank | supine | prone | seated
   step &quot;&lt;Phase name&gt;&quot; &lt;Ns&gt; &lt;mode&gt;:     # mode = flow | settle | drive | snap | linear
     &lt;joint&gt;: &lt;action&gt; &lt;degrees&gt;
-    reach: &lt;effector&gt; &lt;target&gt; # optional: drive a hand/foot to a target via IK
-    ground-lock: &lt;contacts&gt;    # groups/back, foot_left, or natural left foot
+    reach: &lt;effector&gt; &lt;target&gt; # limb IK to a landmark, floor, or declared prop anchor
+    pin: &lt;effector&gt; &lt;anchor&gt;   # move the body while one primary contact stays fixed
+    grip: hands &lt;anchor&gt;       # two-hand grip on a declared bar / rails
+    ground-lock: &lt;contacts&gt;    # planted supports; groups/back or side-specific names
     turn: &lt;degrees&gt;            # optional: face this yaw by phase end (standing only)
     travel: &lt;x&gt; &lt;z&gt;            # optional: move to this x z (metres) by phase end
     cue &quot;&lt;short coaching cue&gt;&quot;
@@ -139,23 +143,14 @@ <h2>Grammar</h2>
 <h2>Joints</h2>
 <p><code>neck head spine chest pelvis</code> and (singular or plural) <code>shoulders elbows wrists hips knees ankles</code>. Plural names move both sides symmetrically; use <code>elbow_left</code> etc. for one side. Fingers: <code>fingers</code> (or <code>fingers_left</code> / <code>fingers_right</code>), and individually <code>thumb_* index_* middle_* ring_* pinky_*</code>.</p>
 <h2>Actions (degrees are absolute targets)</h2>
-<ul><li><code>flex</code> / <code>extend</code>: bend / straighten (sagittal)</li><li><code>abduct</code> / <code>adduct</code>: away from / toward midline (frontal)</li><li><code>rotate-in</code> / <code>rotate-out</code>: internal / external rotation</li><li><code>supinate</code> / <code>pronate</code>: forearm turn (palm up / down)</li><li><code>dorsiflex</code> / <code>plantarflex</code>: ankle up / down</li><li><code>hinge</code>: <strong>hip hinge</strong> (on <code>pelvis</code> only): tip the torso forward over the</li></ul>
-<p>hips with a flat back, legs staying planted. Use this, not spinal <code>flex</code>, for a deadlift, bent-over row, good-morning, or a bow.</p>
-<ul><li><code>hold neutral</code>: keep the joint at rest</li></ul>
+<ul><li><code>flex</code> / <code>extend</code>: bend / straighten (sagittal)</li><li><code>abduct</code> / <code>adduct</code>: away from / toward midline (frontal)</li><li><code>rotate-in</code> / <code>rotate-out</code>: internal / external rotation of a shoulder or hip</li><li><code>twist-left</code> / <code>twist-right</code>: turn an axial joint (spine, chest, neck, or head) toward the named side</li><li><code>supinate</code> / <code>pronate</code>: forearm turn (palm up / down)</li><li><code>dorsiflex</code> / <code>plantarflex</code>: ankle up / down</li><li><code>hinge</code>: <strong>hip hinge</strong> (on <code>pelvis</code> only): tip the torso forward over the hips with a flat back, legs staying planted. Use this, not spinal <code>flex</code>, for a deadlift, bent-over row, good-morning, or a bow.</li><li><code>hold neutral</code>: set every channel on that joint to its rest value (no angle)</li></ul>
+<p>Use only anatomically compatible pairs. Examples: knees take flex/extend, ankles take dorsiflex/plantarflex, elbows take flex/extend/pronate/supinate, wrists take flex/extend/abduct/adduct, and <code>hinge</code> belongs only to the pelvis. The validator rejects globally-known actions on the wrong joint; never use the absence of a warning as permission to invent a pairing.</p>
 <h2>Rules</h2>
-<ol><li>Break the movement into 2–5 concurrent <strong>phases</strong>; each <code>step</code> is one phase.</li><li>Set the joints that actually move in that phase; unset joints hold their</li></ol>
-<p>previous value.</p>
-<ol><li>Stay within healthy range of motion (e.g. knee flex ≤ 144°, elbow flex ≤</li></ol>
-<p>154°, shoulder flex ≤ 180°). The renderer hard-clamps anything beyond it.</p>
-<ol><li>Add a one-line <code>cue</code> per phase. Ground contacts are a closed vocabulary:</li></ol>
-<p>use <code>ground-lock: feet</code> when standing, <code>ground-lock: hands, feet</code> in a high plank, <code>ground-lock: forearms, feet</code> in a forearm plank, and <code>ground-lock: back</code> for supine floor work such as a dead bug. Do not invent other contact names.</p>
-<ol><li><code>repeat</code> the rep count.</li></ol>
+<ol><li>Break the movement into 2–6 concurrent <strong>phases</strong>; each <code>step</code> is the time taken to arrive at one key pose. A duration is not a dwell.</li><li>Set only the channels that change. Unset channels hold their previous value; <code>hold neutral</code> deliberately resets the whole joint.</li><li>Stay within Posecode's configured range-of-motion bounds (for example, knee flex ≤ 144°, elbow flex ≤ 154°, shoulder flex ≤ 180°). These bounds constrain the rig; they do not certify a movement as safe. Do not stack a pelvis hinge and hip flexion past the hip's combined limit.</li><li>Choose one lead/trail convention and keep it across joint targets, contacts, phase names, and cues. Mirror all four together when switching sides.</li><li>Declare every load-bearing contact in every phase where it remains active. Contacts do not inherit. Use side-specific support for lunges, kneeling, and single-leg work; <code>ground-lock: feet</code> is for two genuinely planted feet. Ground contacts are a closed vocabulary: use <code>ground-lock: hands, feet</code> in a high plank, <code>ground-lock: forearms, feet</code> in a forearm plank, and <code>ground-lock: back</code> for supine floor work. Do not invent contact names.</li><li>Use <code>ground-lock</code> only for floor supports already meant to stay planted. Use <code>reach</code> to move a limb to a target, <code>pin</code> when a single contact must move the whole body, and <code>grip</code> for a bar or rails. Never combine <code>ground-lock</code>, <code>pin</code>, or <code>grip</code> root solvers in one step; use one primary support plus per-limb <code>reach</code> constraints for the remaining contacts.</li><li>Author the gross body position before adding <code>reach</code>. A hand cannot reach a floor that the torso/legs leave outside the arm's reachable workspace.</li><li>Derive each cue from the actual commands. Remove phrases such as “foot forward,” “knee down,” “fist planted,” or “arm overhead” unless that exact side and constraint are encoded.</li><li>Use <code>linear</code> only for an unchanged dwell or intentionally mechanical motion. A moving phase that arrives at a landing or hold should normally <code>settle</code>.</li><li>Add an explicit unchanged step for a visible hold, repeating its active contacts. Then author a controlled recovery when the movement should loop.</li><li>Declare a prop before using its anchor; never invent target names.</li><li>Set <code>repeat</code> to the requested repetition count.</li></ol>
+<p>Before returning the document, privately run this final check:</p>
+<ul><li>Every word comes from the closed vocabulary, and every action is compatible with its joint.</li><li>Each cue can be traced to a joint target or an active contact on the same body side.</li><li>Every required support is declared in every phase where it remains active.</li><li>The gross pose makes each reach plausible; a reach line is not permission to leave the target outside the limb's workspace.</li><li>The final hold and recovery are explicit, warning-free, and do not rely on an undeclared prop or unsupported physics.</li></ul>
 <h2>Timing modes</h2>
-<ul><li><code>flow</code>: carry momentum through an interior pose; use for continuous dance,</li></ul>
-<p>locomotion, and multi-part sports motion.</p>
-<ul><li><code>settle</code>: decelerate into a real rest; use at a squat bottom, landing, hold,</li></ul>
-<p>or final pose.</p>
-<ul><li><code>drive</code>: accelerate from rest; use for a jump, push, lift, or recoil.</li><li><code>snap</code>: arrive quickly and stop sharply; use for a strike or release.</li><li><code>linear</code>: constant timing; best for deliberate holds or mechanical motion.</li></ul>
+<ul><li><code>flow</code>: carry momentum through an interior pose; use for continuous dance, locomotion, and multi-part sports motion.</li><li><code>settle</code>: decelerate into a real rest; use at a squat bottom, landing, hold, or final pose.</li><li><code>drive</code>: accelerate from rest; use for a jump, push, lift, or recoil.</li><li><code>snap</code>: arrive quickly and stop sharply; use for a strike or release.</li><li><code>linear</code>: constant timing; best for an unchanged dwell or mechanical motion.</li></ul>
 <p>The older names <code>ease-in</code>, <code>ease-out</code>, and <code>ease-in-out</code> still parse for compatibility, but do not author new documents with them.</p>
 <h2>Example</h2>
 <pre class="code-block" data-lang="posecode"><code>posecode exercise &quot;Body-weight squat&quot;
@@ -165,69 +160,117 @@ <h2>Example</h2>
   step &quot;Descend&quot; 1.6s settle:
     hips: flex 80
     knees: flex 95
-    ankles: dorsiflex 14
+    pelvis: hinge 25
+    spine: flex 0
+    shoulders: flex 70
+    neck: extend 10
     ground-lock: feet
-    cue &quot;Sit the hips back, chest proud, knees track over the toes&quot;
+    cue &quot;Flex both hips and knees as the pelvis hinges over the planted feet&quot;
 
   step &quot;Drive up&quot; 1.2s drive:
     hips: flex 0
     knees: flex 0
-    ankles: dorsiflex 0
+    pelvis: hinge 0
+    spine: flex 0
+    shoulders: flex 0
+    neck: extend 0
     ground-lock: feet
-    cue &quot;Drive through the heels to stand tall&quot;
+    cue &quot;Straighten both hips and knees and return the torso and arms to neutral&quot;
 
   repeat 8</code></pre>
 <h2>Hip-hinge example</h2>
 <p>A flat-back hinge bends at the <strong>hips</strong>, not the spine. Hinge the <code>pelvis</code> and let the arms hang; <code>ground-lock: feet</code>.</p>
-<pre class="code-block" data-lang="posecode"><code>posecode exercise &quot;Deadlift&quot;
+<pre class="code-block" data-lang="posecode"><code>posecode exercise &quot;Body-weight hip hinge&quot;
   rig humanoid
   pose start = standing
 
   step &quot;Lower&quot; 1.8s settle:
-    pelvis: hinge 95
+    pelvis: hinge 75
     knees: flex 25
-    shoulders: flex 90
+    shoulders: flex 70
     ground-lock: feet
-    cue &quot;Hips back, flat back: let the arms hang to the bar&quot;
+    cue &quot;Hips back and back flat as the arms hang below the shoulders&quot;
 
   step &quot;Lift&quot; 1.4s drive:
     pelvis: hinge 0
     knees: flex 0
     shoulders: flex 0
     ground-lock: feet
-    cue &quot;Drive the hips forward to stand tall&quot;
+    cue &quot;Drive the hips forward and return to a tall stance&quot;
 
   repeat 8</code></pre>
 <h2>Reaching, props, lying poses &amp; hands</h2>
-<ul><li><strong>Reach a target</strong>: <code>reach: &lt;effector&gt; &lt;target&gt;</code> drives a hand or foot to a</li></ul>
-<p>world point via IK. Effectors: <code>hand_left hand_right foot_left foot_right</code>, or <code>hands</code> / <code>feet</code> for both sides at once. Targets: a body landmark bone (<code>ankle_left</code>, <code>knee_right</code>…), <code>floor</code>, or a prop anchor (<code>bar</code>, <code>seat</code>, <code>wall</code>). The solve is ROM-constrained: the arm/leg can never exceed the safe joint limits chasing a target, so an out-of-reach target just yields the closest healthy pose. Author the gross pose (e.g. a <code>pelvis: hinge</code>), then let <code>reach</code> finish the hand placement. Example, touch your toes:</p>
-<p>``<code>posecode step &quot;Fold&quot; 2.5s settle: pelvis: hinge 95 knees: flex 12 reach: hand_left ankle_left reach: hand_right ankle_right ground-lock: feet cue &quot;Hinge and reach toward the ankles&quot; </code>``</p>
-<ul><li><strong>Props</strong>: <code>prop chair | wall | bar | box | dip-bars</code> (top level). The chair</li></ul>
-<p>sits behind the figure (sit-to-stand, box squat), the wall behind that (wall sit), the bar overhead, the box in front (step-ups), and the dip bars either side at hip-press height (<code>pin: hands bars</code> + elbow flex = triceps dips).</p>
-<ul><li><strong>Pins</strong>: <code>pin: &lt;effector&gt; &lt;anchor&gt;</code> moves the whole BODY so the effector sits</li></ul>
-<p>on the anchor (vs <code>reach</code>, which moves just the limb). Same effectors as reach, including <code>hands</code> / <code>feet</code>. Use it for hanging and climbing: <code>pin: hands bar</code> + flexing the elbows = a pull-up; <code>pin: foot_right box</code> + straightening the leg = a step-up; <code>pin: hands bars</code> (dip bars) + bending the elbows = a triceps dip.</p>
-<ul><li><strong>Lying / seated</strong>: <code>pose start = supine | prone | seated</code> for floor and mat</li></ul>
-<p>work (glute bridge, dead bug, cobra, seated forward fold). In a supine exercise whose torso stays down, add <code>ground-lock: back</code> to each phase.</p>
-<ul><li><strong>Hands</strong>: <code>fingers: flex 80</code> makes a fist; curl individual fingers for shapes</li></ul>
-<p>(<code>index_right: flex 95</code>). Single-DOF per finger, good for grip and rough gesture, not exact sign language.</p>
+<ul><li><strong>Reach a target</strong>: <code>reach: &lt;effector&gt; &lt;target&gt;</code> drives a supported limb endpoint to a world point via IK. Effectors include side-specific hands, fists, elbows, knees, and feet, with groups such as <code>hands</code>, <code>fists</code>, <code>forearms</code>, <code>knees</code>, and <code>feet</code>. Targets are a body landmark bone (<code>ankle_left</code>, <code>knee_right</code>…), <code>floor</code>, or a prop anchor (<code>bar</code>, <code>seat</code>, <code>wall</code>). The solve is ROM-constrained: the arm/leg remains within configured joint bounds while chasing a target, so an out-of-reach target yields the closest bounded pose and a residual diagnostic. Author the gross pose (e.g. a <code>pelvis: hinge</code>), then let <code>reach</code> finish the hand placement. Example, touch your toes:</li></ul>
+<pre class="code-block" data-lang="posecode"><code>step &quot;Fold&quot; 2.5s settle:
+  pelvis: hinge 95
+  knees: flex 12
+  reach: hand_left ankle_left
+  reach: hand_right ankle_right
+  ground-lock: feet
+  cue &quot;Hinge and reach toward the ankles&quot;</code></pre>
+<ul><li><strong>Props</strong>: <code>prop chair | wall | bar | box | dip-bars</code> (top level). The chair sits behind the figure (sit-to-stand, box squat), the wall behind that (wall sit), the bar overhead, the box in front (step-ups), and the dip bars either side at hip-press height (<code>grip: hands bars</code> + elbow flex = triceps dips).</li><li><strong>Pins</strong>: <code>pin: &lt;effector&gt; &lt;anchor&gt;</code> moves the whole BODY so the effector sits on the anchor (vs <code>reach</code>, which moves just the limb). Use one primary pin for body translation: <code>pin: foot_right box</code> can support a step-up, and <code>pin: pelvis floor</code> can keep the pelvis on the mat. Use <code>grip</code>, not several simultaneous hand pins, for a bar or rails.</li><li><strong>Grips</strong>: <code>grip: hands bar</code> or <code>grip: hands bars</code> is the dedicated two-hand prop contact. It assigns separate left/right anchors, solves both arms, and closes the fingers. Declare <code>prop bar</code> or <code>prop dip-bars</code> first. Prefer this to multiple pins for a pull-up, hang, or dip.</li><li><strong>Lying / seated</strong>: <code>pose start = supine | prone | seated</code> for floor and mat work (glute bridge, dead bug, cobra, seated forward fold). In a supine exercise whose torso stays down, add <code>ground-lock: back</code> to each phase.</li><li><strong>Hands</strong>: <code>fingers: flex 80</code> makes a fist; curl individual fingers for shapes (<code>index_right: flex 95</code>). Single-DOF per finger, good for grip and rough gesture, not exact sign language.</li></ul>
+<h2>Three-point superhero landing</h2>
+<p>A landing is defined by its contacts, not by a dramatic cue. Keep the existing front-foot support planted while reach constraints blend the rear knee and same-side fist down. Once the knee has arrived, hand the whole-body anchor to that knee and solve the foot and fist independently. Repeat the three contacts through the hold; never combine a whole-root pin with <code>ground-lock</code> in one step.</p>
+<pre class="code-block" data-lang="posecode"><code>posecode posture &quot;Superhero Three-Point Landing&quot;
+  rig humanoid
+  pose start = standing
+
+  step &quot;Drop into the landing&quot; 0.55s flow:
+    pelvis: hinge 45
+    spine: flex 50
+    chest: flex 9
+    hip_right: flex 84
+    knee_right: flex 123
+    ankle_right: dorsiflex 15
+    hip_left: extend 12
+    knee_left: flex 105
+    ankle_left: plantarflex 28
+    shoulder_left: flex 98
+    shoulder_left: abduct 2
+    elbow_left: flex 8
+    fingers_left: flex 80
+    shoulder_right: extend 24
+    shoulder_right: abduct 22
+    elbow_right: flex 16
+    ground-lock: foot_right
+    reach: knee_left floor
+    reach: fist_left floor
+    cue &quot;Drop over the planted right foot as the left knee and fist descend&quot;
+
+  step &quot;Make three-point contact&quot; 0.3s settle:
+    neck: extend 25
+    pin: knee_left floor
+    reach: foot_right floor
+    reach: fist_left floor
+    cue &quot;Set the left knee and left fist on the floor beside the planted right foot&quot;
+
+  step &quot;Hold the landing&quot; 0.8s linear:
+    pin: knee_left floor
+    reach: foot_right floor
+    reach: fist_left floor
+    cue &quot;Hold the three contacts with the free right arm swept behind you&quot;
+
+  step &quot;Recover to standing&quot; 0.9s drive:
+    pelvis: hold neutral
+    spine: hold neutral
+    hips: hold neutral
+    knees: hold neutral
+    ankles: hold neutral
+    neck: hold neutral
+    chest: hold neutral
+    shoulders: hold neutral
+    elbows: hold neutral
+    fingers_left: hold neutral
+    ground-lock: feet
+    cue &quot;Press through both feet and return to standing&quot;
+
+  repeat 1</code></pre>
 <h2>Authoring by domain</h2>
 <p>The same grammar covers many fields. A few patterns that read well:</p>
-<ul><li><strong>Anatomy / education</strong>: isolate one joint and sweep it through its range</li></ul>
-<p>(<code>shoulders: abduct 160</code> → <code>0</code>). Name the plane in the cue. Great for teaching.</p>
-<ul><li><strong>Physiotherapy</strong>: gentle, single-joint reps; for one-sided work use a</li></ul>
-<p>singular joint (<code>knee_right: flex 95</code>) and skip <code>ground-lock</code> so the standing leg stays planted.</p>
-<ul><li><strong>Desk / posture</strong>: slow <code>stretch</code> documents with <code>ground-lock: feet</code>;</li></ul>
-<p>contrast a &quot;collapsed&quot; phase with a &quot;tall&quot; reset.</p>
-<ul><li><strong>Sports / martial arts</strong>: short phases (0.2–0.6s); use <code>flow</code> through a</li></ul>
-<p>gather/chamber, <code>drive</code> for takeoff, and <code>snap</code> on the strike or release.</p>
+<ul><li><strong>Anatomy / education</strong>: isolate one joint and sweep it through its range (<code>shoulders: abduct 160</code> → <code>0</code>). Name the plane in the cue. Great for teaching.</li><li><strong>Physiotherapy</strong>: gentle, single-joint reps; for one-sided work use a singular joint (<code>knee_right: flex 95</code>) and explicitly plant the stance foot, for example <code>ground-lock: foot_left</code>.</li><li><strong>Desk / posture</strong>: slow <code>stretch</code> documents with <code>ground-lock: feet</code>; contrast a &quot;collapsed&quot; phase with a &quot;tall&quot; reset.</li><li><strong>Sports / martial arts</strong>: short phases (0.2–0.6s); use <code>flow</code> through a gather/chamber, <code>drive</code> for takeoff, and <code>snap</code> on the strike or release.</li></ul>
 <h3>Dance / choreography</h3>
 <p>Posecode shines for <strong>showing the movement in your head</strong>. Build a phrase as a sequence of phases, one per count or musical beat, and let later phases inherit unset joints:</p>
-<ul><li><strong>Turnout:</strong> <code>hips: rotate-out 25–30</code>.</li><li><strong>Port de bras (arm positions):</strong> first <code>shoulders: flex 30, elbows: flex 35</code>;</li></ul>
-<p>second <code>shoulders: abduct 85, elbows: flex 16</code>; fifth/en haut <code>shoulders: flex 160, elbows: flex 20</code>. Move between them across phases.</p>
-<ul><li><strong>Plié:</strong> <code>hips: flex 18, knees: flex 50, ankles: dorsiflex 12</code>.</li><li><strong>Relevé:</strong> <code>ankles: plantarflex 28</code> (rise onto the balls of the feet).</li><li><strong>Turn / pirouette:</strong> <code>turn: 360</code> (yaw in degrees, absolute). Pair with a</li></ul>
-<p>relevé to spin on the balls of the feet; <code>turn: 90</code> for a quarter-turn.</p>
-<ul><li><strong>Travel across the floor:</strong> <code>travel: &lt;x&gt; &lt;z&gt;</code> (metres from the start spot,</li></ul>
-<p>absolute). A box-step traces a square back home: <code>travel: 0.4 0</code> → <code>0.4 0.4</code> → <code>0 0.4</code> → <code>0 0</code>. A grapevine travels sideways; a walk cycle steps forward in +z. Add the stepping legs with FK on top.</p>
+<ul><li><strong>Turnout:</strong> <code>hips: rotate-out 25–30</code>.</li><li><strong>Port de bras (arm positions):</strong> first <code>shoulders: flex 30, elbows: flex 35</code>; second <code>shoulders: abduct 85, elbows: flex 16</code>; fifth/en haut <code>shoulders: flex 160, elbows: flex 20</code>. Move between them across phases.</li><li><strong>Plié:</strong> <code>hips: flex 18, knees: flex 50, ankles: dorsiflex 12</code>.</li><li><strong>Relevé:</strong> <code>ankles: plantarflex 28</code> (rise onto the balls of the feet).</li><li><strong>Turn / pirouette:</strong> <code>turn: 360</code> (yaw in degrees, absolute). Pair with a relevé to spin on the balls of the feet; <code>turn: 90</code> for a quarter-turn.</li><li><strong>Travel across the floor:</strong> <code>travel: &lt;x&gt; &lt;z&gt;</code> (metres from the start spot, absolute). A box-step traces a square back home: <code>travel: 0.4 0</code> → <code>0.4 0.4</code> → <code>0 0.4</code> → <code>0 0</code>. A grapevine travels sideways; a walk cycle steps forward in +z. Add the stepping legs with FK on top.</li></ul>
 <p>Both <code>turn</code> and <code>travel</code> are <strong>absolute and carried forward</strong> like joint angles, and both return home on the loop wrap, so phrases resolve cleanly. They work from <strong>standing</strong> poses only. Name each step by its count (<code>&quot;5-6 - relevé, arms en haut&quot;</code>) so the phrase reads like choreography. To extend a phrase, append more steps; the figure carries its pose forward. Use <code>ground-lock: feet</code> for grounded phrases (it still lets the figure turn and travel; it only keeps the feet on the floor vertically).</p>
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diff --git a/playground/public/llms.txt b/playground/public/llms.txt
index 0dbff4e..40d8023 100644
--- a/playground/public/llms.txt
+++ b/playground/public/llms.txt
@@ -1,12 +1,12 @@
 # Posecode
 
-> Posecode is an open-source (Apache-2.0) text-to-motion language: a small, Mermaid-style protocol that LLMs can write to describe human movement (exercises, stretches, physiotherapy, yoga, dance, sign language). A pure-TypeScript parser validates the text and clamps every joint angle to a clinical range of motion, and a Three.js renderer animates it as a 3D figure in the browser at 60fps with no GPU or diffusion model.
+> Posecode is an open-source (Apache-2.0) text-to-motion language: a small, Mermaid-style protocol that LLMs can write to describe single-person movement. A TypeScript parser validates a closed vocabulary and constrains joint targets to configured ranges of motion; a Three.js renderer then animates the result locally in the browser without generative-motion inference.
 
 Key facts:
 - A model writes phases and joint angles ("knees: flex 95"), not 3D transforms.
-- Every angle is hard-clamped to an anatomically safe range of motion.
-- Rendering is client-side forward kinematics plus ground-lock IK.
-- Any LLM (ChatGPT, Claude, Gemini) can author .posecode after reading one system prompt.
+- Authored and IK-generated joint angles are constrained to configured range-of-motion limits; this is not a guarantee that a whole movement is safe or accurate.
+- Rendering combines client-side forward kinematics, contact constraints, and inverse kinematics.
+- The authoring guide gives an LLM the closed vocabulary, contact rules, and self-checks needed to produce documents that the parser can validate.
 
 ## Docs
 
diff --git a/playground/public/moves/arm-circles.html b/playground/public/moves/arm-circles.html
deleted file mode 100644
index 38b09da..0000000
--- a/playground/public/moves/arm-circles.html
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@@ -1,188 +0,0 @@
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-      <p class="eyebrow">Warm-up · Shoulders</p>
-      <h1>Arm circles</h1>
-      <p class="meta-line"><b>Target</b> Deltoids &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 6</p>
-      <p>Arm circles is a beginner-level warm-up movement targeting the
-        deltoids, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/arm-circles">▶ Open Arm circles in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Up &amp; forward<span class="step-dur">1.2s · flow</span></span>
-          <span class="step-cue">Sweep the arms up and forward</span>
-        </li>
-<li>
-          <span class="step-name">Out to sides<span class="step-dur">1.2s · flow</span></span>
-          <span class="step-cue">Open the arms out wide to the sides</span>
-        </li>
-<li>
-          <span class="step-name">Down &amp; round<span class="step-dur">1.2s · settle</span></span>
-          <span class="step-cue">Lower and continue the circle back to the start</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Arm circles&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Up &amp; forward&quot; 1.2s flow:
-    shoulders: flex 120
-    cue &quot;Sweep the arms up and forward&quot;
-
-  step &quot;Out to sides&quot; 1.2s flow:
-    shoulders: flex 0
-    shoulders: abduct 120
-    cue &quot;Open the arms out wide to the sides&quot;
-
-  step &quot;Down &amp; round&quot; 1.2s settle:
-    shoulders: abduct 0
-    cue &quot;Lower and continue the circle back to the start&quot;
-
-  repeat 6
-</code></pre>
-
-      <h2>More warm-up movements</h2>
-         <div class="chip-list"><a href="/moves/jumping-jacks.html">Jumping jacks</a><a href="/moves/box-step-taps.html">Box step taps</a><a href="/moves/high-knee-march.html">High-knee march</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/bent-over-row.html b/playground/public/moves/bent-over-row.html
index 399ac03..aecef0a 100644
--- a/playground/public/moves/bent-over-row.html
+++ b/playground/public/moves/bent-over-row.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Bent-over row: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Bent-over row: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the bent-over row (fitness): 4 phases targeting the lats, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Bent-over row is an intermediate-level fitness Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/bent-over-row.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Bent-over row: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the bent-over row (fitness): 4 phases targeting the lats, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Bent-over row: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Bent-over row is an intermediate-level fitness Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/bent-over-row.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Bent-over row","description":"How to do the bent-over row (fitness): 4 phases targeting the lats, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Set the hinge","text":"Hinge to a flat back, let the arms hang straight down"},{"@type":"HowToStep","name":"Row","text":"Drive the elbows up past the ribs, squeeze the shoulder blades"},{"@type":"HowToStep","name":"Lower","text":"Lower the bar under control, keep the back flat"},{"@type":"HowToStep","name":"Stand","text":"Stand up tall between sets"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Bent-over row: a Posecode movement example","description":"Bent-over row is an intermediate-level fitness Posecode example with 4 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,14 +123,17 @@
       <h1>Bent-over row</h1>
       <p class="meta-line"><b>Target</b> Lats &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 8</p>
-      <p>Bent-over row is a intermediate-level fitness movement targeting the
+      <p>Bent-over row is an intermediate-level fitness movement targeting the
         lats, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/bent-over-row">▶ Open Bent-over row in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Set the hinge<span class="step-dur">1.6s · flow</span></span>
@@ -141,7 +144,7 @@ <h2>How to do it</h2>
           <span class="step-cue">Drive the elbows up past the ribs, squeeze the shoulder blades</span>
         </li>
 <li>
-          <span class="step-name">Lower<span class="step-dur">1s · drive</span></span>
+          <span class="step-name">Lower<span class="step-dur">1s · settle</span></span>
           <span class="step-cue">Lower the bar under control, keep the back flat</span>
         </li>
 <li>
@@ -151,7 +154,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Bent-over row&quot;
   rig humanoid
@@ -160,7 +163,7 @@ <h2>The .posecode source</h2>
   step &quot;Set the hinge&quot; 1.6s flow:
     pelvis: hinge 70
     knees: flex 20
-    ankles: plantarflex 20
+    ankles: dorsiflex 5
     shoulders: flex 65
     elbows: flex 10
     elbows: pronate 80
@@ -175,7 +178,7 @@ <h2>The .posecode source</h2>
     ground-lock: feet
     cue &quot;Drive the elbows up past the ribs, squeeze the shoulder blades&quot;
 
-  step &quot;Lower&quot; 1s drive:
+  step &quot;Lower&quot; 1s settle:
     shoulders: flex 65
     elbows: flex 10
     elbows: pronate 80
@@ -185,7 +188,7 @@ <h2>The .posecode source</h2>
   step &quot;Stand&quot; 1s settle:
     pelvis: hinge 0
     knees: flex 0
-    ankles: plantarflex 0
+    ankles: dorsiflex 0
     shoulders: flex 0
     elbows: flex 0
     elbows: pronate 0
@@ -197,8 +200,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
+         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a><a href="/moves/forward-lunge.html">Forward lunge</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/biceps.html b/playground/public/moves/biceps.html
deleted file mode 100644
index 605f45a..0000000
--- a/playground/public/moves/biceps.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Biceps curl: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the biceps curl (fitness): 2 phases targeting the biceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/biceps.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Biceps curl: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the biceps curl (fitness): 2 phases targeting the biceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/biceps.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
-      rel="stylesheet"
-    />
-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
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-.steps{list-style:none;padding:0;margin:0 0 22px;display:flex;flex-direction:column;gap:12px}
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Biceps curl","description":"How to do the biceps curl (fitness): 2 phases targeting the biceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Curl","text":"Curl up, keep the elbows tucked at your sides"},{"@type":"HowToStep","name":"Lower","text":"Lower under control: don't swing"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
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-          <a href="/play">Playground</a>
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-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
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-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Fitness · Upper arms</p>
-      <h1>Biceps curl</h1>
-      <p class="meta-line"><b>Target</b> Biceps &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 10</p>
-      <p>Biceps curl is a beginner-level fitness movement targeting the
-        biceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/biceps">▶ Open Biceps curl in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Curl<span class="step-dur">1.1s · settle</span></span>
-          <span class="step-cue">Curl up, keep the elbows tucked at your sides</span>
-        </li>
-<li>
-          <span class="step-name">Lower<span class="step-dur">1.4s · drive</span></span>
-          <span class="step-cue">Lower under control: don't swing</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Biceps curl&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Curl&quot; 1.1s settle:
-    elbows: flex 135
-    elbows: supinate 80
-    cue &quot;Curl up, keep the elbows tucked at your sides&quot;
-
-  step &quot;Lower&quot; 1.4s drive:
-    elbows: flex 15
-    elbows: supinate 80
-    cue &quot;Lower under control: don't swing&quot;
-
-  repeat 10
-</code></pre>
-
-      <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
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diff --git a/playground/public/moves/bicycle-crunch.html b/playground/public/moves/bicycle-crunch.html
deleted file mode 100644
index e556118..0000000
--- a/playground/public/moves/bicycle-crunch.html
+++ /dev/null
@@ -1,218 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Bicycle crunch: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Bicycle crunch","description":"How to do the bicycle crunch (fitness): 4 phases targeting the obliques, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Set","text":"Hands by the ears, knees over the hips, shoulders lifted"},{"@type":"HowToStep","name":"Right to left","text":"Right elbow toward the left knee; the right leg extends long"},{"@type":"HowToStep","name":"Left to right","text":"Switch: left elbow toward the right knee"},{"@type":"HowToStep","name":"Center","text":"Return to center, knees stacked over the hips"}]}</script>
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-    <main class="wrap">
-      
-      <p class="eyebrow">Fitness · Core</p>
-      <h1>Bicycle crunch</h1>
-      <p class="meta-line"><b>Target</b> Obliques &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 5</p>
-      <p>Bicycle crunch is a intermediate-level fitness movement targeting the
-        obliques, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/bicycle-crunch">▶ Open Bicycle crunch in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Set<span class="step-dur">0.8s · flow</span></span>
-          <span class="step-cue">Hands by the ears, knees over the hips, shoulders lifted</span>
-        </li>
-<li>
-          <span class="step-name">Right to left<span class="step-dur">0.8s · flow</span></span>
-          <span class="step-cue">Right elbow toward the left knee; the right leg extends long</span>
-        </li>
-<li>
-          <span class="step-name">Left to right<span class="step-dur">0.8s · flow</span></span>
-          <span class="step-cue">Switch: left elbow toward the right knee</span>
-        </li>
-<li>
-          <span class="step-name">Center<span class="step-dur">0.6s · settle</span></span>
-          <span class="step-cue">Return to center, knees stacked over the hips</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Bicycle crunch&quot;
-  rig humanoid
-  pose start = supine
-
-  step &quot;Set&quot; 0.8s flow:
-    hips: flex 90
-    knees: flex 90
-    shoulders: flex 100
-    elbows: flex 90
-    spine: flex 25
-    chest: flex 15
-    neck: flex 20
-    cue &quot;Hands by the ears, knees over the hips, shoulders lifted&quot;
-
-  step &quot;Right to left&quot; 0.8s flow:
-    spine: rotate-in 30
-    chest: rotate-in 20
-    hip_left: flex 110
-    knee_left: flex 90
-    hip_right: flex 15
-    knee_right: flex 5
-    reach: elbow_right knee_left
-    cue &quot;Right elbow toward the left knee; the right leg extends long&quot;
-
-  step &quot;Left to right&quot; 0.8s flow:
-    spine: rotate-out 30
-    chest: rotate-out 20
-    hip_right: flex 110
-    knee_right: flex 90
-    hip_left: flex 15
-    knee_left: flex 5
-    reach: elbow_left knee_right
-    cue &quot;Switch: left elbow toward the right knee&quot;
-
-  step &quot;Center&quot; 0.6s settle:
-    spine: rotate-in 0
-    chest: rotate-in 0
-    hip_right: flex 90
-    knee_right: flex 90
-    hip_left: flex 90
-    knee_left: flex 90
-    cue &quot;Return to center, knees stacked over the hips&quot;
-
-  repeat 5
-</code></pre>
-
-      <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/bow.html b/playground/public/moves/bow.html
index 7770bad..7028845 100644
--- a/playground/public/moves/bow.html
+++ b/playground/public/moves/bow.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Standing bow: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Standing bow: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the standing bow (martial arts): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Standing bow is a beginner-level martial arts Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/bow.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Standing bow: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the standing bow (martial arts): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Standing bow: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Standing bow is a beginner-level martial arts Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/bow.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Standing bow","description":"How to do the standing bow (martial arts): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Bow","text":"Hinge forward from the hips into a respectful bow, back flat"},{"@type":"HowToStep","name":"Rise","text":"Return smoothly to standing"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Standing bow: a Posecode movement example","description":"Standing bow is a beginner-level martial arts Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Standing bow</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Standing bow is a beginner-level martial arts movement targeting the
         hamstrings, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/bow">▶ Open Standing bow in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Bow<span class="step-dur">2s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode posture &quot;Standing bow&quot;
   rig humanoid
@@ -168,7 +171,6 @@ <h2>The .posecode source</h2>
 
       <h2>More martial arts movements</h2>
          <div class="chip-list"><a href="/moves/front-kick.html">Front kick</a><a href="/moves/jab-cross.html">Jab-cross</a><a href="/moves/horse-stance.html">Horse stance</a></div>
-    
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/box-squat.html b/playground/public/moves/box-squat.html
index 7c41e0d..c1aa5be 100644
--- a/playground/public/moves/box-squat.html
+++ b/playground/public/moves/box-squat.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Box squat: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Box squat: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the box squat (fitness): 2 phases targeting the quadriceps, chair, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Box squat is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/box-squat.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Box squat: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the box squat (fitness): 2 phases targeting the quadriceps, chair, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Box squat: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Box squat is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/box-squat.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Box squat","description":"How to do the box squat (fitness): 2 phases targeting the quadriceps, chair, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Sit back","text":"Push the hips back and sit lightly onto the box"},{"@type":"HowToStep","name":"Stand","text":"Drive up to standing without bouncing off the box"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Box squat: a Posecode movement example","description":"Box squat is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Box squat</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 8</p>
       <p>Box squat is a beginner-level fitness movement targeting the
         quadriceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/box-squat">▶ Open Box squat in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Sit back<span class="step-dur">1.6s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Box squat&quot;
   rig humanoid
@@ -174,8 +177,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
+         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a><a href="/moves/forward-lunge.html">Forward lunge</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/box-step-taps.html b/playground/public/moves/box-step-taps.html
index d140a6c..d1cfc0c 100644
--- a/playground/public/moves/box-step-taps.html
+++ b/playground/public/moves/box-step-taps.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Box step taps: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Box step taps: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the box step taps (warm-up): 4 phases targeting the hip flexors, box, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Box step taps is a beginner-level warm-up Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/box-step-taps.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Box step taps: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the box step taps (warm-up): 4 phases targeting the hip flexors, box, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Box step taps: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Box step taps is a beginner-level warm-up Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/box-step-taps.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Box step taps","description":"How to do the box step taps (warm-up): 4 phases targeting the hip flexors, box, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Right tap","text":"Tap the right foot lightly on top of the box"},{"@type":"HowToStep","name":"Right down","text":"Return the right foot to the floor"},{"@type":"HowToStep","name":"Left tap","text":"Tap the left foot on the box"},{"@type":"HowToStep","name":"Left down","text":"Back to the floor: keep a light, quick rhythm"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Box step taps: a Posecode movement example","description":"Box step taps is a beginner-level warm-up Posecode example with 4 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Box step taps</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 6</p>
       <p>Box step taps is a beginner-level warm-up movement targeting the
         hip flexors, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/box-step-taps">▶ Open Box step taps in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Right tap<span class="step-dur">0.6s · settle</span></span>
@@ -151,7 +154,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Box step taps&quot;
   rig humanoid
@@ -190,8 +193,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More warm-up movements</h2>
-         <div class="chip-list"><a href="/moves/jumping-jacks.html">Jumping jacks</a><a href="/moves/arm-circles.html">Arm circles</a><a href="/moves/high-knee-march.html">High-knee march</a></div>
-    
+         <div class="chip-list"><a href="/moves/jumping-jacks.html">Jumping jacks</a><a href="/moves/high-knee-march.html">High-knee march</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/box-step.html b/playground/public/moves/box-step.html
index d405a9a..d3d7958 100644
--- a/playground/public/moves/box-step.html
+++ b/playground/public/moves/box-step.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Box step: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Box step: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the box step (dance): 4 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Box step is a beginner-level dance Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/box-step.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Box step: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the box step (dance): 4 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Box step: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Box step is a beginner-level dance Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/box-step.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Box step","description":"How to do the box step (dance): 4 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Right foot forward","text":"Step forward onto the right foot with an easy contralateral arm swing"},{"@type":"HowToStep","name":"Left foot side","text":"Transfer left to the side, keeping the torso lifted"},{"@type":"HowToStep","name":"Right foot back","text":"Step back onto the right foot to trace the third side of the box"},{"@type":"HowToStep","name":"Left foot closes home","text":"Close the left foot and settle over both feet, completing the square"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Box step: a Posecode movement example","description":"Box step is a beginner-level dance Posecode example with 4 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Box step</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
       <p>Box step is a beginner-level dance movement targeting the
         full body, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/box-step">▶ Open Box step in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Right foot forward<span class="step-dur">0.9s · flow</span></span>
@@ -151,7 +154,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Box step&quot;
   rig humanoid
@@ -206,8 +209,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More dance movements</h2>
-         <div class="chip-list"><a href="/moves/dance-phrase.html">Dance phrase (8-count)</a><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/port-de-bras.html">Port de bras</a><a href="/moves/pirouette.html">Pirouette (full turn)</a></div>
-    
+         <div class="chip-list"><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/grapevine.html">Grapevine (travels)</a><a href="/moves/waltz-box.html">Waltz box step</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/calf-raise.html b/playground/public/moves/calf-raise.html
index 8192dbb..d9ba664 100644
--- a/playground/public/moves/calf-raise.html
+++ b/playground/public/moves/calf-raise.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Single-leg calf raise: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Single-leg calf raise: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the single-leg calf raise (fitness): 2 phases targeting the calves, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Single-leg calf raise is an intermediate-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/calf-raise.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Single-leg calf raise: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the single-leg calf raise (fitness): 2 phases targeting the calves, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Single-leg calf raise: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Single-leg calf raise is an intermediate-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/calf-raise.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Single-leg calf raise","description":"How to do the single-leg calf raise (fitness): 2 phases targeting the calves, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Rise","text":"Balance on the right foot and rise onto the ball of the foot"},{"@type":"HowToStep","name":"Lower","text":"Lower the right heel slowly under control"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Single-leg calf raise: a Posecode movement example","description":"Single-leg calf raise is an intermediate-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,27 +123,30 @@
       <h1>Single-leg calf raise</h1>
       <p class="meta-line"><b>Target</b> Calves &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 10</p>
-      <p>Single-leg calf raise is a intermediate-level fitness movement targeting the
+      <p>Single-leg calf raise is an intermediate-level fitness movement targeting the
         calves, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/calf-raise">▶ Open Single-leg calf raise in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Rise<span class="step-dur">1.1s · settle</span></span>
           <span class="step-cue">Balance on the right foot and rise onto the ball of the foot</span>
         </li>
 <li>
-          <span class="step-name">Lower<span class="step-dur">1.3s · drive</span></span>
+          <span class="step-name">Lower<span class="step-dur">1.3s · settle</span></span>
           <span class="step-cue">Lower the right heel slowly under control</span>
         </li>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Single-leg calf raise&quot;
   rig humanoid
@@ -155,7 +158,7 @@ <h2>The .posecode source</h2>
     pin: foot_right floor
     cue &quot;Balance on the right foot and rise onto the ball of the foot&quot;
 
-  step &quot;Lower&quot; 1.3s drive:
+  step &quot;Lower&quot; 1.3s settle:
     ankle_right: plantarflex 0
     knee_left: flex 60
     pin: foot_right floor
@@ -165,8 +168,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
+         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a><a href="/moves/forward-lunge.html">Forward lunge</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/chair.html b/playground/public/moves/chair.html
index 2347f93..c07012f 100644
--- a/playground/public/moves/chair.html
+++ b/playground/public/moves/chair.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Chair pose: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Chair pose: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the chair pose (yoga): 2 phases targeting the quadriceps, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Chair pose is an intermediate-level yoga Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/chair.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Chair pose: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the chair pose (yoga): 2 phases targeting the quadriceps, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Chair pose: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Chair pose is an intermediate-level yoga Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/chair.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Chair pose","description":"How to do the chair pose (yoga): 2 phases targeting the quadriceps, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Sink","text":"Sit the hips back and down, reach the arms overhead"},{"@type":"HowToStep","name":"Rise","text":"Press through the feet to stand, arms float down"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Chair pose: a Posecode movement example","description":"Chair pose is an intermediate-level yoga Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,14 +123,17 @@
       <h1>Chair pose</h1>
       <p class="meta-line"><b>Target</b> Quadriceps &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 4</p>
-      <p>Chair pose is a intermediate-level yoga movement targeting the
+      <p>Chair pose is an intermediate-level yoga movement targeting the
         quadriceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/chair">▶ Open Chair pose in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Sink<span class="step-dur">3s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode posture &quot;Chair pose&quot;
   rig humanoid
@@ -173,8 +176,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More yoga movements</h2>
-         <div class="chip-list"><a href="/moves/sidebend.html">Standing side bend</a><a href="/moves/cobra.html">Cobra</a><a href="/moves/seated-forward-fold.html">Seated forward fold</a></div>
-    
+         <div class="chip-list"><a href="/moves/sidebend.html">Standing side bend</a><a href="/moves/seated-forward-fold.html">Seated forward fold</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/chasse.html b/playground/public/moves/chasse.html
index 2012d80..38a7873 100644
--- a/playground/public/moves/chasse.html
+++ b/playground/public/moves/chasse.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Chassé: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Chassé: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the chassé (dance): 6 phases targeting the full body, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Chassé is an intermediate-level dance Posecode example with 6 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/chasse.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Chassé: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the chassé (dance): 6 phases targeting the full body, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Chassé: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Chassé is an intermediate-level dance Posecode example with 6 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/chasse.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Chassé","description":"How to do the chassé (dance): 6 phases targeting the full body, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Right foot reaches","text":"Reach the right foot sideways and push away from the left leg"},{"@type":"HowToStep","name":"Left foot chases","text":"Let the left foot chase under the body without breaking the sideways flow"},{"@type":"HowToStep","name":"Right foot reaches again","text":"Reach right once more and finish the outward chassé"},{"@type":"HowToStep","name":"Left foot reaches back","text":"Reverse cleanly and reach the left foot back across the floor"},{"@type":"HowToStep","name":"Right foot chases","text":"Let the right foot chase under the body on the return"},{"@type":"HowToStep","name":"Left foot closes home","text":"Close home over both feet and let the momentum resolve"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Chassé: a Posecode movement example","description":"Chassé is an intermediate-level dance Posecode example with 6 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,14 +123,17 @@
       <h1>Chassé</h1>
       <p class="meta-line"><b>Target</b> Full body &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 4</p>
-      <p>Chassé is a intermediate-level dance movement targeting the
+      <p>Chassé is an intermediate-level dance movement targeting the
         full body, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/chasse">▶ Open Chassé in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Right foot reaches<span class="step-dur">0.65s · flow</span></span>
@@ -159,16 +162,16 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Chassé&quot;
   rig humanoid
   pose start = standing
 
   step &quot;Right foot reaches&quot; 0.65s flow:
-    hip_right: abduct 26
+    hip_right: abduct 20
     knee_right: flex 20
-    ankle_right: plantarflex 24
+    ankle_right: plantarflex 30
     ankle_left: plantarflex 20
     shoulders: abduct 60
     elbows: flex 18
@@ -183,7 +186,7 @@ <h2>The .posecode source</h2>
     ankle_right: plantarflex 0
     hip_left: abduct 18
     knee_left: flex 22
-    ankle_left: plantarflex 24
+    ankle_left: plantarflex 30
     travel: 0.66 0
     pin: foot_right floor
     cue &quot;Let the left foot chase under the body without breaking the sideways flow&quot;
@@ -192,9 +195,9 @@ <h2>The .posecode source</h2>
     hip_left: abduct 0
     knee_left: flex 0
     ankle_left: plantarflex 18
-    hip_right: abduct 26
+    hip_right: abduct 20
     knee_right: flex 20
-    ankle_right: plantarflex 24
+    ankle_right: plantarflex 30
     travel: 1 0
     pin: foot_left floor
     reach: foot_right floor
@@ -204,9 +207,9 @@ <h2>The .posecode source</h2>
     hip_right: abduct 0
     knee_right: flex 0
     ankle_right: plantarflex 20
-    hip_left: abduct 26
+    hip_left: abduct 20
     knee_left: flex 20
-    ankle_left: plantarflex 24
+    ankle_left: plantarflex 30
     travel: 0.66 0
     pin: foot_right floor
     reach: foot_left floor
@@ -218,7 +221,7 @@ <h2>The .posecode source</h2>
     ankle_left: plantarflex 0
     hip_right: abduct 18
     knee_right: flex 22
-    ankle_right: plantarflex 24
+    ankle_right: plantarflex 30
     travel: 0.34 0
     pin: foot_left floor
     cue &quot;Let the right foot chase under the body on the return&quot;
@@ -237,8 +240,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More dance movements</h2>
-         <div class="chip-list"><a href="/moves/dance-phrase.html">Dance phrase (8-count)</a><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/port-de-bras.html">Port de bras</a><a href="/moves/pirouette.html">Pirouette (full turn)</a></div>
-    
+         <div class="chip-list"><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a><a href="/moves/grapevine.html">Grapevine (travels)</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/chest-opener.html b/playground/public/moves/chest-opener.html
index d6f72a8..72cb5f0 100644
--- a/playground/public/moves/chest-opener.html
+++ b/playground/public/moves/chest-opener.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Chest opener: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Chest opener: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the chest opener (desk &amp; posture): 2 phases targeting the pectorals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Chest opener is a beginner-level desk &amp; posture Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/chest-opener.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Chest opener: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the chest opener (desk &amp; posture): 2 phases targeting the pectorals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Chest opener: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Chest opener is a beginner-level desk &amp; posture Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/chest-opener.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Chest opener","description":"How to do the chest opener (desk & posture): 2 phases targeting the pectorals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Open","text":"Reach the arms back and lift the chest: open the front line"},{"@type":"HowToStep","name":"Release","text":"Return to neutral, ribs stacked over the hips"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Chest opener: a Posecode movement example","description":"Chest opener is a beginner-level desk & posture Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Chest opener</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
       <p>Chest opener is a beginner-level desk &amp; posture movement targeting the
         pectorals, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/chest-opener">▶ Open Chest opener in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Open<span class="step-dur">3s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Chest opener&quot;
   rig humanoid
@@ -167,8 +170,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More desk &amp; posture movements</h2>
-         <div class="chip-list"><a href="/moves/posture.html">Desk posture reset</a><a href="/moves/twist.html">Standing spinal twist</a><a href="/moves/shoulder-rolls.html">Shoulder rolls</a><a href="/moves/neck-side-stretch.html">Neck side stretch</a><a href="/moves/overhead-reach.html">Overhead reach reset</a></div>
-    
+         <div class="chip-list"><a href="/moves/posture.html">Desk posture reset</a><a href="/moves/twist.html">Standing spinal twist</a><a href="/moves/neck-side-stretch.html">Neck side stretch</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/cobra.html b/playground/public/moves/cobra.html
deleted file mode 100644
index 48a2f36..0000000
--- a/playground/public/moves/cobra.html
+++ /dev/null
@@ -1,195 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Cobra: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the cobra (yoga): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/cobra.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Cobra: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the cobra (yoga): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/cobra.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
-      rel="stylesheet"
-    />
-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
---text:#e9eef4;--text-2:#9aa6b4;--muted:#616d7c;--accent:#c6f24a;--accent-2:#a9e02f;
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---sans:"Hanken Grotesk",system-ui,-apple-system,"Segoe UI",sans-serif;--radius:10px;}
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Cobra","description":"How to do the cobra (yoga): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Lift","text":"Press the palms into the floor and lift the chest, shoulders rolling back"},{"@type":"HowToStep","name":"Lower","text":"Lower the chest back to the floor with control"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
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-    <script defer src="/_vercel/insights/script.js"></script>
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-      
-      <p class="eyebrow">Yoga · Back</p>
-      <h1>Cobra</h1>
-      <p class="meta-line"><b>Target</b> Spinal erectors &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
-      <p>Cobra is a beginner-level yoga movement targeting the
-        spinal erectors, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/cobra">▶ Open Cobra in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Lift<span class="step-dur">2.5s · flow</span></span>
-          <span class="step-cue">Press the palms into the floor and lift the chest, shoulders rolling back</span>
-        </li>
-<li>
-          <span class="step-name">Lower<span class="step-dur">2.5s · settle</span></span>
-          <span class="step-cue">Lower the chest back to the floor with control</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode stretch &quot;Cobra&quot;
-  rig humanoid
-  pose start = prone
-
-  step &quot;Lift&quot; 2.5s flow:
-    spine: extend 25
-    chest: extend 15
-    neck: extend 20
-    shoulders: flex 110
-    elbows: flex 40
-    elbows: pronate 80
-    pin: pelvis floor
-    pin: feet floor
-    reach: hands floor
-    cue &quot;Press the palms into the floor and lift the chest, shoulders rolling back&quot;
-
-  step &quot;Lower&quot; 2.5s settle:
-    spine: extend 0
-    chest: extend 0
-    neck: extend 0
-    shoulders: flex 0
-    elbows: flex 0
-    elbows: pronate 80
-    pin: pelvis floor
-    pin: feet floor
-    reach: hands floor
-    cue &quot;Lower the chest back to the floor with control&quot;
-
-  repeat 4
-</code></pre>
-
-      <h2>More yoga movements</h2>
-         <div class="chip-list"><a href="/moves/chair.html">Chair pose</a><a href="/moves/sidebend.html">Standing side bend</a><a href="/moves/seated-forward-fold.html">Seated forward fold</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
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diff --git a/playground/public/moves/cross-body-reach.html b/playground/public/moves/cross-body-reach.html
deleted file mode 100644
index bb5c10b..0000000
--- a/playground/public/moves/cross-body-reach.html
+++ /dev/null
@@ -1,201 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Cross-body reach: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the cross-body reach (physiotherapy): 4 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/cross-body-reach.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Cross-body reach: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the cross-body reach (physiotherapy): 4 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/cross-body-reach.html" />
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-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
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-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Cross-body reach","description":"How to do the cross-body reach (physiotherapy): 4 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Reach across right","text":"Pull the right arm across the chest toward the left shoulder"},{"@type":"HowToStep","name":"Return","text":"Release back to center"},{"@type":"HowToStep","name":"Reach across left","text":"Pull the left arm across the chest toward the right shoulder"},{"@type":"HowToStep","name":"Center","text":"Return to center"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
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-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
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-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
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-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Physiotherapy · Core</p>
-      <h1>Cross-body reach</h1>
-      <p class="meta-line"><b>Target</b> Obliques &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 2</p>
-      <p>Cross-body reach is a beginner-level physiotherapy movement targeting the
-        obliques, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/cross-body-reach">▶ Open Cross-body reach in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Reach across right<span class="step-dur">2s · flow</span></span>
-          <span class="step-cue">Pull the right arm across the chest toward the left shoulder</span>
-        </li>
-<li>
-          <span class="step-name">Return<span class="step-dur">1.4s · settle</span></span>
-          <span class="step-cue">Release back to center</span>
-        </li>
-<li>
-          <span class="step-name">Reach across left<span class="step-dur">2s · flow</span></span>
-          <span class="step-cue">Pull the left arm across the chest toward the right shoulder</span>
-        </li>
-<li>
-          <span class="step-name">Center<span class="step-dur">1.4s · settle</span></span>
-          <span class="step-cue">Return to center</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode stretch &quot;Cross-body reach&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Reach across right&quot; 2s flow:
-    shoulder_right: flex 80
-    reach: hand_right shoulder_left
-    ground-lock: feet
-    cue &quot;Pull the right arm across the chest toward the left shoulder&quot;
-
-  step &quot;Return&quot; 1.4s settle:
-    shoulder_right: flex 0
-    ground-lock: feet
-    cue &quot;Release back to center&quot;
-
-  step &quot;Reach across left&quot; 2s flow:
-    shoulder_left: flex 80
-    reach: hand_left shoulder_right
-    ground-lock: feet
-    cue &quot;Pull the left arm across the chest toward the right shoulder&quot;
-
-  step &quot;Center&quot; 1.4s settle:
-    shoulder_left: flex 0
-    ground-lock: feet
-    cue &quot;Return to center&quot;
-
-  repeat 2
-</code></pre>
-
-      <h2>More physiotherapy movements</h2>
-         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/shoulder.html">Shoulder flexion (ROM)</a><a href="/moves/neck.html">Neck rotation</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/crunch.html b/playground/public/moves/crunch.html
index a4e4ead..8429df1 100644
--- a/playground/public/moves/crunch.html
+++ b/playground/public/moves/crunch.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Crunch: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Crunch: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the crunch (fitness): 3 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Crunch is a beginner-level fitness Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/crunch.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Crunch: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the crunch (fitness): 3 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Crunch: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Crunch is a beginner-level fitness Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/crunch.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Crunch","description":"How to do the crunch (fitness): 3 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Set up","text":"Set up"},{"@type":"HowToStep","name":"Curl up","text":"Curl the shoulders off the floor, ribs toward the hips"},{"@type":"HowToStep","name":"Lower","text":"Lower the upper back down with control"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Crunch: a Posecode movement example","description":"Crunch is a beginner-level fitness Posecode example with 3 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Crunch</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 12</p>
       <p>Crunch is a beginner-level fitness movement targeting the
         abdominals, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/crunch">▶ Open Crunch in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Set up<span class="step-dur">0.5s · flow</span></span>
@@ -141,13 +144,13 @@ <h2>How to do it</h2>
           <span class="step-cue">Curl the shoulders off the floor, ribs toward the hips</span>
         </li>
 <li>
-          <span class="step-name">Lower<span class="step-dur">1.2s · drive</span></span>
+          <span class="step-name">Lower<span class="step-dur">1.2s · settle</span></span>
           <span class="step-cue">Lower the upper back down with control</span>
         </li>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Crunch&quot;
   rig humanoid
@@ -158,7 +161,8 @@ <h2>The .posecode source</h2>
     knees: flex 90
     ankles: plantarflex 50
     shoulders: flex 45
-    pin: feet floor
+    pin: pelvis floor
+    reach: feet floor
 
   step &quot;Curl up&quot; 1s settle:
     hips: flex 45
@@ -168,10 +172,11 @@ <h2>The .posecode source</h2>
     spine: flex 30
     chest: flex 20
     neck: flex 15
-    pin: feet floor
+    pin: pelvis floor
+    reach: feet floor
     cue &quot;Curl the shoulders off the floor, ribs toward the hips&quot;
 
-  step &quot;Lower&quot; 1.2s drive:
+  step &quot;Lower&quot; 1.2s settle:
     hips: flex 45
     knees: flex 90
     ankles: plantarflex 50
@@ -179,15 +184,15 @@ <h2>The .posecode source</h2>
     spine: flex 0
     chest: flex 0
     neck: flex 0
-    pin: feet floor
+    pin: pelvis floor
+    reach: feet floor
     cue &quot;Lower the upper back down with control&quot;
 
   repeat 12
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a></div>
-    
+         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a><a href="/moves/forward-lunge.html">Forward lunge</a><a href="/moves/calf-raise.html">Single-leg calf raise</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/dead-bug.html b/playground/public/moves/dead-bug.html
index 4a29d21..f85d567 100644
--- a/playground/public/moves/dead-bug.html
+++ b/playground/public/moves/dead-bug.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Dead bug: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Dead bug: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the dead bug (physiotherapy): 4 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Dead bug is a beginner-level physiotherapy Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/dead-bug.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Dead bug: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the dead bug (physiotherapy): 4 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Dead bug: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Dead bug is a beginner-level physiotherapy Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/dead-bug.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Dead bug","description":"How to do the dead bug (physiotherapy): 4 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Set","text":"Arms reach to the ceiling, knees stacked over the hips"},{"@type":"HowToStep","name":"Extend right arm & left leg","text":"Lower the right arm overhead and the left leg toward the floor"},{"@type":"HowToStep","name":"Switch","text":"Return and switch: left arm and right leg reach out"},{"@type":"HowToStep","name":"Return","text":"Bring everything back to the start position"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Dead bug: a Posecode movement example","description":"Dead bug is a beginner-level physiotherapy Posecode example with 4 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Dead bug</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
       <p>Dead bug is a beginner-level physiotherapy movement targeting the
         abdominals, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/dead-bug">▶ Open Dead bug in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Set<span class="step-dur">1s · flow</span></span>
@@ -151,7 +154,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Dead bug&quot;
   rig humanoid
@@ -192,8 +195,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More physiotherapy movements</h2>
-         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/shoulder.html">Shoulder flexion (ROM)</a><a href="/moves/neck.html">Neck rotation</a></div>
-    
+         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/neck.html">Neck rotation</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/dead-hang.html b/playground/public/moves/dead-hang.html
deleted file mode 100644
index 5325508..0000000
--- a/playground/public/moves/dead-hang.html
+++ /dev/null
@@ -1,198 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Dead hang: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the dead hang (fitness): 3 phases targeting the lats, bar, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/dead-hang.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Dead hang: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the dead hang (fitness): 3 phases targeting the lats, bar, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/dead-hang.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
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-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Dead hang","description":"How to do the dead hang (fitness): 3 phases targeting the lats, bar, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Reach","text":"Reach up and grip the bar"},{"@type":"HowToStep","name":"Hang","text":"Relax into a long, straight-arm hang"},{"@type":"HowToStep","name":"Down","text":"Drop down off the bar and shake out the arms"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
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-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
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-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Fitness · Back</p>
-      <h1>Dead hang</h1>
-      <p class="meta-line"><b>Target</b> Lats &nbsp;·&nbsp; <b>Equipment</b> Bar
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
-      <p>Dead hang is a beginner-level fitness movement targeting the
-        lats, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/dead-hang">▶ Open Dead hang in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Reach<span class="step-dur">0.8s · settle</span></span>
-          <span class="step-cue">Reach up and grip the bar</span>
-        </li>
-<li>
-          <span class="step-name">Hang<span class="step-dur">3s · flow</span></span>
-          <span class="step-cue">Relax into a long, straight-arm hang</span>
-        </li>
-<li>
-          <span class="step-name">Down<span class="step-dur">1.5s · settle</span></span>
-          <span class="step-cue">Drop down off the bar and shake out the arms</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Dead hang&quot;
-  rig humanoid
-  prop bar
-  pose start = standing
-
-  step &quot;Reach&quot; 0.8s settle:
-    shoulders: flex 175
-    elbows: flex 5
-    elbows: pronate 80
-    ground-lock: feet
-    cue &quot;Reach up and grip the bar&quot;
-
-  step &quot;Hang&quot; 3s flow:
-    shoulders: flex 175
-    elbows: flex 5
-    elbows: pronate 80
-    grip: hands bar
-    cue &quot;Relax into a long, straight-arm hang&quot;
-
-  step &quot;Down&quot; 1.5s settle:
-    shoulders: flex 0
-    elbows: flex 0
-    elbows: pronate 0
-    fingers: flex 0
-    ground-lock: feet
-    cue &quot;Drop down off the bar and shake out the arms&quot;
-
-  repeat 3
-</code></pre>
-
-      <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/deadlift.html b/playground/public/moves/deadlift.html
index 02af68f..0bb53cc 100644
--- a/playground/public/moves/deadlift.html
+++ b/playground/public/moves/deadlift.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Deadlift: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Deadlift: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the deadlift (fitness): 2 phases targeting the hamstrings &amp; glutes, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Deadlift is an intermediate-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/deadlift.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Deadlift: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the deadlift (fitness): 2 phases targeting the hamstrings &amp; glutes, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Deadlift: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Deadlift is an intermediate-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/deadlift.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Deadlift","description":"How to do the deadlift (fitness): 2 phases targeting the hamstrings & glutes, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Lower","text":"Push the hips back and hinge with a flat back: let the arms hang to the bar"},{"@type":"HowToStep","name":"Lift","text":"Drive the hips forward to stand tall, bar close to the body"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Deadlift: a Posecode movement example","description":"Deadlift is an intermediate-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,27 +123,30 @@
       <h1>Deadlift</h1>
       <p class="meta-line"><b>Target</b> Hamstrings &amp; glutes &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 8</p>
-      <p>Deadlift is a intermediate-level fitness movement targeting the
+      <p>Deadlift is an intermediate-level fitness movement targeting the
         hamstrings &amp; glutes, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/deadlift">▶ Open Deadlift in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Lower<span class="step-dur">1.8s · flow</span></span>
-          <span class="step-cue">Push the hips back and hinge with a flat back: let the arms hang to the bar</span>
+          <span class="step-cue">Push the hips back with a flat back as the arms hang below the shoulders</span>
         </li>
 <li>
           <span class="step-name">Lift<span class="step-dur">1.4s · settle</span></span>
-          <span class="step-cue">Drive the hips forward to stand tall, bar close to the body</span>
+          <span class="step-cue">Drive the hips forward and return to a tall stance</span>
         </li>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Deadlift&quot;
   rig humanoid
@@ -157,7 +160,7 @@ <h2>The .posecode source</h2>
     elbows: pronate 80
     neck: extend 12
     ground-lock: feet
-    cue &quot;Push the hips back and hinge with a flat back: let the arms hang to the bar&quot;
+    cue &quot;Push the hips back with a flat back as the arms hang below the shoulders&quot;
 
   step &quot;Lift&quot; 1.4s settle:
     pelvis: hinge 0
@@ -167,14 +170,13 @@ <h2>The .posecode source</h2>
     elbows: pronate 80
     neck: extend 0
     ground-lock: feet
-    cue &quot;Drive the hips forward to stand tall, bar close to the body&quot;
+    cue &quot;Drive the hips forward and return to a tall stance&quot;
 
   repeat 8
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a></div>
-    
+         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a><a href="/moves/forward-lunge.html">Forward lunge</a><a href="/moves/calf-raise.html">Single-leg calf raise</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/demi-plie.html b/playground/public/moves/demi-plie.html
index 9eef8d9..9f0862b 100644
--- a/playground/public/moves/demi-plie.html
+++ b/playground/public/moves/demi-plie.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Demi-plié: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Demi-plié: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the demi-plié (dance): 2 phases targeting the quadriceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Demi-plié is a beginner-level dance Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/demi-plie.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Demi-plié: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the demi-plié (dance): 2 phases targeting the quadriceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Demi-plié: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Demi-plié is a beginner-level dance Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/demi-plie.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Demi-plié","description":"How to do the demi-plié (dance): 2 phases targeting the quadriceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Plié","text":"Turn out from the hips and bend the knees over the toes: heels down"},{"@type":"HowToStep","name":"Straighten","text":"Press the floor away and rise to a tall first position"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Demi-plié: a Posecode movement example","description":"Demi-plié is a beginner-level dance Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Demi-plié</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
       <p>Demi-plié is a beginner-level dance movement targeting the
         quadriceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/demi-plie">▶ Open Demi-plié in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Plié<span class="step-dur">2.2s · settle</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Demi-plié&quot;
   rig humanoid
@@ -175,8 +178,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More dance movements</h2>
-         <div class="chip-list"><a href="/moves/dance-phrase.html">Dance phrase (8-count)</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/port-de-bras.html">Port de bras</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a></div>
-    
+         <div class="chip-list"><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a><a href="/moves/grapevine.html">Grapevine (travels)</a><a href="/moves/waltz-box.html">Waltz box step</a></div>
     </main>
     <footer class="site-footer">
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diff --git a/playground/public/moves/elbow-forearm.html b/playground/public/moves/elbow-forearm.html
deleted file mode 100644
index bccfbf9..0000000
--- a/playground/public/moves/elbow-forearm.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<!doctype html>
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-    <title>Elbow flexion &amp; forearm rotation: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the elbow flexion &amp; forearm rotation (education): 2 phases targeting the biceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/elbow-forearm.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Elbow flexion &amp; forearm rotation: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the elbow flexion &amp; forearm rotation (education): 2 phases targeting the biceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
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-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Elbow flexion & forearm rotation","description":"How to do the elbow flexion & forearm rotation (education): 2 phases targeting the biceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Flex & supinate","text":"Bend the elbows and turn the palms up: flexion with supination"},{"@type":"HowToStep","name":"Extend & pronate","text":"Straighten and turn the palms down: extension with pronation"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
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-    <main class="wrap">
-      
-      <p class="eyebrow">Education · Upper arms</p>
-      <h1>Elbow flexion &amp; forearm rotation</h1>
-      <p class="meta-line"><b>Target</b> Biceps &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
-      <p>Elbow flexion &amp; forearm rotation is a beginner-level education movement targeting the
-        biceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/elbow-forearm">▶ Open Elbow flexion &amp; forearm rotation in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Flex &amp; supinate<span class="step-dur">2.5s · flow</span></span>
-          <span class="step-cue">Bend the elbows and turn the palms up: flexion with supination</span>
-        </li>
-<li>
-          <span class="step-name">Extend &amp; pronate<span class="step-dur">2.5s · settle</span></span>
-          <span class="step-cue">Straighten and turn the palms down: extension with pronation</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode stretch &quot;Elbow flexion &amp; forearm rotation (ROM demo)&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Flex &amp; supinate&quot; 2.5s flow:
-    elbows: flex 140
-    elbows: supinate 80
-    cue &quot;Bend the elbows and turn the palms up: flexion with supination&quot;
-
-  step &quot;Extend &amp; pronate&quot; 2.5s settle:
-    elbows: flex 10
-    elbows: pronate 80
-    cue &quot;Straighten and turn the palms down: extension with pronation&quot;
-
-  repeat 4
-</code></pre>
-
-      <h2>More education movements</h2>
-         <div class="chip-list"><a href="/moves/shoulder-abduction.html">Shoulder abduction (ROM)</a><a href="/moves/hip-flexion.html">Hip flexion (ROM)</a><a href="/moves/knee-flexion.html">Knee flexion (ROM)</a><a href="/moves/spine-rotation.html">Spine rotation (ROM)</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
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diff --git a/playground/public/moves/finger-spell.html b/playground/public/moves/finger-spell.html
deleted file mode 100644
index b5be9f8..0000000
--- a/playground/public/moves/finger-spell.html
+++ /dev/null
@@ -1,218 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Finger-spelling: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the finger-spelling (sign language): 5 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
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-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Finger-spelling: How to Do It (Animated 3D Guide) | Posecode" />
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-.btn{display:inline-flex;align-items:center;gap:8px;font-weight:700;font-size:14px;
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-border-radius:8px;padding:11px 18px;text-decoration:none}
-.btn:hover{filter:brightness(1.06);text-decoration:none}
-.steps{list-style:none;padding:0;margin:0 0 22px;display:flex;flex-direction:column;gap:12px}
-.steps li{border:1px solid var(--border);border-radius:var(--radius);padding:16px 18px;
-background:var(--panel)}
-.steps .step-name{font-weight:700;color:var(--text);display:block;margin-bottom:4px}
-.steps .step-cue{color:var(--text-2);font-size:13.5px}
-.steps .step-dur{font-family:var(--mono);font-size:11px;color:var(--muted);margin-left:8px}
-.chip-list{display:flex;flex-wrap:wrap;gap:8px;margin:0 0 8px}
-.chip-list a{font-size:12.5px;font-weight:600;color:var(--text-2);background:var(--panel-2);
-border:1px solid var(--border-2);border-radius:999px;padding:5px 12px}
-.chip-list a:hover{color:var(--text);text-decoration:none;border-color:var(--accent-line)}
-.domain-group{margin-bottom:26px}
-.domain-group h2{margin-top:0}
-.move-grid{display:grid;grid-template-columns:repeat(auto-fill,minmax(220px,1fr));gap:10px}
-.move-card{display:block;border:1px solid var(--border);border-radius:var(--radius);
-padding:13px 15px;background:var(--panel)}
-.move-card:hover{border-color:var(--accent-line);text-decoration:none}
-.move-card .mc-name{display:block;font-weight:700;color:var(--text);font-size:13.5px}
-.move-card .mc-meta{display:block;font-size:11.5px;color:var(--muted);margin-top:2px}
-footer.site-footer{border-top:1px solid var(--border);padding:26px 0 40px;margin-top:20px}
-footer.site-footer p{font-size:12.5px;color:var(--muted);margin:0 0 6px;max-width:70ch}
-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Finger-spelling","description":"How to do the finger-spelling (sign language): 5 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Present the hand","text":"Bring the hand up in front of the chest, palm forward"},{"@type":"HowToStep","name":"Letter A","text":"A: fingers curled into a fist, thumb resting alongside"},{"@type":"HowToStep","name":"Letter B","text":"B: fingers straight and together, thumb across the palm"},{"@type":"HowToStep","name":"Letter I","text":"I: only the little finger stands up"},{"@type":"HowToStep","name":"Relax","text":"Open the hand and lower the arm"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
-          <a href="https://github.com/posecode-dev/posecode" target="_blank" rel="noopener">GitHub</a>
-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Sign language · Hands</p>
-      <h1>Finger-spelling</h1>
-      <p class="meta-line"><b>Target</b> Forearms &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 2</p>
-      <p>Finger-spelling is a beginner-level sign language movement targeting the
-        forearms, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/finger-spell">▶ Open Finger-spelling in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Present the hand<span class="step-dur">1s · settle</span></span>
-          <span class="step-cue">Bring the hand up in front of the chest, palm forward</span>
-        </li>
-<li>
-          <span class="step-name">Letter A<span class="step-dur">1.5s · flow</span></span>
-          <span class="step-cue">A: fingers curled into a fist, thumb resting alongside</span>
-        </li>
-<li>
-          <span class="step-name">Letter B<span class="step-dur">1.5s · flow</span></span>
-          <span class="step-cue">B: fingers straight and together, thumb across the palm</span>
-        </li>
-<li>
-          <span class="step-name">Letter I<span class="step-dur">1.5s · flow</span></span>
-          <span class="step-cue">I: only the little finger stands up</span>
-        </li>
-<li>
-          <span class="step-name">Relax<span class="step-dur">1.2s · settle</span></span>
-          <span class="step-cue">Open the hand and lower the arm</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode posture &quot;Finger-spelling (approx.)&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Present the hand&quot; 1s settle:
-    shoulder_right: flex 15
-    elbow_right: flex 140
-    cue &quot;Bring the hand up in front of the chest, palm forward&quot;
-
-  step &quot;Letter A&quot; 1.5s flow:
-    index_right: flex 95
-    middle_right: flex 95
-    ring_right: flex 95
-    pinky_right: flex 95
-    thumb_right: flex 0
-    cue &quot;A: fingers curled into a fist, thumb resting alongside&quot;
-
-  step &quot;Letter B&quot; 1.5s flow:
-    index_right: flex 0
-    middle_right: flex 0
-    ring_right: flex 0
-    pinky_right: flex 0
-    thumb_right: flex 60
-    cue &quot;B: fingers straight and together, thumb across the palm&quot;
-
-  step &quot;Letter I&quot; 1.5s flow:
-    index_right: flex 95
-    middle_right: flex 95
-    ring_right: flex 95
-    pinky_right: flex 0
-    thumb_right: flex 60
-    cue &quot;I: only the little finger stands up&quot;
-
-  step &quot;Relax&quot; 1.2s settle:
-    fingers_right: flex 0
-    shoulder_right: flex 0
-    elbow_right: flex 0
-    cue &quot;Open the hand and lower the arm&quot;
-
-  repeat 2
-</code></pre>
-
-      <h2>More sign language movements</h2>
-         <div class="chip-list"><a href="/moves/hand-wave.html">Hand wave</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/fold.html b/playground/public/moves/fold.html
index 94bd50d..7f91049 100644
--- a/playground/public/moves/fold.html
+++ b/playground/public/moves/fold.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Standing roll-down: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Standing roll-down: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the standing roll-down (mobility): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Standing roll-down is a beginner-level mobility Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/fold.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Standing roll-down: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the standing roll-down (mobility): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Standing roll-down: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Standing roll-down is a beginner-level mobility Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/fold.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Standing roll-down","description":"How to do the standing roll-down (mobility): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Roll down","text":"Drop the chin and round down one vertebra at a time"},{"@type":"HowToStep","name":"Roll up","text":"Stack the spine back up to standing"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Standing roll-down: a Posecode movement example","description":"Standing roll-down is a beginner-level mobility Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Standing roll-down</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Standing roll-down is a beginner-level mobility movement targeting the
         spinal erectors, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/fold">▶ Open Standing roll-down in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Roll down<span class="step-dur">3s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Standing roll-down&quot;
   rig humanoid
@@ -173,8 +176,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More mobility movements</h2>
-         <div class="chip-list"><a href="/moves/quad-stretch.html">Standing quad stretch</a><a href="/moves/touch-toes.html">Touch your toes</a></div>
-    
+         <div class="chip-list"><a href="/moves/quad-stretch.html">Standing quad stretch</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/forward-lunge.html b/playground/public/moves/forward-lunge.html
index c3dfd99..0a622ea 100644
--- a/playground/public/moves/forward-lunge.html
+++ b/playground/public/moves/forward-lunge.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Forward lunge: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Forward lunge: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the forward lunge (fitness): 2 phases targeting the quadriceps, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Forward lunge is an intermediate-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/forward-lunge.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Forward lunge: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the forward lunge (fitness): 2 phases targeting the quadriceps, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Forward lunge: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Forward lunge is an intermediate-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/forward-lunge.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Forward lunge","description":"How to do the forward lunge (fitness): 2 phases targeting the quadriceps, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Lunge","text":"Step forward and lower the back knee toward the floor"},{"@type":"HowToStep","name":"Drive up","text":"Push through the front heel to stand tall"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Forward lunge: a Posecode movement example","description":"Forward lunge is an intermediate-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,14 +123,17 @@
       <h1>Forward lunge</h1>
       <p class="meta-line"><b>Target</b> Quadriceps &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 6</p>
-      <p>Forward lunge is a intermediate-level fitness movement targeting the
+      <p>Forward lunge is an intermediate-level fitness movement targeting the
         quadriceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/forward-lunge">▶ Open Forward lunge in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Lunge<span class="step-dur">1.6s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Forward lunge&quot;
   rig humanoid
@@ -154,7 +157,7 @@ <h2>The .posecode source</h2>
     knee_right: flex 95
     hip_left: extend 15
     knee_left: flex 80
-    ankle_left: plantarflex 50
+    ankle_left: plantarflex 30
     spine: extend 4
     travel: 0 0.3
     pin: foot_left floor
@@ -176,8 +179,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
+         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a><a href="/moves/calf-raise.html">Single-leg calf raise</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/front-kick.html b/playground/public/moves/front-kick.html
index e687e35..bc215a2 100644
--- a/playground/public/moves/front-kick.html
+++ b/playground/public/moves/front-kick.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Front kick: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Front kick: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the front kick (martial arts): 4 phases targeting the hip flexors, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Front kick is an intermediate-level martial arts Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/front-kick.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Front kick: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the front kick (martial arts): 4 phases targeting the hip flexors, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Front kick: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Front kick is an intermediate-level martial arts Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/front-kick.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Front kick","description":"How to do the front kick (martial arts): 4 phases targeting the hip flexors, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Chamber","text":"Drive the right knee up to chamber the kick"},{"@type":"HowToStep","name":"Extend","text":"Snap the lower leg out: strike with the ball of the foot"},{"@type":"HowToStep","name":"Re-chamber","text":"Snap the foot back to chamber"},{"@type":"HowToStep","name":"Return","text":"Set the foot back down to a fighting stance"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Front kick: a Posecode movement example","description":"Front kick is an intermediate-level martial arts Posecode example with 4 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,14 +123,17 @@
       <h1>Front kick</h1>
       <p class="meta-line"><b>Target</b> Hip flexors &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 5</p>
-      <p>Front kick is a intermediate-level martial arts movement targeting the
+      <p>Front kick is an intermediate-level martial arts movement targeting the
         hip flexors, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/front-kick">▶ Open Front kick in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Chamber<span class="step-dur">0.5s · drive</span></span>
@@ -151,7 +154,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Front kick&quot;
   rig humanoid
@@ -186,7 +189,6 @@ <h2>The .posecode source</h2>
 
       <h2>More martial arts movements</h2>
          <div class="chip-list"><a href="/moves/jab-cross.html">Jab-cross</a><a href="/moves/horse-stance.html">Horse stance</a><a href="/moves/bow.html">Standing bow (hinge)</a></div>
-    
     </main>
     <footer class="site-footer">
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diff --git a/playground/public/moves/glute-bridge.html b/playground/public/moves/glute-bridge.html
deleted file mode 100644
index 7220b07..0000000
--- a/playground/public/moves/glute-bridge.html
+++ /dev/null
@@ -1,191 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Glute bridge: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the glute bridge (physiotherapy): 2 phases targeting the glutes, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/glute-bridge.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Glute bridge: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the glute bridge (physiotherapy): 2 phases targeting the glutes, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/glute-bridge.html" />
-    <meta property="og:site_name" content="Posecode" />
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Glute bridge","description":"How to do the glute bridge (physiotherapy): 2 phases targeting the glutes, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Bridge up","text":"Press through the feet and lift the hips toward the ceiling"},{"@type":"HowToStep","name":"Lower","text":"Lower the hips back to the floor, one vertebra at a time"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
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-          <a href="/play">Playground</a>
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-        </nav>
-      </div>
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-    <main class="wrap">
-      
-      <p class="eyebrow">Physiotherapy · Upper legs</p>
-      <h1>Glute bridge</h1>
-      <p class="meta-line"><b>Target</b> Glutes &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 10</p>
-      <p>Glute bridge is a beginner-level physiotherapy movement targeting the
-        glutes, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/glute-bridge">▶ Open Glute bridge in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Bridge up<span class="step-dur">1.6s · settle</span></span>
-          <span class="step-cue">Press through the feet and lift the hips toward the ceiling</span>
-        </li>
-<li>
-          <span class="step-name">Lower<span class="step-dur">1.6s · drive</span></span>
-          <span class="step-cue">Lower the hips back to the floor, one vertebra at a time</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Glute bridge&quot;
-  rig humanoid
-  pose start = supine
-
-  step &quot;Bridge up&quot; 1.6s settle:
-    knees: flex 90
-    ankles: plantarflex 50
-    hips: extend 20
-    spine: extend 10
-    shoulders: rotate-in 70
-    elbows: pronate 80
-    reach: hands floor
-    ground-lock: feet
-    cue &quot;Press through the feet and lift the hips toward the ceiling&quot;
-
-  step &quot;Lower&quot; 1.6s drive:
-    hips: extend 0
-    spine: flex 0
-    shoulders: rotate-in 70
-    elbows: pronate 80
-    reach: hands floor
-    ground-lock: feet
-    cue &quot;Lower the hips back to the floor, one vertebra at a time&quot;
-
-  repeat 10
-</code></pre>
-
-      <h2>More physiotherapy movements</h2>
-         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/shoulder.html">Shoulder flexion (ROM)</a><a href="/moves/neck.html">Neck rotation</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/good-morning.html b/playground/public/moves/good-morning.html
index c1344b3..48ab5bf 100644
--- a/playground/public/moves/good-morning.html
+++ b/playground/public/moves/good-morning.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Good morning: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Good morning: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the good morning (physiotherapy): 2 phases targeting the hamstrings, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Good morning is an intermediate-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/good-morning.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Good morning: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the good morning (physiotherapy): 2 phases targeting the hamstrings, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Good morning: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Good morning is an intermediate-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/good-morning.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Good morning","description":"How to do the good morning (physiotherapy): 2 phases targeting the hamstrings, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Hinge","text":"Hands behind the head, hinge from the hips with a flat back"},{"@type":"HowToStep","name":"Stand","text":"Squeeze the glutes to return to standing tall"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Good morning: a Posecode movement example","description":"Good morning is an intermediate-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,18 +123,21 @@
       <h1>Good morning</h1>
       <p class="meta-line"><b>Target</b> Hamstrings &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 8</p>
-      <p>Good morning is a intermediate-level physiotherapy movement targeting the
+      <p>Good morning is an intermediate-level physiotherapy movement targeting the
         hamstrings, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/good-morning">▶ Open Good morning in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Hinge<span class="step-dur">2s · flow</span></span>
-          <span class="step-cue">Hands behind the head, hinge from the hips with a flat back</span>
+          <span class="step-cue">Keep the elbows wide and hinge from the hips with a flat back</span>
         </li>
 <li>
           <span class="step-name">Stand<span class="step-dur">1.8s · settle</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Good morning&quot;
   rig humanoid
@@ -152,17 +155,17 @@ <h2>The .posecode source</h2>
   step &quot;Hinge&quot; 2s flow:
     pelvis: hinge 80
     knees: flex 15
-    ankles: plantarflex 15
+    ankles: dorsiflex 0
     shoulders: abduct 45
     elbows: flex 110
     neck: extend 10
     ground-lock: feet
-    cue &quot;Hands behind the head, hinge from the hips with a flat back&quot;
+    cue &quot;Keep the elbows wide and hinge from the hips with a flat back&quot;
 
   step &quot;Stand&quot; 1.8s settle:
     pelvis: hinge 0
     knees: flex 0
-    ankles: plantarflex 0
+    ankles: dorsiflex 0
     shoulders: abduct 45
     elbows: flex 110
     neck: extend 0
@@ -173,8 +176,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More physiotherapy movements</h2>
-         <div class="chip-list"><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/shoulder.html">Shoulder flexion (ROM)</a><a href="/moves/neck.html">Neck rotation</a><a href="/moves/cross-body-reach.html">Cross-body reach</a></div>
-    
+         <div class="chip-list"><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/neck.html">Neck rotation</a><a href="/moves/dead-bug.html">Dead bug</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/grapevine.html b/playground/public/moves/grapevine.html
index f4913d8..30932fc 100644
--- a/playground/public/moves/grapevine.html
+++ b/playground/public/moves/grapevine.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Grapevine: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Grapevine: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the grapevine (dance): 8 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Grapevine is a beginner-level dance Posecode example with 8 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/grapevine.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Grapevine: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the grapevine (dance): 8 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Grapevine: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Grapevine is a beginner-level dance Posecode example with 8 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/grapevine.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Grapevine","description":"How to do the grapevine (dance): 8 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Left step side","text":"Step the left foot to the side and begin travelling"},{"@type":"HowToStep","name":"Right crosses behind","text":"Cross the right foot behind without stopping the sideways momentum"},{"@type":"HowToStep","name":"Left step side again","text":"Step left again and keep the shoulders quiet"},{"@type":"HowToStep","name":"Right touch","text":"Touch the right foot in lightly before reversing"},{"@type":"HowToStep","name":"Right step side","text":"Step the right foot to the side to travel back"},{"@type":"HowToStep","name":"Left crosses behind","text":"Cross the left foot behind and continue through the beat"},{"@type":"HowToStep","name":"Right step side again","text":"Step right and arrive back near the starting place"},{"@type":"HowToStep","name":"Close home","text":"Close the left foot under the body and settle the phrase"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Grapevine: a Posecode movement example","description":"Grapevine is a beginner-level dance Posecode example with 8 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Grapevine</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Grapevine is a beginner-level dance movement targeting the
         full body, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/grapevine">▶ Open Grapevine in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Left step side<span class="step-dur">0.65s · flow</span></span>
@@ -167,14 +170,14 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Grapevine&quot;
   rig humanoid
   pose start = standing
 
   step &quot;Left step side&quot; 0.65s flow:
-    hip_left: abduct 28
+    hip_left: abduct 16
     shoulders: abduct 40
     travel: 0.3 0
     pin: foot_right floor
@@ -195,7 +198,7 @@ <h2>The .posecode source</h2>
     hip_right: rotate-in 0
     knee_right: flex 0
     ankle_right: plantarflex 0
-    hip_left: abduct 28
+    hip_left: abduct 16
     travel: 0.9 0
     pin: foot_right floor
     reach: foot_left floor
@@ -206,13 +209,14 @@ <h2>The .posecode source</h2>
     knee_right: flex 16
     ankle_right: plantarflex 20
     travel: 1 0
-    ground-lock: feet
+    ground-lock: foot_left
+    reach: foot_right floor
     cue &quot;Touch the right foot in lightly before reversing&quot;
 
   step &quot;Right step side&quot; 0.65s flow:
     knee_right: flex 0
     ankle_right: plantarflex 0
-    hip_right: abduct 28
+    hip_right: abduct 16
     travel: 0.7 0
     pin: foot_left floor
     reach: foot_right floor
@@ -232,7 +236,7 @@ <h2>The .posecode source</h2>
     hip_left: rotate-in 0
     knee_left: flex 0
     ankle_left: plantarflex 0
-    hip_right: abduct 28
+    hip_right: abduct 16
     travel: 0.1 0
     pin: foot_left floor
     reach: foot_right floor
@@ -249,8 +253,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More dance movements</h2>
-         <div class="chip-list"><a href="/moves/dance-phrase.html">Dance phrase (8-count)</a><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/port-de-bras.html">Port de bras</a><a href="/moves/pirouette.html">Pirouette (full turn)</a></div>
-    
+         <div class="chip-list"><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a><a href="/moves/waltz-box.html">Waltz box step</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/hamstring-curl.html b/playground/public/moves/hamstring-curl.html
index cd36721..5f7ac52 100644
--- a/playground/public/moves/hamstring-curl.html
+++ b/playground/public/moves/hamstring-curl.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Standing hamstring curl: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Standing hamstring curl: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the standing hamstring curl (physiotherapy): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Standing hamstring curl is a beginner-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/hamstring-curl.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Standing hamstring curl: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the standing hamstring curl (physiotherapy): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Standing hamstring curl: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Standing hamstring curl is a beginner-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/hamstring-curl.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Standing hamstring curl","description":"How to do the standing hamstring curl (physiotherapy): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Curl","text":"Bend the right knee, drawing the heel toward the glute"},{"@type":"HowToStep","name":"Lower","text":"Lower the foot back to the floor"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Standing hamstring curl: a Posecode movement example","description":"Standing hamstring curl is a beginner-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,25 +125,28 @@ <h1>Standing hamstring curl</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 10</p>
       <p>Standing hamstring curl is a beginner-level physiotherapy movement targeting the
         hamstrings, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/hamstring-curl">▶ Open Standing hamstring curl in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Curl<span class="step-dur">1.4s · settle</span></span>
           <span class="step-cue">Bend the right knee, drawing the heel toward the glute</span>
         </li>
 <li>
-          <span class="step-name">Lower<span class="step-dur">1.6s · drive</span></span>
+          <span class="step-name">Lower<span class="step-dur">1.6s · settle</span></span>
           <span class="step-cue">Lower the foot back to the floor</span>
         </li>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Standing hamstring curl&quot;
   rig humanoid
@@ -154,7 +157,7 @@ <h2>The .posecode source</h2>
     pin: foot_left floor
     cue &quot;Bend the right knee, drawing the heel toward the glute&quot;
 
-  step &quot;Lower&quot; 1.6s drive:
+  step &quot;Lower&quot; 1.6s settle:
     knee_right: flex 0
     pin: foot_left floor
     cue &quot;Lower the foot back to the floor&quot;
@@ -163,8 +166,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More physiotherapy movements</h2>
-         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/shoulder.html">Shoulder flexion (ROM)</a><a href="/moves/neck.html">Neck rotation</a><a href="/moves/cross-body-reach.html">Cross-body reach</a></div>
-    
+         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/neck.html">Neck rotation</a><a href="/moves/dead-bug.html">Dead bug</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/hand-wave.html b/playground/public/moves/hand-wave.html
deleted file mode 100644
index b68a13f..0000000
--- a/playground/public/moves/hand-wave.html
+++ /dev/null
@@ -1,198 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Hand wave: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the hand wave (sign language): 4 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/hand-wave.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Hand wave: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the hand wave (sign language): 4 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/hand-wave.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
-      rel="stylesheet"
-    />
-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
---text:#e9eef4;--text-2:#9aa6b4;--muted:#616d7c;--accent:#c6f24a;--accent-2:#a9e02f;
---accent-ink:#0a0d12;--accent-glow:rgba(198,242,74,.45);--accent-wash:rgba(198,242,74,.1);
---accent-line:rgba(198,242,74,.35);--mono:"JetBrains Mono",ui-monospace,"SF Mono",Menlo,monospace;
---sans:"Hanken Grotesk",system-ui,-apple-system,"Segoe UI",sans-serif;--radius:10px;}
-*{box-sizing:border-box}
-html,body{margin:0}
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-border:1px solid var(--border-2);border-radius:999px;padding:5px 12px}
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-footer.site-footer p{font-size:12.5px;color:var(--muted);margin:0 0 6px;max-width:70ch}
-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Hand wave","description":"How to do the hand wave (sign language): 4 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Raise","text":"Raise the hand up high, palm open"},{"@type":"HowToStep","name":"Wave out","text":"Tip the fingers out..."},{"@type":"HowToStep","name":"Wave in","text":"...and back again: a friendly wave"},{"@type":"HowToStep","name":"Lower","text":"Lower the arm back to your side"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
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-          <a href="/play">Playground</a>
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-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
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-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Sign language · Hands</p>
-      <h1>Hand wave</h1>
-      <p class="meta-line"><b>Target</b> Forearms &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
-      <p>Hand wave is a beginner-level sign language movement targeting the
-        forearms, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/hand-wave">▶ Open Hand wave in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Raise<span class="step-dur">0.8s · settle</span></span>
-          <span class="step-cue">Raise the hand up high, palm open</span>
-        </li>
-<li>
-          <span class="step-name">Wave out<span class="step-dur">0.6s · flow</span></span>
-          <span class="step-cue">Tip the fingers out...</span>
-        </li>
-<li>
-          <span class="step-name">Wave in<span class="step-dur">0.6s · flow</span></span>
-          <span class="step-cue">...and back again: a friendly wave</span>
-        </li>
-<li>
-          <span class="step-name">Lower<span class="step-dur">0.8s · drive</span></span>
-          <span class="step-cue">Lower the arm back to your side</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode posture &quot;Hand wave&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Raise&quot; 0.8s settle:
-    shoulder_right: flex 150
-    elbow_right: flex 20
-    fingers_right: flex 0
-    cue &quot;Raise the hand up high, palm open&quot;
-
-  step &quot;Wave out&quot; 0.6s flow:
-    fingers_right: flex 30
-    cue &quot;Tip the fingers out...&quot;
-
-  step &quot;Wave in&quot; 0.6s flow:
-    fingers_right: flex 0
-    cue &quot;...and back again: a friendly wave&quot;
-
-  step &quot;Lower&quot; 0.8s drive:
-    shoulder_right: flex 0
-    elbow_right: flex 0
-    cue &quot;Lower the arm back to your side&quot;
-
-  repeat 3
-</code></pre>
-
-      <h2>More sign language movements</h2>
-         <div class="chip-list"><a href="/moves/finger-spell.html">Finger-spelling (approx.)</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/hanging-knee-raise.html b/playground/public/moves/hanging-knee-raise.html
deleted file mode 100644
index 6a687d7..0000000
--- a/playground/public/moves/hanging-knee-raise.html
+++ /dev/null
@@ -1,227 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Hanging knee raise: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the hanging knee raise (fitness): 5 phases targeting the abdominals, bar, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/hanging-knee-raise.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Hanging knee raise: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the hanging knee raise (fitness): 5 phases targeting the abdominals, bar, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
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-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Hanging knee raise","description":"How to do the hanging knee raise (fitness): 5 phases targeting the abdominals, bar, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Reach","text":"Reach up and grip the bar"},{"@type":"HowToStep","name":"Grip","text":"Hang from the bar overhead, arms long, body still"},{"@type":"HowToStep","name":"Raise knees","text":"Draw both knees up toward the chest"},{"@type":"HowToStep","name":"Lower","text":"Lower the legs under control, staying in a steady hang"},{"@type":"HowToStep","name":"Release","text":"Drop off the bar and rest"}]}</script>
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-      
-      <p class="eyebrow">Fitness · Core</p>
-      <h1>Hanging knee raise</h1>
-      <p class="meta-line"><b>Target</b> Abdominals &nbsp;·&nbsp; <b>Equipment</b> Bar
-        &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 8</p>
-      <p>Hanging knee raise is a intermediate-level fitness movement targeting the
-        abdominals, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/hanging-knee-raise">▶ Open Hanging knee raise in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Reach<span class="step-dur">0.8s · settle</span></span>
-          <span class="step-cue">Reach up and grip the bar</span>
-        </li>
-<li>
-          <span class="step-name">Grip<span class="step-dur">0.7s · flow</span></span>
-          <span class="step-cue">Hang from the bar overhead, arms long, body still</span>
-        </li>
-<li>
-          <span class="step-name">Raise knees<span class="step-dur">1.2s · settle</span></span>
-          <span class="step-cue">Draw both knees up toward the chest</span>
-        </li>
-<li>
-          <span class="step-name">Lower<span class="step-dur">1.4s · drive</span></span>
-          <span class="step-cue">Lower the legs under control, staying in a steady hang</span>
-        </li>
-<li>
-          <span class="step-name">Release<span class="step-dur">0.8s · drive</span></span>
-          <span class="step-cue">Drop off the bar and rest</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Hanging knee raise&quot;
-  rig humanoid
-  prop bar
-  pose start = standing
-
-  step &quot;Reach&quot; 0.8s settle:
-    shoulders: flex 175
-    elbows: flex 5
-    elbows: pronate 80
-    ground-lock: feet
-    cue &quot;Reach up and grip the bar&quot;
-
-  step &quot;Grip&quot; 0.7s flow:
-    shoulders: flex 175
-    elbows: flex 5
-    elbows: pronate 80
-    grip: hand_left bar
-    grip: hand_right bar
-    cue &quot;Hang from the bar overhead, arms long, body still&quot;
-
-  step &quot;Raise knees&quot; 1.2s settle:
-    hips: flex 90
-    knees: flex 90
-    shoulders: flex 175
-    elbows: flex 5
-    elbows: pronate 80
-    grip: hand_left bar
-    grip: hand_right bar
-    cue &quot;Draw both knees up toward the chest&quot;
-
-  step &quot;Lower&quot; 1.4s drive:
-    hips: flex 0
-    knees: flex 0
-    shoulders: flex 175
-    elbows: flex 5
-    elbows: pronate 80
-    grip: hand_left bar
-    grip: hand_right bar
-    cue &quot;Lower the legs under control, staying in a steady hang&quot;
-
-  step &quot;Release&quot; 0.8s drive:
-    shoulders: flex 0
-    elbows: flex 0
-    elbows: pronate 0
-    fingers: flex 0
-    ground-lock: feet
-    cue &quot;Drop off the bar and rest&quot;
-
-  repeat 8
-</code></pre>
-
-      <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/heel-raises.html b/playground/public/moves/heel-raises.html
index dabeba1..38c8942 100644
--- a/playground/public/moves/heel-raises.html
+++ b/playground/public/moves/heel-raises.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Heel raises: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Heel raises: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the heel raises (physiotherapy): 2 phases targeting the calves, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Heel raises is a beginner-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/heel-raises.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Heel raises: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the heel raises (physiotherapy): 2 phases targeting the calves, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Heel raises: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Heel raises is a beginner-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/heel-raises.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Heel raises","description":"How to do the heel raises (physiotherapy): 2 phases targeting the calves, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Rise","text":"Press through the balls of the feet and lift the heels"},{"@type":"HowToStep","name":"Lower","text":"Lower the heels under control"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Heel raises: a Posecode movement example","description":"Heel raises is a beginner-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,25 +125,28 @@ <h1>Heel raises</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 12</p>
       <p>Heel raises is a beginner-level physiotherapy movement targeting the
         calves, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/heel-raises">▶ Open Heel raises in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Rise<span class="step-dur">1.3s · settle</span></span>
           <span class="step-cue">Press through the balls of the feet and lift the heels</span>
         </li>
 <li>
-          <span class="step-name">Lower<span class="step-dur">1.5s · drive</span></span>
+          <span class="step-name">Lower<span class="step-dur">1.5s · settle</span></span>
           <span class="step-cue">Lower the heels under control</span>
         </li>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Heel raises&quot;
   rig humanoid
@@ -154,7 +157,7 @@ <h2>The .posecode source</h2>
     ground-lock: feet
     cue &quot;Press through the balls of the feet and lift the heels&quot;
 
-  step &quot;Lower&quot; 1.5s drive:
+  step &quot;Lower&quot; 1.5s settle:
     ankles: plantarflex 0
     ground-lock: feet
     cue &quot;Lower the heels under control&quot;
@@ -163,8 +166,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More physiotherapy movements</h2>
-         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/shoulder.html">Shoulder flexion (ROM)</a><a href="/moves/neck.html">Neck rotation</a><a href="/moves/cross-body-reach.html">Cross-body reach</a></div>
-    
+         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/neck.html">Neck rotation</a><a href="/moves/dead-bug.html">Dead bug</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/high-knee-march.html b/playground/public/moves/high-knee-march.html
index bfa3991..e2ff413 100644
--- a/playground/public/moves/high-knee-march.html
+++ b/playground/public/moves/high-knee-march.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>High-knee march: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>High-knee march: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the high-knee march (warm-up): 3 phases targeting the hip flexors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="High-knee march is a beginner-level warm-up Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/high-knee-march.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="High-knee march: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the high-knee march (warm-up): 3 phases targeting the hip flexors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="High-knee march: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="High-knee march is a beginner-level warm-up Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/high-knee-march.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a High-knee march","description":"How to do the high-knee march (warm-up): 3 phases targeting the hip flexors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Right knee up","text":"Drive the right knee up to hip height, opposite arm swings"},{"@type":"HowToStep","name":"Switch","text":"Plant and drive the left knee up"},{"@type":"HowToStep","name":"Down","text":"Return to a tall, ready stance"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"High-knee march: a Posecode movement example","description":"High-knee march is a beginner-level warm-up Posecode example with 3 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>High-knee march</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 6</p>
       <p>High-knee march is a beginner-level warm-up movement targeting the
         hip flexors, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/high-knee-march">▶ Open High-knee march in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Right knee up<span class="step-dur">0.7s · flow</span></span>
@@ -147,7 +150,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;High-knee march&quot;
   rig humanoid
@@ -181,8 +184,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More warm-up movements</h2>
-         <div class="chip-list"><a href="/moves/jumping-jacks.html">Jumping jacks</a><a href="/moves/box-step-taps.html">Box step taps</a><a href="/moves/arm-circles.html">Arm circles</a></div>
-    
+         <div class="chip-list"><a href="/moves/jumping-jacks.html">Jumping jacks</a><a href="/moves/box-step-taps.html">Box step taps</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/hip-abduction.html b/playground/public/moves/hip-abduction.html
index 683a232..1e092e3 100644
--- a/playground/public/moves/hip-abduction.html
+++ b/playground/public/moves/hip-abduction.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Standing hip abduction: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Standing hip abduction: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the standing hip abduction (physiotherapy): 2 phases targeting the glutes, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Standing hip abduction is a beginner-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/hip-abduction.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Standing hip abduction: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the standing hip abduction (physiotherapy): 2 phases targeting the glutes, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Standing hip abduction: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Standing hip abduction is a beginner-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/hip-abduction.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Standing hip abduction","description":"How to do the standing hip abduction (physiotherapy): 2 phases targeting the glutes, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Lift","text":"Lift the right leg out to the side, keep the torso tall"},{"@type":"HowToStep","name":"Lower","text":"Lower the leg back to the midline"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Standing hip abduction: a Posecode movement example","description":"Standing hip abduction is a beginner-level physiotherapy Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Standing hip abduction</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 10</p>
       <p>Standing hip abduction is a beginner-level physiotherapy movement targeting the
         glutes, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/hip-abduction">▶ Open Standing hip abduction in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Lift<span class="step-dur">1.6s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Standing hip abduction&quot;
   rig humanoid
@@ -163,8 +166,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More physiotherapy movements</h2>
-         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/shoulder.html">Shoulder flexion (ROM)</a><a href="/moves/neck.html">Neck rotation</a><a href="/moves/cross-body-reach.html">Cross-body reach</a></div>
-    
+         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/neck.html">Neck rotation</a><a href="/moves/dead-bug.html">Dead bug</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/hip-flexion.html b/playground/public/moves/hip-flexion.html
index 98e3b4c..1eefc73 100644
--- a/playground/public/moves/hip-flexion.html
+++ b/playground/public/moves/hip-flexion.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Hip flexion: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Hip flexion: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the hip flexion (education): 2 phases targeting the hip flexors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Hip flexion is a beginner-level education Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/hip-flexion.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Hip flexion: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the hip flexion (education): 2 phases targeting the hip flexors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Hip flexion: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Hip flexion is a beginner-level education Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/hip-flexion.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Hip flexion","description":"How to do the hip flexion (education): 2 phases targeting the hip flexors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Lift","text":"Raise the straight right leg forward: sagittal-plane hip flexion"},{"@type":"HowToStep","name":"Lower","text":"Lower the leg back under the hip"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Hip flexion: a Posecode movement example","description":"Hip flexion is a beginner-level education Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Hip flexion</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
       <p>Hip flexion is a beginner-level education movement targeting the
         hip flexors, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/hip-flexion">▶ Open Hip flexion in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Lift<span class="step-dur">2.5s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Hip flexion (ROM demo)&quot;
   rig humanoid
@@ -163,8 +166,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More education movements</h2>
-         <div class="chip-list"><a href="/moves/shoulder-abduction.html">Shoulder abduction (ROM)</a><a href="/moves/knee-flexion.html">Knee flexion (ROM)</a><a href="/moves/spine-rotation.html">Spine rotation (ROM)</a><a href="/moves/elbow-forearm.html">Elbow flexion &amp; forearm rotation</a></div>
-    
+         <div class="chip-list"><a href="/moves/spine-rotation.html">Spine rotation (ROM)</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/horse-stance.html b/playground/public/moves/horse-stance.html
index f293e90..7159761 100644
--- a/playground/public/moves/horse-stance.html
+++ b/playground/public/moves/horse-stance.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Horse stance: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Horse stance: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the horse stance (martial arts): 2 phases targeting the quadriceps, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Horse stance is an intermediate-level martial arts Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/horse-stance.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Horse stance: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the horse stance (martial arts): 2 phases targeting the quadriceps, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Horse stance: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Horse stance is an intermediate-level martial arts Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/horse-stance.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Horse stance","description":"How to do the horse stance (martial arts): 2 phases targeting the quadriceps, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Sink","text":"Sink into a wide, low stance: thighs working, back tall, guard up"},{"@type":"HowToStep","name":"Rise","text":"Press the floor away and stand tall"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Horse stance: a Posecode movement example","description":"Horse stance is an intermediate-level martial arts Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,14 +123,17 @@
       <h1>Horse stance</h1>
       <p class="meta-line"><b>Target</b> Quadriceps &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 4</p>
-      <p>Horse stance is a intermediate-level martial arts movement targeting the
+      <p>Horse stance is an intermediate-level martial arts movement targeting the
         quadriceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/horse-stance">▶ Open Horse stance in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Sink<span class="step-dur">2s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode posture &quot;Horse stance&quot;
   rig humanoid
@@ -176,7 +179,6 @@ <h2>The .posecode source</h2>
 
       <h2>More martial arts movements</h2>
          <div class="chip-list"><a href="/moves/front-kick.html">Front kick</a><a href="/moves/jab-cross.html">Jab-cross</a><a href="/moves/bow.html">Standing bow (hinge)</a></div>
-    
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/index.html b/playground/public/moves/index.html
index 0a53304..2815237 100644
--- a/playground/public/moves/index.html
+++ b/playground/public/moves/index.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Movement Library: 70+ Animated 3D Exercises, Stretches &amp; Dance | Posecode</title>
+    <title>48 Launch-Ready Posecode Movement Examples | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="Browse every Posecode example movement: fitness, physiotherapy, yoga, dance, martial arts, and sign language, each with an animated 3D guide and the .posecode source an LLM wrote." />
+    <meta name="description" content="Browse 48 launch-ready Posecode movement examples across fitness, physiotherapy, yoga, dance, and martial arts, each with inspectable source and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Movement Library: 70+ Animated 3D Exercises, Stretches &amp; Dance | Posecode" />
-    <meta property="og:description" content="Browse every Posecode example movement: fitness, physiotherapy, yoga, dance, martial arts, and sign language, each with an animated 3D guide and the .posecode source an LLM wrote." />
+    <meta property="og:title" content="48 Launch-Ready Posecode Movement Examples | Posecode" />
+    <meta property="og:description" content="Browse 48 launch-ready Posecode movement examples across fitness, physiotherapy, yoga, dance, and martial arts, each with inspectable source and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/" />
     <meta property="og:site_name" content="Posecode" />
@@ -120,11 +120,11 @@
     <main class="wrap">
       
       <p class="eyebrow">Movement library</p>
-      <h1>72 movements, written as text</h1>
-      <p>Every example in the Posecode library, grouped by practice. Each page shows the phases,
-        coaching cues, and the exact <code>.posecode</code> source, plus a live 3D playback.
-        Prefer to search and filter interactively? Use the
-        <a href="/play">playground's movement library</a> instead.</p>
+      <h1>48 launch-ready movements, written as text</h1>
+      <p>Launch-ready examples grouped by practice. Each page shows the phases, cues, and exact
+        <code>.posecode</code> source, with a link that opens live 3D playback. Experimental
+        previews are deliberately excluded from these static pages; opt into them from the
+        <a href="/play">playground's movement library</a>.</p>
       
       <div class="domain-group">
         <h2>Fitness</h2>
@@ -141,26 +141,14 @@ <h2>Fitness</h2>
                 <span class="mc-name">Plank hold</span>
                 <span class="mc-meta">Abdominals · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/mountain-climber.html">
-                <span class="mc-name">Mountain climber</span>
-                <span class="mc-meta">Abdominals · Body weight · Intermediate</span>
-              </a>
 <a class="move-card" href="/moves/crunch.html">
                 <span class="mc-name">Crunch</span>
                 <span class="mc-meta">Abdominals · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/bicycle-crunch.html">
-                <span class="mc-name">Bicycle crunch</span>
-                <span class="mc-meta">Obliques · Body weight · Intermediate</span>
-              </a>
 <a class="move-card" href="/moves/supine-leg-raise.html">
                 <span class="mc-name">Lying leg raise</span>
                 <span class="mc-meta">Abdominals · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/superman.html">
-                <span class="mc-name">Superman</span>
-                <span class="mc-meta">Spinal erectors · Body weight · Beginner</span>
-              </a>
 <a class="move-card" href="/moves/forward-lunge.html">
                 <span class="mc-name">Forward lunge</span>
                 <span class="mc-meta">Quadriceps · Body weight · Intermediate</span>
@@ -169,22 +157,10 @@ <h2>Fitness</h2>
                 <span class="mc-name">Single-leg calf raise</span>
                 <span class="mc-meta">Calves · Body weight · Intermediate</span>
               </a>
-<a class="move-card" href="/moves/pull-up.html">
-                <span class="mc-name">Pull-up</span>
-                <span class="mc-meta">Lats · Bar · Advanced</span>
-              </a>
-<a class="move-card" href="/moves/triceps-dips.html">
-                <span class="mc-name">Triceps dips (bars)</span>
-                <span class="mc-meta">Triceps · Bars · Intermediate</span>
-              </a>
 <a class="move-card" href="/moves/bent-over-row.html">
                 <span class="mc-name">Bent-over row (hinge)</span>
                 <span class="mc-meta">Lats · Body weight · Intermediate</span>
               </a>
-<a class="move-card" href="/moves/biceps.html">
-                <span class="mc-name">Biceps curl</span>
-                <span class="mc-meta">Biceps · Body weight · Beginner</span>
-              </a>
 <a class="move-card" href="/moves/lateral.html">
                 <span class="mc-name">Lateral raise</span>
                 <span class="mc-meta">Deltoids · Body weight · Beginner</span>
@@ -197,85 +173,15 @@ <h2>Fitness</h2>
                 <span class="mc-name">Wall sit (wall)</span>
                 <span class="mc-meta">Quadriceps · Wall · Beginner</span>
               </a>
-<a class="move-card" href="/moves/dead-hang.html">
-                <span class="mc-name">Dead hang (bar)</span>
-                <span class="mc-meta">Lats · Bar · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/hanging-knee-raise.html">
-                <span class="mc-name">Hanging knee raise (bar)</span>
-                <span class="mc-meta">Abdominals · Bar · Intermediate</span>
-              </a>
         </div>
       </div>
 
       <div class="domain-group">
-        <h2>Dance</h2>
+        <h2>Performance</h2>
         <div class="move-grid">
-          <a class="move-card" href="/moves/dance-phrase.html">
-                <span class="mc-name">Dance phrase (8-count)</span>
-                <span class="mc-meta">Full body · Body weight · Intermediate</span>
-              </a>
-<a class="move-card" href="/moves/demi-plie.html">
-                <span class="mc-name">Demi-plié</span>
-                <span class="mc-meta">Quadriceps · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/releve.html">
-                <span class="mc-name">Relevé</span>
-                <span class="mc-meta">Calves · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/tendu.html">
-                <span class="mc-name">Tendu</span>
-                <span class="mc-meta">Hip flexors · Body weight · Intermediate</span>
-              </a>
-<a class="move-card" href="/moves/port-de-bras.html">
-                <span class="mc-name">Port de bras</span>
-                <span class="mc-meta">Deltoids · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/pirouette.html">
-                <span class="mc-name">Pirouette (full turn)</span>
-                <span class="mc-meta">Full body · Body weight · Intermediate</span>
-              </a>
-<a class="move-card" href="/moves/box-step.html">
-                <span class="mc-name">Box step (travels)</span>
-                <span class="mc-meta">Full body · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/grapevine.html">
-                <span class="mc-name">Grapevine (travels)</span>
-                <span class="mc-meta">Full body · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/waltz-box.html">
-                <span class="mc-name">Waltz box step</span>
-                <span class="mc-meta">Full body · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/chasse.html">
-                <span class="mc-name">Chassé (travels)</span>
-                <span class="mc-meta">Full body · Body weight · Intermediate</span>
-              </a>
-        </div>
-      </div>
-
-      <div class="domain-group">
-        <h2>Education</h2>
-        <div class="move-grid">
-          <a class="move-card" href="/moves/shoulder-abduction.html">
-                <span class="mc-name">Shoulder abduction (ROM)</span>
-                <span class="mc-meta">Deltoids · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/hip-flexion.html">
-                <span class="mc-name">Hip flexion (ROM)</span>
-                <span class="mc-meta">Hip flexors · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/knee-flexion.html">
-                <span class="mc-name">Knee flexion (ROM)</span>
-                <span class="mc-meta">Hamstrings · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/spine-rotation.html">
-                <span class="mc-name">Spine rotation (ROM)</span>
-                <span class="mc-meta">Obliques · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/elbow-forearm.html">
-                <span class="mc-name">Elbow flexion &amp; forearm rotation</span>
-                <span class="mc-meta">Biceps · Body weight · Beginner</span>
+          <a class="move-card" href="/moves/superhero-landing.html">
+                <span class="mc-name">Superhero three-point landing</span>
+                <span class="mc-meta">Full body · Body weight · Advanced</span>
               </a>
         </div>
       </div>
@@ -321,22 +227,10 @@ <h2>Physiotherapy</h2>
                 <span class="mc-name">Standing hip abduction</span>
                 <span class="mc-meta">Glutes · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/shoulder.html">
-                <span class="mc-name">Shoulder flexion (ROM)</span>
-                <span class="mc-meta">Deltoids · Body weight · Beginner</span>
-              </a>
 <a class="move-card" href="/moves/neck.html">
                 <span class="mc-name">Neck rotation</span>
                 <span class="mc-meta">Neck · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/cross-body-reach.html">
-                <span class="mc-name">Cross-body reach</span>
-                <span class="mc-meta">Obliques · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/glute-bridge.html">
-                <span class="mc-name">Glute bridge</span>
-                <span class="mc-meta">Glutes · Body weight · Beginner</span>
-              </a>
 <a class="move-card" href="/moves/dead-bug.html">
                 <span class="mc-name">Dead bug</span>
                 <span class="mc-meta">Abdominals · Body weight · Beginner</span>
@@ -359,18 +253,10 @@ <h2>Desk &amp; posture</h2>
                 <span class="mc-name">Standing spinal twist</span>
                 <span class="mc-meta">Obliques · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/shoulder-rolls.html">
-                <span class="mc-name">Shoulder rolls</span>
-                <span class="mc-meta">Trapezius · Body weight · Beginner</span>
-              </a>
 <a class="move-card" href="/moves/neck-side-stretch.html">
                 <span class="mc-name">Neck side stretch</span>
                 <span class="mc-meta">Neck · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/overhead-reach.html">
-                <span class="mc-name">Overhead reach reset</span>
-                <span class="mc-meta">Deltoids · Body weight · Beginner</span>
-              </a>
         </div>
       </div>
 
@@ -385,10 +271,6 @@ <h2>Warm-up</h2>
                 <span class="mc-name">Box step taps</span>
                 <span class="mc-meta">Hip flexors · Box · Beginner</span>
               </a>
-<a class="move-card" href="/moves/arm-circles.html">
-                <span class="mc-name">Arm circles</span>
-                <span class="mc-meta">Deltoids · Body weight · Beginner</span>
-              </a>
 <a class="move-card" href="/moves/high-knee-march.html">
                 <span class="mc-name">High-knee march</span>
                 <span class="mc-meta">Hip flexors · Body weight · Beginner</span>
@@ -421,59 +303,75 @@ <h2>Mobility</h2>
                 <span class="mc-name">Standing roll-down</span>
                 <span class="mc-meta">Spinal erectors · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/touch-toes.html">
-                <span class="mc-name">Touch your toes</span>
-                <span class="mc-meta">Hamstrings · Body weight · Beginner</span>
-              </a>
         </div>
       </div>
 
       <div class="domain-group">
-        <h2>Yoga</h2>
+        <h2>Education</h2>
         <div class="move-grid">
-          <a class="move-card" href="/moves/chair.html">
-                <span class="mc-name">Chair pose</span>
-                <span class="mc-meta">Quadriceps · Body weight · Intermediate</span>
+          <a class="move-card" href="/moves/hip-flexion.html">
+                <span class="mc-name">Hip flexion (ROM)</span>
+                <span class="mc-meta">Hip flexors · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/sidebend.html">
-                <span class="mc-name">Standing side bend</span>
+<a class="move-card" href="/moves/spine-rotation.html">
+                <span class="mc-name">Spine rotation (ROM)</span>
                 <span class="mc-meta">Obliques · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/cobra.html">
-                <span class="mc-name">Cobra</span>
-                <span class="mc-meta">Spinal erectors · Body weight · Beginner</span>
-              </a>
-<a class="move-card" href="/moves/seated-forward-fold.html">
-                <span class="mc-name">Seated forward fold</span>
-                <span class="mc-meta">Hamstrings · Body weight · Beginner</span>
-              </a>
         </div>
       </div>
 
       <div class="domain-group">
-        <h2>Hand therapy</h2>
+        <h2>Dance</h2>
         <div class="move-grid">
-          <a class="move-card" href="/moves/make-a-fist.html">
-                <span class="mc-name">Make a fist</span>
-                <span class="mc-meta">Forearms · Body weight · Beginner</span>
+          <a class="move-card" href="/moves/demi-plie.html">
+                <span class="mc-name">Demi-plié</span>
+                <span class="mc-meta">Quadriceps · Body weight · Beginner</span>
+              </a>
+<a class="move-card" href="/moves/releve.html">
+                <span class="mc-name">Relevé</span>
+                <span class="mc-meta">Calves · Body weight · Beginner</span>
+              </a>
+<a class="move-card" href="/moves/tendu.html">
+                <span class="mc-name">Tendu</span>
+                <span class="mc-meta">Hip flexors · Body weight · Intermediate</span>
               </a>
-<a class="move-card" href="/moves/pinch-grip.html">
-                <span class="mc-name">Pinch grip</span>
-                <span class="mc-meta">Forearms · Body weight · Beginner</span>
+<a class="move-card" href="/moves/pirouette.html">
+                <span class="mc-name">Pirouette (full turn)</span>
+                <span class="mc-meta">Full body · Body weight · Intermediate</span>
+              </a>
+<a class="move-card" href="/moves/box-step.html">
+                <span class="mc-name">Box step (travels)</span>
+                <span class="mc-meta">Full body · Body weight · Beginner</span>
+              </a>
+<a class="move-card" href="/moves/grapevine.html">
+                <span class="mc-name">Grapevine (travels)</span>
+                <span class="mc-meta">Full body · Body weight · Beginner</span>
+              </a>
+<a class="move-card" href="/moves/waltz-box.html">
+                <span class="mc-name">Waltz box step</span>
+                <span class="mc-meta">Full body · Body weight · Beginner</span>
+              </a>
+<a class="move-card" href="/moves/chasse.html">
+                <span class="mc-name">Chassé (travels)</span>
+                <span class="mc-meta">Full body · Body weight · Intermediate</span>
               </a>
         </div>
       </div>
 
       <div class="domain-group">
-        <h2>Sign language</h2>
+        <h2>Yoga</h2>
         <div class="move-grid">
-          <a class="move-card" href="/moves/finger-spell.html">
-                <span class="mc-name">Finger-spelling (approx.)</span>
-                <span class="mc-meta">Forearms · Body weight · Beginner</span>
+          <a class="move-card" href="/moves/chair.html">
+                <span class="mc-name">Chair pose</span>
+                <span class="mc-meta">Quadriceps · Body weight · Intermediate</span>
+              </a>
+<a class="move-card" href="/moves/sidebend.html">
+                <span class="mc-name">Standing side bend</span>
+                <span class="mc-meta">Obliques · Body weight · Beginner</span>
               </a>
-<a class="move-card" href="/moves/hand-wave.html">
-                <span class="mc-name">Hand wave</span>
-                <span class="mc-meta">Forearms · Body weight · Beginner</span>
+<a class="move-card" href="/moves/seated-forward-fold.html">
+                <span class="mc-name">Seated forward fold</span>
+                <span class="mc-meta">Hamstrings · Body weight · Beginner</span>
               </a>
         </div>
       </div>
diff --git a/playground/public/moves/jab-cross.html b/playground/public/moves/jab-cross.html
index cbae24e..9bd318a 100644
--- a/playground/public/moves/jab-cross.html
+++ b/playground/public/moves/jab-cross.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Jab-cross: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Jab-cross: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the jab-cross (martial arts): 4 phases targeting the shoulders, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Jab-cross is an intermediate-level martial arts Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/jab-cross.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Jab-cross: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the jab-cross (martial arts): 4 phases targeting the shoulders, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Jab-cross: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Jab-cross is an intermediate-level martial arts Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/jab-cross.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Jab-cross","description":"How to do the jab-cross (martial arts): 4 phases targeting the shoulders, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Jab","text":"Snap the lead (left) hand straight out, rotating slightly into it"},{"@type":"HowToStep","name":"Recoil jab","text":"Bring the hand back to guard"},{"@type":"HowToStep","name":"Cross","text":"Drive the rear (right) hand across, rotating the trunk"},{"@type":"HowToStep","name":"Recoil cross","text":"Return to guard, hands high"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Jab-cross: a Posecode movement example","description":"Jab-cross is an intermediate-level martial arts Posecode example with 4 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,14 +123,17 @@
       <h1>Jab-cross</h1>
       <p class="meta-line"><b>Target</b> Shoulders &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 4</p>
-      <p>Jab-cross is a intermediate-level martial arts movement targeting the
+      <p>Jab-cross is an intermediate-level martial arts movement targeting the
         shoulders, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/jab-cross">▶ Open Jab-cross in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Jab<span class="step-dur">0.4s · settle</span></span>
@@ -151,7 +154,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Jab-cross&quot;
   rig humanoid
@@ -161,7 +164,7 @@ <h2>The .posecode source</h2>
     shoulder_left: flex 85
     elbow_left: flex 15
     elbow_left: pronate 80
-    spine: rotate-out 10
+    spine: twist-right 10
     fingers: flex 80
     ground-lock: feet
     cue &quot;Snap the lead (left) hand straight out, rotating slightly into it&quot;
@@ -170,7 +173,7 @@ <h2>The .posecode source</h2>
     shoulder_left: flex 0
     elbow_left: flex 90
     elbow_left: pronate 0
-    spine: rotate-out 0
+    spine: twist-right 0
     fingers: flex 80
     ground-lock: feet
     cue &quot;Bring the hand back to guard&quot;
@@ -179,7 +182,7 @@ <h2>The .posecode source</h2>
     shoulder_right: flex 90
     elbow_right: flex 10
     elbow_right: pronate 80
-    spine: rotate-in 35
+    spine: twist-left 35
     fingers: flex 80
     ground-lock: feet
     cue &quot;Drive the rear (right) hand across, rotating the trunk&quot;
@@ -188,7 +191,7 @@ <h2>The .posecode source</h2>
     shoulder_right: flex 0
     elbow_right: flex 90
     elbow_right: pronate 0
-    spine: rotate-in 0
+    spine: twist-left 0
     fingers: flex 80
     ground-lock: feet
     cue &quot;Return to guard, hands high&quot;
@@ -198,7 +201,6 @@ <h2>The .posecode source</h2>
 
       <h2>More martial arts movements</h2>
          <div class="chip-list"><a href="/moves/front-kick.html">Front kick</a><a href="/moves/horse-stance.html">Horse stance</a><a href="/moves/bow.html">Standing bow (hinge)</a></div>
-    
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/jumping-jacks.html b/playground/public/moves/jumping-jacks.html
index 1aa87c9..4267497 100644
--- a/playground/public/moves/jumping-jacks.html
+++ b/playground/public/moves/jumping-jacks.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Jumping jacks: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Jumping jacks: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the jumping jacks (warm-up): 2 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Jumping jacks is a beginner-level warm-up Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/jumping-jacks.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Jumping jacks: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the jumping jacks (warm-up): 2 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Jumping jacks: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Jumping jacks is a beginner-level warm-up Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/jumping-jacks.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Jumping jacks","description":"How to do the jumping jacks (warm-up): 2 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Out","text":"Arms sweep overhead as the feet jump wide"},{"@type":"HowToStep","name":"In","text":"Arms down, feet back together"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Jumping jacks: a Posecode movement example","description":"Jumping jacks is a beginner-level warm-up Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Jumping jacks</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 12</p>
       <p>Jumping jacks is a beginner-level warm-up movement targeting the
         full body, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/jumping-jacks">▶ Open Jumping jacks in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Out<span class="step-dur">0.5s · settle</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Jumping jacks&quot;
   rig humanoid
@@ -166,8 +169,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More warm-up movements</h2>
-         <div class="chip-list"><a href="/moves/box-step-taps.html">Box step taps</a><a href="/moves/arm-circles.html">Arm circles</a><a href="/moves/high-knee-march.html">High-knee march</a></div>
-    
+         <div class="chip-list"><a href="/moves/box-step-taps.html">Box step taps</a><a href="/moves/high-knee-march.html">High-knee march</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/knee-flexion.html b/playground/public/moves/knee-flexion.html
deleted file mode 100644
index 6b347bd..0000000
--- a/playground/public/moves/knee-flexion.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Knee flexion: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the knee flexion (education): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/knee-flexion.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Knee flexion: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the knee flexion (education): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/knee-flexion.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
-      rel="stylesheet"
-    />
-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
---text:#e9eef4;--text-2:#9aa6b4;--muted:#616d7c;--accent:#c6f24a;--accent-2:#a9e02f;
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Knee flexion","description":"How to do the knee flexion (education): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Flex","text":"Bend the right knee, heel toward the glutes: the knee's single plane"},{"@type":"HowToStep","name":"Extend","text":"Lower the shin back to standing"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
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-    <header class="site-nav">
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-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
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-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
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-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Education · Upper legs</p>
-      <h1>Knee flexion</h1>
-      <p class="meta-line"><b>Target</b> Hamstrings &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
-      <p>Knee flexion is a beginner-level education movement targeting the
-        hamstrings, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/knee-flexion">▶ Open Knee flexion in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Flex<span class="step-dur">2.5s · flow</span></span>
-          <span class="step-cue">Bend the right knee, heel toward the glutes: the knee's single plane</span>
-        </li>
-<li>
-          <span class="step-name">Extend<span class="step-dur">2.5s · settle</span></span>
-          <span class="step-cue">Lower the shin back to standing</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode stretch &quot;Knee flexion (ROM demo)&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Flex&quot; 2.5s flow:
-    knee_right: flex 130
-    pin: foot_left floor
-    cue &quot;Bend the right knee, heel toward the glutes: the knee's single plane&quot;
-
-  step &quot;Extend&quot; 2.5s settle:
-    knee_right: flex 0
-    pin: foot_left floor
-    cue &quot;Lower the shin back to standing&quot;
-
-  repeat 4
-</code></pre>
-
-      <h2>More education movements</h2>
-         <div class="chip-list"><a href="/moves/shoulder-abduction.html">Shoulder abduction (ROM)</a><a href="/moves/hip-flexion.html">Hip flexion (ROM)</a><a href="/moves/spine-rotation.html">Spine rotation (ROM)</a><a href="/moves/elbow-forearm.html">Elbow flexion &amp; forearm rotation</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/lateral.html b/playground/public/moves/lateral.html
index 23cc89b..d59724d 100644
--- a/playground/public/moves/lateral.html
+++ b/playground/public/moves/lateral.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Lateral raise: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Lateral raise: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the lateral raise (fitness): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Lateral raise is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/lateral.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Lateral raise: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the lateral raise (fitness): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Lateral raise: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Lateral raise is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/lateral.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Lateral raise","description":"How to do the lateral raise (fitness): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Raise","text":"Lift out to shoulder height, soft elbows"},{"@type":"HowToStep","name":"Lower","text":"Lower slowly, resist on the way down"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Lateral raise: a Posecode movement example","description":"Lateral raise is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,25 +125,28 @@ <h1>Lateral raise</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 8</p>
       <p>Lateral raise is a beginner-level fitness movement targeting the
         deltoids, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/lateral">▶ Open Lateral raise in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Raise<span class="step-dur">1.4s · settle</span></span>
           <span class="step-cue">Lift out to shoulder height, soft elbows</span>
         </li>
 <li>
-          <span class="step-name">Lower<span class="step-dur">1.6s · drive</span></span>
+          <span class="step-name">Lower<span class="step-dur">1.6s · settle</span></span>
           <span class="step-cue">Lower slowly, resist on the way down</span>
         </li>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Lateral raise&quot;
   rig humanoid
@@ -154,7 +157,7 @@ <h2>The .posecode source</h2>
     elbows: flex 10
     cue &quot;Lift out to shoulder height, soft elbows&quot;
 
-  step &quot;Lower&quot; 1.6s drive:
+  step &quot;Lower&quot; 1.6s settle:
     shoulders: abduct 0
     elbows: flex 0
     cue &quot;Lower slowly, resist on the way down&quot;
@@ -163,8 +166,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
+         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a><a href="/moves/forward-lunge.html">Forward lunge</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/make-a-fist.html b/playground/public/moves/make-a-fist.html
deleted file mode 100644
index 2fbd829..0000000
--- a/playground/public/moves/make-a-fist.html
+++ /dev/null
@@ -1,179 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Make a fist: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the make a fist (hand therapy): 2 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/make-a-fist.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Make a fist: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the make a fist (hand therapy): 2 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/make-a-fist.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
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-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
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-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Make a fist","description":"How to do the make a fist (hand therapy): 2 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Close","text":"Curl the fingers and thumb in to make a closed fist"},{"@type":"HowToStep","name":"Open","text":"Spread the fingers wide open"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
-          <a href="https://github.com/posecode-dev/posecode" target="_blank" rel="noopener">GitHub</a>
-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Hand therapy · Hands</p>
-      <h1>Make a fist</h1>
-      <p class="meta-line"><b>Target</b> Forearms &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 6</p>
-      <p>Make a fist is a beginner-level hand therapy movement targeting the
-        forearms, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/make-a-fist">▶ Open Make a fist in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Close<span class="step-dur">1.2s · settle</span></span>
-          <span class="step-cue">Curl the fingers and thumb in to make a closed fist</span>
-        </li>
-<li>
-          <span class="step-name">Open<span class="step-dur">1.2s · drive</span></span>
-          <span class="step-cue">Spread the fingers wide open</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode posture &quot;Make a fist&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Close&quot; 1.2s settle:
-    fingers: flex 80
-    cue &quot;Curl the fingers and thumb in to make a closed fist&quot;
-
-  step &quot;Open&quot; 1.2s drive:
-    fingers: flex 0
-    cue &quot;Spread the fingers wide open&quot;
-
-  repeat 6
-</code></pre>
-
-      <h2>More hand therapy movements</h2>
-         <div class="chip-list"><a href="/moves/pinch-grip.html">Pinch grip</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/mountain-climber.html b/playground/public/moves/mountain-climber.html
deleted file mode 100644
index e0cdc38..0000000
--- a/playground/public/moves/mountain-climber.html
+++ /dev/null
@@ -1,200 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Mountain climber: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the mountain climber (fitness): 3 phases targeting the abdominals, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/mountain-climber.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Mountain climber: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the mountain climber (fitness): 3 phases targeting the abdominals, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/mountain-climber.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
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-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
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-    <style>
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Mountain climber","description":"How to do the mountain climber (fitness): 3 phases targeting the abdominals, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Right knee in","text":"Drive the right knee toward the chest"},{"@type":"HowToStep","name":"Switch","text":"Switch fast: left knee drives in"},{"@type":"HowToStep","name":"Out","text":"Return to a strong plank"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
-          <a href="https://github.com/posecode-dev/posecode" target="_blank" rel="noopener">GitHub</a>
-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Fitness · Core</p>
-      <h1>Mountain climber</h1>
-      <p class="meta-line"><b>Target</b> Abdominals &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 8</p>
-      <p>Mountain climber is a intermediate-level fitness movement targeting the
-        abdominals, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/mountain-climber">▶ Open Mountain climber in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Right knee in<span class="step-dur">0.5s · settle</span></span>
-          <span class="step-cue">Drive the right knee toward the chest</span>
-        </li>
-<li>
-          <span class="step-name">Switch<span class="step-dur">0.5s · flow</span></span>
-          <span class="step-cue">Switch fast: left knee drives in</span>
-        </li>
-<li>
-          <span class="step-name">Out<span class="step-dur">0.5s · drive</span></span>
-          <span class="step-cue">Return to a strong plank</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Mountain climber&quot;
-  rig humanoid
-  pose start = plank
-
-  step &quot;Right knee in&quot; 0.5s settle:
-    hip_right: flex 60
-    knee_right: flex 75
-    elbows: pronate 80
-    pin: foot_left floor
-    pin: hands floor
-    cue &quot;Drive the right knee toward the chest&quot;
-
-  step &quot;Switch&quot; 0.5s flow:
-    hip_right: flex 0
-    knee_right: flex 0
-    hip_left: flex 60
-    knee_left: flex 75
-    elbows: pronate 80
-    pin: foot_right floor
-    pin: hands floor
-    cue &quot;Switch fast: left knee drives in&quot;
-
-  step &quot;Out&quot; 0.5s drive:
-    hip_left: flex 0
-    knee_left: flex 0
-    elbows: pronate 80
-    ground-lock: hands, feet
-    cue &quot;Return to a strong plank&quot;
-
-  repeat 8
-</code></pre>
-
-      <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/neck-side-stretch.html b/playground/public/moves/neck-side-stretch.html
index e544b7b..3767069 100644
--- a/playground/public/moves/neck-side-stretch.html
+++ b/playground/public/moves/neck-side-stretch.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Neck side stretch: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Neck side stretch: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the neck side stretch (desk &amp; posture): 3 phases targeting the neck, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Neck side stretch is a beginner-level desk &amp; posture Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/neck-side-stretch.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Neck side stretch: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the neck side stretch (desk &amp; posture): 3 phases targeting the neck, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Neck side stretch: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Neck side stretch is a beginner-level desk &amp; posture Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/neck-side-stretch.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Neck side stretch","description":"How to do the neck side stretch (desk & posture): 3 phases targeting the neck, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Ear to right","text":"Gently take the right ear toward the right shoulder"},{"@type":"HowToStep","name":"Ear to left","text":"Pass through center and lengthen to the left"},{"@type":"HowToStep","name":"Center","text":"Float the head back to neutral"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Neck side stretch: a Posecode movement example","description":"Neck side stretch is a beginner-level desk & posture Posecode example with 3 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Neck side stretch</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Neck side stretch is a beginner-level desk &amp; posture movement targeting the
         neck, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/neck-side-stretch">▶ Open Neck side stretch in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Ear to right<span class="step-dur">3s · flow</span></span>
@@ -147,7 +150,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Neck side stretch&quot;
   rig humanoid
@@ -172,8 +175,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More desk &amp; posture movements</h2>
-         <div class="chip-list"><a href="/moves/chest-opener.html">Chest opener</a><a href="/moves/posture.html">Desk posture reset</a><a href="/moves/twist.html">Standing spinal twist</a><a href="/moves/shoulder-rolls.html">Shoulder rolls</a><a href="/moves/overhead-reach.html">Overhead reach reset</a></div>
-    
+         <div class="chip-list"><a href="/moves/chest-opener.html">Chest opener</a><a href="/moves/posture.html">Desk posture reset</a><a href="/moves/twist.html">Standing spinal twist</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/neck.html b/playground/public/moves/neck.html
index d77b014..9bc2238 100644
--- a/playground/public/moves/neck.html
+++ b/playground/public/moves/neck.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Neck rotation: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Neck rotation: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the neck rotation (physiotherapy): 3 phases targeting the neck, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Neck rotation is a beginner-level physiotherapy Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/neck.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Neck rotation: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the neck rotation (physiotherapy): 3 phases targeting the neck, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Neck rotation: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Neck rotation is a beginner-level physiotherapy Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/neck.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Neck rotation","description":"How to do the neck rotation (physiotherapy): 3 phases targeting the neck, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Look right","text":"Turn slowly to look over the right shoulder"},{"@type":"HowToStep","name":"Look left","text":"Pass through center and turn to the left"},{"@type":"HowToStep","name":"Center","text":"Return the head to neutral"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Neck rotation: a Posecode movement example","description":"Neck rotation is a beginner-level physiotherapy Posecode example with 3 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Neck rotation</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
       <p>Neck rotation is a beginner-level physiotherapy movement targeting the
         neck, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/neck">▶ Open Neck rotation in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Look right<span class="step-dur">2s · flow</span></span>
@@ -147,24 +150,24 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Neck rotation&quot;
   rig humanoid
   pose start = standing
 
   step &quot;Look right&quot; 2s flow:
-    neck: rotate-out 60
+    neck: twist-right 60
     ground-lock: feet
     cue &quot;Turn slowly to look over the right shoulder&quot;
 
   step &quot;Look left&quot; 2.4s flow:
-    neck: rotate-in 60
+    neck: twist-left 60
     ground-lock: feet
     cue &quot;Pass through center and turn to the left&quot;
 
   step &quot;Center&quot; 1.6s settle:
-    neck: rotate-in 0
+    neck: twist-left 0
     ground-lock: feet
     cue &quot;Return the head to neutral&quot;
 
@@ -172,8 +175,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More physiotherapy movements</h2>
-         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/shoulder.html">Shoulder flexion (ROM)</a><a href="/moves/cross-body-reach.html">Cross-body reach</a></div>
-    
+         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/dead-bug.html">Dead bug</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/overhead-reach.html b/playground/public/moves/overhead-reach.html
deleted file mode 100644
index ef7fd48..0000000
--- a/playground/public/moves/overhead-reach.html
+++ /dev/null
@@ -1,185 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Overhead reach reset: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the overhead reach reset (desk &amp; posture): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/overhead-reach.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Overhead reach reset: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the overhead reach reset (desk &amp; posture): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/overhead-reach.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
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-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Overhead reach reset","description":"How to do the overhead reach reset (desk & posture): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Reach up","text":"Reach both arms tall overhead and lengthen the spine"},{"@type":"HowToStep","name":"Lower","text":"Float the arms down and stack tall"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
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-    <script defer src="/_vercel/insights/script.js"></script>
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-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
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-          <a href="/play">Playground</a>
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-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
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-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Desk &amp; posture · Shoulders</p>
-      <h1>Overhead reach reset</h1>
-      <p class="meta-line"><b>Target</b> Deltoids &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 5</p>
-      <p>Overhead reach reset is a beginner-level desk &amp; posture movement targeting the
-        deltoids, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/overhead-reach">▶ Open Overhead reach reset in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Reach up<span class="step-dur">2.5s · flow</span></span>
-          <span class="step-cue">Reach both arms tall overhead and lengthen the spine</span>
-        </li>
-<li>
-          <span class="step-name">Lower<span class="step-dur">2.5s · settle</span></span>
-          <span class="step-cue">Float the arms down and stack tall</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode stretch &quot;Overhead reach reset&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Reach up&quot; 2.5s flow:
-    shoulders: flex 175
-    spine: extend 10
-    neck: extend 15
-    ground-lock: feet
-    cue &quot;Reach both arms tall overhead and lengthen the spine&quot;
-
-  step &quot;Lower&quot; 2.5s settle:
-    shoulders: flex 0
-    spine: flex 0
-    neck: flex 0
-    ground-lock: feet
-    cue &quot;Float the arms down and stack tall&quot;
-
-  repeat 5
-</code></pre>
-
-      <h2>More desk &amp; posture movements</h2>
-         <div class="chip-list"><a href="/moves/chest-opener.html">Chest opener</a><a href="/moves/posture.html">Desk posture reset</a><a href="/moves/twist.html">Standing spinal twist</a><a href="/moves/shoulder-rolls.html">Shoulder rolls</a><a href="/moves/neck-side-stretch.html">Neck side stretch</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
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diff --git a/playground/public/moves/pinch-grip.html b/playground/public/moves/pinch-grip.html
deleted file mode 100644
index 7dea67e..0000000
--- a/playground/public/moves/pinch-grip.html
+++ /dev/null
@@ -1,183 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Pinch grip: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the pinch grip (hand therapy): 2 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/pinch-grip.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Pinch grip: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the pinch grip (hand therapy): 2 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
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-code{font-family:var(--mono);font-size:.92em;background:var(--panel-2);border:1px solid var(--border);
-padding:1px 6px;border-radius:5px;color:var(--text)}
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-background:var(--panel);border:1px solid var(--border-2);border-radius:var(--radius);
-padding:16px 18px;overflow:auto;margin:0 0 18px}
-pre.code-block code{background:none;border:none;padding:0;color:inherit}
-.table-wrap{overflow-x:auto;margin:0 0 18px}
-table{border-collapse:collapse;width:100%;font-size:13.5px}
-th,td{text-align:left;padding:8px 12px;border-bottom:1px solid var(--border)}
-th{color:var(--text);font-weight:700;background:var(--panel-2)}
-td{color:var(--text-2)}
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-.card{border:1px solid var(--border);border-radius:var(--radius);
-background:linear-gradient(180deg,var(--panel),transparent);padding:20px 22px;margin:0 0 16px}
-.btn{display:inline-flex;align-items:center;gap:8px;font-weight:700;font-size:14px;
-color:var(--accent-ink);background:linear-gradient(180deg,var(--accent),var(--accent-2));
-border-radius:8px;padding:11px 18px;text-decoration:none}
-.btn:hover{filter:brightness(1.06);text-decoration:none}
-.steps{list-style:none;padding:0;margin:0 0 22px;display:flex;flex-direction:column;gap:12px}
-.steps li{border:1px solid var(--border);border-radius:var(--radius);padding:16px 18px;
-background:var(--panel)}
-.steps .step-name{font-weight:700;color:var(--text);display:block;margin-bottom:4px}
-.steps .step-cue{color:var(--text-2);font-size:13.5px}
-.steps .step-dur{font-family:var(--mono);font-size:11px;color:var(--muted);margin-left:8px}
-.chip-list{display:flex;flex-wrap:wrap;gap:8px;margin:0 0 8px}
-.chip-list a{font-size:12.5px;font-weight:600;color:var(--text-2);background:var(--panel-2);
-border:1px solid var(--border-2);border-radius:999px;padding:5px 12px}
-.chip-list a:hover{color:var(--text);text-decoration:none;border-color:var(--accent-line)}
-.domain-group{margin-bottom:26px}
-.domain-group h2{margin-top:0}
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-padding:13px 15px;background:var(--panel)}
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-.move-card .mc-name{display:block;font-weight:700;color:var(--text);font-size:13.5px}
-.move-card .mc-meta{display:block;font-size:11.5px;color:var(--muted);margin-top:2px}
-footer.site-footer{border-top:1px solid var(--border);padding:26px 0 40px;margin-top:20px}
-footer.site-footer p{font-size:12.5px;color:var(--muted);margin:0 0 6px;max-width:70ch}
-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Pinch grip","description":"How to do the pinch grip (hand therapy): 2 phases targeting the forearms, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Pinch","text":"Bring the thumb and index fingertip together in a pinch"},{"@type":"HowToStep","name":"Release","text":"Open the hand and release"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
-          <a href="https://github.com/posecode-dev/posecode" target="_blank" rel="noopener">GitHub</a>
-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Hand therapy · Hands</p>
-      <h1>Pinch grip</h1>
-      <p class="meta-line"><b>Target</b> Forearms &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 6</p>
-      <p>Pinch grip is a beginner-level hand therapy movement targeting the
-        forearms, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/pinch-grip">▶ Open Pinch grip in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Pinch<span class="step-dur">1.2s · settle</span></span>
-          <span class="step-cue">Bring the thumb and index fingertip together in a pinch</span>
-        </li>
-<li>
-          <span class="step-name">Release<span class="step-dur">1.2s · drive</span></span>
-          <span class="step-cue">Open the hand and release</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode posture &quot;Pinch grip&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Pinch&quot; 1.2s settle:
-    thumb_right: flex 55
-    thumb_right: adduct 25
-    index_right: flex 60
-    cue &quot;Bring the thumb and index fingertip together in a pinch&quot;
-
-  step &quot;Release&quot; 1.2s drive:
-    thumb_right: flex 0
-    thumb_right: adduct 0
-    index_right: flex 0
-    cue &quot;Open the hand and release&quot;
-
-  repeat 6
-</code></pre>
-
-      <h2>More hand therapy movements</h2>
-         <div class="chip-list"><a href="/moves/make-a-fist.html">Make a fist</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/pirouette.html b/playground/public/moves/pirouette.html
index 9fe85bb..b4999b7 100644
--- a/playground/public/moves/pirouette.html
+++ b/playground/public/moves/pirouette.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Pirouette: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Pirouette: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the pirouette (dance): 4 phases targeting the full body, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Pirouette is an intermediate-level dance Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/pirouette.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Pirouette: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the pirouette (dance): 4 phases targeting the full body, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Pirouette: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Pirouette is an intermediate-level dance Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/pirouette.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Pirouette","description":"How to do the pirouette (dance): 4 phases targeting the full body, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Prep - plié","text":"Plié to load the turn, arms rounded low in first"},{"@type":"HowToStep","name":"Spot & spin","text":"Push up to relevé, pull the arms in, and spin a full turn"},{"@type":"HowToStep","name":"Land through plié","text":"Finish the turn and absorb the landing through a soft plié"},{"@type":"HowToStep","name":"Recover","text":"Lengthen to standing and let the arms float back to the sides"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Pirouette: a Posecode movement example","description":"Pirouette is an intermediate-level dance Posecode example with 4 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,14 +123,17 @@
       <h1>Pirouette</h1>
       <p class="meta-line"><b>Target</b> Full body &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 3</p>
-      <p>Pirouette is a intermediate-level dance movement targeting the
+      <p>Pirouette is an intermediate-level dance movement targeting the
         full body, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/pirouette">▶ Open Pirouette in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Prep - plié<span class="step-dur">1.2s · flow</span></span>
@@ -151,7 +154,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Pirouette&quot;
   rig humanoid
@@ -163,7 +166,8 @@ <h2>The .posecode source</h2>
     ankles: dorsiflex 12
     shoulders: flex 40
     elbows: flex 35
-    ground-lock: feet
+    ground-lock: foot_left
+    reach: foot_right floor
     cue &quot;Plié to load the turn, arms rounded low in first&quot;
 
   step &quot;Spot &amp; spin&quot; 1.4s flow:
@@ -206,8 +210,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More dance movements</h2>
-         <div class="chip-list"><a href="/moves/dance-phrase.html">Dance phrase (8-count)</a><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/port-de-bras.html">Port de bras</a><a href="/moves/box-step.html">Box step (travels)</a></div>
-    
+         <div class="chip-list"><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/box-step.html">Box step (travels)</a><a href="/moves/grapevine.html">Grapevine (travels)</a><a href="/moves/waltz-box.html">Waltz box step</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/plank-hold.html b/playground/public/moves/plank-hold.html
index 7719519..4bac375 100644
--- a/playground/public/moves/plank-hold.html
+++ b/playground/public/moves/plank-hold.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Plank hold: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Plank hold: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the plank hold (fitness): 2 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Plank hold is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/plank-hold.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Plank hold: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the plank hold (fitness): 2 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Plank hold: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Plank hold is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/plank-hold.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Plank hold","description":"How to do the plank hold (fitness): 2 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Brace","text":"Lower onto the forearms, elbows directly under the shoulders"},{"@type":"HowToStep","name":"Hold","text":"Brace the core: one straight line from head to heels"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Plank hold: a Posecode movement example","description":"Plank hold is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,16 +125,19 @@ <h1>Plank hold</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Plank hold is a beginner-level fitness movement targeting the
         abdominals, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/plank-hold">▶ Open Plank hold in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Brace<span class="step-dur">0.5s · flow</span></span>
-          <span class="step-cue">Lower onto the forearms, elbows directly under the shoulders</span>
+          <span class="step-cue">Plant the forearms with the elbows directly under the shoulders</span>
         </li>
 <li>
           <span class="step-name">Hold<span class="step-dur">3s · linear</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode posture &quot;Plank hold&quot;
   rig humanoid
@@ -154,23 +157,20 @@ <h2>The .posecode source</h2>
     elbows: flex 90
     elbows: pronate 80
     ground-lock: forearms, feet
-    reach: hands floor
-    cue &quot;Lower onto the forearms, elbows directly under the shoulders&quot;
+    cue &quot;Plant the forearms with the elbows directly under the shoulders&quot;
 
   step &quot;Hold&quot; 3s linear:
     shoulders: flex 90
     elbows: flex 90
     elbows: pronate 80
     ground-lock: forearms, feet
-    reach: hands floor
     cue &quot;Brace the core: one straight line from head to heels&quot;
 
   repeat 3
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a></div>
-    
+         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a><a href="/moves/forward-lunge.html">Forward lunge</a><a href="/moves/calf-raise.html">Single-leg calf raise</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/port-de-bras.html b/playground/public/moves/port-de-bras.html
deleted file mode 100644
index f44e8f6..0000000
--- a/playground/public/moves/port-de-bras.html
+++ /dev/null
@@ -1,219 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Port de bras: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the port de bras (dance): 5 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/port-de-bras.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Port de bras: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the port de bras (dance): 5 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/port-de-bras.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
-      rel="stylesheet"
-    />
-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
---text:#e9eef4;--text-2:#9aa6b4;--muted:#616d7c;--accent:#c6f24a;--accent-2:#a9e02f;
---accent-ink:#0a0d12;--accent-glow:rgba(198,242,74,.45);--accent-wash:rgba(198,242,74,.1);
---accent-line:rgba(198,242,74,.35);--mono:"JetBrains Mono",ui-monospace,"SF Mono",Menlo,monospace;
---sans:"Hanken Grotesk",system-ui,-apple-system,"Segoe UI",sans-serif;--radius:10px;}
-*{box-sizing:border-box}
-html,body{margin:0}
-body{background:var(--bg);color:var(--text);font-family:var(--sans);line-height:1.6;
--webkit-font-smoothing:antialiased;}
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Port de bras","description":"How to do the port de bras (dance): 5 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"First position","text":"Arms rounded low in front: first position, shoulders soft"},{"@type":"HowToStep","name":"Second position","text":"Open the arms out to the sides: second position, wrists lifted"},{"@type":"HowToStep","name":"Fifth en haut","text":"Float the arms into a rounded frame overhead: fifth position"},{"@type":"HowToStep","name":"Open down through second","text":"Open from overhead through a wide second position, shoulders released"},{"@type":"HowToStep","name":"Close low","text":"Float the arms down to the start, eyes following the hands"}]}</script>
-    <script>
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-    <header class="site-nav">
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-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
-          <a href="https://github.com/posecode-dev/posecode" target="_blank" rel="noopener">GitHub</a>
-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Dance · Shoulders</p>
-      <h1>Port de bras</h1>
-      <p class="meta-line"><b>Target</b> Deltoids &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
-      <p>Port de bras is a beginner-level dance movement targeting the
-        deltoids, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/port-de-bras">▶ Open Port de bras in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">First position<span class="step-dur">2s · flow</span></span>
-          <span class="step-cue">Arms rounded low in front: first position, shoulders soft</span>
-        </li>
-<li>
-          <span class="step-name">Second position<span class="step-dur">2.2s · flow</span></span>
-          <span class="step-cue">Open the arms out to the sides: second position, wrists lifted</span>
-        </li>
-<li>
-          <span class="step-name">Fifth en haut<span class="step-dur">2.4s · flow</span></span>
-          <span class="step-cue">Float the arms into a rounded frame overhead: fifth position</span>
-        </li>
-<li>
-          <span class="step-name">Open down through second<span class="step-dur">2.2s · flow</span></span>
-          <span class="step-cue">Open from overhead through a wide second position, shoulders released</span>
-        </li>
-<li>
-          <span class="step-name">Close low<span class="step-dur">2s · settle</span></span>
-          <span class="step-cue">Float the arms down to the start, eyes following the hands</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode stretch &quot;Port de bras&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;First position&quot; 2s flow:
-    shoulders: flex 30
-    elbows: flex 35
-    hips: rotate-out 20
-    ground-lock: feet
-    cue &quot;Arms rounded low in front: first position, shoulders soft&quot;
-
-  step &quot;Second position&quot; 2.2s flow:
-    shoulders: flex 0
-    shoulders: abduct 85
-    elbows: flex 16
-    ground-lock: feet
-    cue &quot;Open the arms out to the sides: second position, wrists lifted&quot;
-
-  step &quot;Fifth en haut&quot; 2.4s flow:
-    shoulders: abduct 0
-    shoulders: flex 160
-    elbows: flex 20
-    ground-lock: feet
-    cue &quot;Float the arms into a rounded frame overhead: fifth position&quot;
-
-  step &quot;Open down through second&quot; 2.2s flow:
-    shoulders: flex 0
-    shoulders: abduct 85
-    elbows: flex 16
-    ground-lock: feet
-    cue &quot;Open from overhead through a wide second position, shoulders released&quot;
-
-  step &quot;Close low&quot; 2s settle:
-    shoulders: abduct 0
-    shoulders: flex 0
-    elbows: flex 0
-    hips: rotate-out 0
-    ground-lock: feet
-    cue &quot;Float the arms down to the start, eyes following the hands&quot;
-
-  repeat 3
-</code></pre>
-
-      <h2>More dance movements</h2>
-         <div class="chip-list"><a href="/moves/dance-phrase.html">Dance phrase (8-count)</a><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/posture.html b/playground/public/moves/posture.html
index 3dc5a17..97982e3 100644
--- a/playground/public/moves/posture.html
+++ b/playground/public/moves/posture.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Desk posture reset: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Desk posture reset: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the desk posture reset (desk &amp; posture): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Desk posture reset is a beginner-level desk &amp; posture Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/posture.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Desk posture reset: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the desk posture reset (desk &amp; posture): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Desk posture reset: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Desk posture reset is a beginner-level desk &amp; posture Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/posture.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Desk posture reset","description":"How to do the desk posture reset (desk & posture): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Slouch","text":"The collapsed desk posture: rounded back, head drifting forward"},{"@type":"HowToStep","name":"Stack tall","text":"Stack head over ribs over hips, chest open, shoulders soft"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Desk posture reset: a Posecode movement example","description":"Desk posture reset is a beginner-level desk & posture Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Desk posture reset</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
       <p>Desk posture reset is a beginner-level desk &amp; posture movement targeting the
         spinal erectors, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/posture">▶ Open Desk posture reset in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Slouch<span class="step-dur">2.5s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode posture &quot;Desk posture reset&quot;
   rig humanoid
@@ -169,8 +172,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More desk &amp; posture movements</h2>
-         <div class="chip-list"><a href="/moves/chest-opener.html">Chest opener</a><a href="/moves/twist.html">Standing spinal twist</a><a href="/moves/shoulder-rolls.html">Shoulder rolls</a><a href="/moves/neck-side-stretch.html">Neck side stretch</a><a href="/moves/overhead-reach.html">Overhead reach reset</a></div>
-    
+         <div class="chip-list"><a href="/moves/chest-opener.html">Chest opener</a><a href="/moves/twist.html">Standing spinal twist</a><a href="/moves/neck-side-stretch.html">Neck side stretch</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/pull-up.html b/playground/public/moves/pull-up.html
deleted file mode 100644
index f23f3b8..0000000
--- a/playground/public/moves/pull-up.html
+++ /dev/null
@@ -1,226 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Pull-up: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the pull-up (fitness): 5 phases targeting the lats, bar, advanced level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/pull-up.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Pull-up: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the pull-up (fitness): 5 phases targeting the lats, bar, advanced level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/pull-up.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
-      rel="stylesheet"
-    />
-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
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-.steps .step-cue{color:var(--text-2);font-size:13.5px}
-.steps .step-dur{font-family:var(--mono);font-size:11px;color:var(--muted);margin-left:8px}
-.chip-list{display:flex;flex-wrap:wrap;gap:8px;margin:0 0 8px}
-.chip-list a{font-size:12.5px;font-weight:600;color:var(--text-2);background:var(--panel-2);
-border:1px solid var(--border-2);border-radius:999px;padding:5px 12px}
-.chip-list a:hover{color:var(--text);text-decoration:none;border-color:var(--accent-line)}
-.domain-group{margin-bottom:26px}
-.domain-group h2{margin-top:0}
-.move-grid{display:grid;grid-template-columns:repeat(auto-fill,minmax(220px,1fr));gap:10px}
-.move-card{display:block;border:1px solid var(--border);border-radius:var(--radius);
-padding:13px 15px;background:var(--panel)}
-.move-card:hover{border-color:var(--accent-line);text-decoration:none}
-.move-card .mc-name{display:block;font-weight:700;color:var(--text);font-size:13.5px}
-.move-card .mc-meta{display:block;font-size:11.5px;color:var(--muted);margin-top:2px}
-footer.site-footer{border-top:1px solid var(--border);padding:26px 0 40px;margin-top:20px}
-footer.site-footer p{font-size:12.5px;color:var(--muted);margin:0 0 6px;max-width:70ch}
-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Pull-up","description":"How to do the pull-up (fitness): 5 phases targeting the lats, bar, advanced level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Reach","text":"Reach up and grip the bar"},{"@type":"HowToStep","name":"Hang","text":"Hang from the bar, arms long, shoulders active"},{"@type":"HowToStep","name":"Pull up","text":"Pull the chest toward the bar, driving the elbows down"},{"@type":"HowToStep","name":"Lower","text":"Lower under control back to a full hang"},{"@type":"HowToStep","name":"Release","text":"Drop off the bar and rest"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
-          <a href="https://github.com/posecode-dev/posecode" target="_blank" rel="noopener">GitHub</a>
-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Fitness · Back</p>
-      <h1>Pull-up</h1>
-      <p class="meta-line"><b>Target</b> Lats &nbsp;·&nbsp; <b>Equipment</b> Bar
-        &nbsp;·&nbsp; <b>Level</b> Advanced &nbsp;·&nbsp; <b>Reps</b> 6</p>
-      <p>Pull-up is a advanced-level fitness movement targeting the
-        lats, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/pull-up">▶ Open Pull-up in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Reach<span class="step-dur">0.8s · settle</span></span>
-          <span class="step-cue">Reach up and grip the bar</span>
-        </li>
-<li>
-          <span class="step-name">Hang<span class="step-dur">0.7s · flow</span></span>
-          <span class="step-cue">Hang from the bar, arms long, shoulders active</span>
-        </li>
-<li>
-          <span class="step-name">Pull up<span class="step-dur">1.2s · settle</span></span>
-          <span class="step-cue">Pull the chest toward the bar, driving the elbows down</span>
-        </li>
-<li>
-          <span class="step-name">Lower<span class="step-dur">1.4s · drive</span></span>
-          <span class="step-cue">Lower under control back to a full hang</span>
-        </li>
-<li>
-          <span class="step-name">Release<span class="step-dur">0.8s · drive</span></span>
-          <span class="step-cue">Drop off the bar and rest</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Pull-up&quot;
-  rig humanoid
-  prop bar
-  pose start = standing
-
-  step &quot;Reach&quot; 0.8s settle:
-    shoulders: flex 175
-    elbows: flex 5
-    elbows: pronate 80
-    ground-lock: feet
-    cue &quot;Reach up and grip the bar&quot;
-
-  step &quot;Hang&quot; 0.7s flow:
-    shoulders: flex 175
-    elbows: flex 5
-    elbows: pronate 80
-    grip: hands bar
-    cue &quot;Hang from the bar, arms long, shoulders active&quot;
-
-  step &quot;Pull up&quot; 1.2s settle:
-    shoulders: flex 105
-    elbows: flex 130
-    elbows: pronate 80
-    spine: extend 15
-    chest: extend 10
-    neck: extend 20
-    grip: hands bar
-    cue &quot;Pull the chest toward the bar, driving the elbows down&quot;
-
-  step &quot;Lower&quot; 1.4s drive:
-    shoulders: flex 175
-    elbows: flex 5
-    elbows: pronate 80
-    spine: extend 0
-    chest: extend 0
-    neck: extend 0
-    grip: hands bar
-    cue &quot;Lower under control back to a full hang&quot;
-
-  step &quot;Release&quot; 0.8s drive:
-    shoulders: flex 0
-    elbows: flex 0
-    elbows: pronate 0
-    fingers: flex 0
-    ground-lock: feet
-    cue &quot;Drop off the bar and rest&quot;
-
-  repeat 6
-</code></pre>
-
-      <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/quad-stretch.html b/playground/public/moves/quad-stretch.html
index 173caef..1d54993 100644
--- a/playground/public/moves/quad-stretch.html
+++ b/playground/public/moves/quad-stretch.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Standing quad stretch: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Standing quad stretch: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the standing quad stretch (mobility): 2 phases targeting the quadriceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Standing quad stretch is a beginner-level mobility Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/quad-stretch.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Standing quad stretch: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the standing quad stretch (mobility): 2 phases targeting the quadriceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Standing quad stretch: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Standing quad stretch is a beginner-level mobility Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/quad-stretch.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Standing quad stretch","description":"How to do the standing quad stretch (mobility): 2 phases targeting the quadriceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Catch the foot","text":"Bend the right knee back and reach the hand for the ankle"},{"@type":"HowToStep","name":"Release","text":"Release the foot and return to standing"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Standing quad stretch: a Posecode movement example","description":"Standing quad stretch is a beginner-level mobility Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,16 +125,19 @@ <h1>Standing quad stretch</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 2</p>
       <p>Standing quad stretch is a beginner-level mobility movement targeting the
         quadriceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/quad-stretch">▶ Open Standing quad stretch in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Catch the foot<span class="step-dur">3s · flow</span></span>
-          <span class="step-cue">Bend the right knee back and reach the hand for the ankle</span>
+          <span class="step-cue">Turn slightly right, draw the heel toward the seat, and catch the ankle</span>
         </li>
 <li>
           <span class="step-name">Release<span class="step-dur">2s · settle</span></span>
@@ -143,22 +146,30 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Standing quad stretch&quot;
   rig humanoid
   pose start = standing
 
   step &quot;Catch the foot&quot; 3s flow:
+    spine: twist-right 15
+    chest: twist-right 10
     knee_right: flex 144
     hip_right: extend 20
+    shoulder_right: extend 35
+    elbow_right: flex 20
     reach: hand_right ankle_right
     pin: foot_left floor
-    cue &quot;Bend the right knee back and reach the hand for the ankle&quot;
+    cue &quot;Turn slightly right, draw the heel toward the seat, and catch the ankle&quot;
 
   step &quot;Release&quot; 2s settle:
+    spine: twist-right 0
+    chest: twist-right 0
     knee_right: flex 0
     hip_right: extend 0
+    shoulder_right: extend 0
+    elbow_right: flex 0
     pin: foot_left floor
     cue &quot;Release the foot and return to standing&quot;
 
@@ -166,8 +177,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More mobility movements</h2>
-         <div class="chip-list"><a href="/moves/fold.html">Standing roll-down</a><a href="/moves/touch-toes.html">Touch your toes</a></div>
-    
+         <div class="chip-list"><a href="/moves/fold.html">Standing roll-down</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/quarter-turns.html b/playground/public/moves/quarter-turns.html
index 0d8ab0e..78bd2a8 100644
--- a/playground/public/moves/quarter-turns.html
+++ b/playground/public/moves/quarter-turns.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Quarter turns: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Quarter turns: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the quarter turns (locomotion): 4 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Quarter turns is a beginner-level locomotion Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/quarter-turns.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Quarter turns: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the quarter turns (locomotion): 4 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Quarter turns: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Quarter turns is a beginner-level locomotion Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/quarter-turns.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Quarter turns","description":"How to do the quarter turns (locomotion): 4 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Face right","text":"Small dip and pivot a quarter-turn to the right"},{"@type":"HowToStep","name":"Face back","text":"Rise, then pivot another quarter-turn to face the back"},{"@type":"HowToStep","name":"Face left","text":"Dip and pivot again to face the far side"},{"@type":"HowToStep","name":"Face front","text":"Rise and complete the circle, back to front"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Quarter turns: a Posecode movement example","description":"Quarter turns is a beginner-level locomotion Posecode example with 4 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Quarter turns</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Quarter turns is a beginner-level locomotion movement targeting the
         full body, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/quarter-turns">▶ Open Quarter turns in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Face right<span class="step-dur">1s · flow</span></span>
@@ -151,7 +154,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode posture &quot;Quarter turns&quot;
   rig humanoid
@@ -198,7 +201,6 @@ <h2>The .posecode source</h2>
 
       <h2>More locomotion movements</h2>
          <div class="chip-list"><a href="/moves/walk-cycle.html">Walk &amp; turn</a></div>
-    
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/releve.html b/playground/public/moves/releve.html
index 6322402..050c958 100644
--- a/playground/public/moves/releve.html
+++ b/playground/public/moves/releve.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Relevé: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Relevé: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the relevé (dance): 2 phases targeting the calves, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Relevé is a beginner-level dance Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/releve.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Relevé: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the relevé (dance): 2 phases targeting the calves, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Relevé: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Relevé is a beginner-level dance Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/releve.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Relevé","description":"How to do the relevé (dance): 2 phases targeting the calves, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Rise","text":"Turn out and rise onto the balls of the feet: lengthen up tall"},{"@type":"HowToStep","name":"Lower","text":"Lower the heels with control, staying lifted through the spine"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Relevé: a Posecode movement example","description":"Relevé is a beginner-level dance Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Relevé</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 5</p>
       <p>Relevé is a beginner-level dance movement targeting the
         calves, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/releve">▶ Open Relevé in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Rise<span class="step-dur">1.8s · settle</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Relevé&quot;
   rig humanoid
@@ -172,8 +175,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More dance movements</h2>
-         <div class="chip-list"><a href="/moves/dance-phrase.html">Dance phrase (8-count)</a><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/port-de-bras.html">Port de bras</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a></div>
-    
+         <div class="chip-list"><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a><a href="/moves/grapevine.html">Grapevine (travels)</a><a href="/moves/waltz-box.html">Waltz box step</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/seated-forward-fold.html b/playground/public/moves/seated-forward-fold.html
index 234e3f5..1f3fb83 100644
--- a/playground/public/moves/seated-forward-fold.html
+++ b/playground/public/moves/seated-forward-fold.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Seated forward fold: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Seated forward fold: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the seated forward fold (yoga): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Seated forward fold is a beginner-level yoga Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/seated-forward-fold.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Seated forward fold: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the seated forward fold (yoga): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Seated forward fold: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Seated forward fold is a beginner-level yoga Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/seated-forward-fold.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Seated forward fold","description":"How to do the seated forward fold (yoga): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Fold","text":"Hinge forward from the hips over the legs, reaching toward the feet"},{"@type":"HowToStep","name":"Rise","text":"Roll back up to a tall seated spine"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Seated forward fold: a Posecode movement example","description":"Seated forward fold is a beginner-level yoga Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Seated forward fold</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Seated forward fold is a beginner-level yoga movement targeting the
         hamstrings, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/seated-forward-fold">▶ Open Seated forward fold in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Fold<span class="step-dur">3s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Seated forward fold&quot;
   rig humanoid
@@ -169,8 +172,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More yoga movements</h2>
-         <div class="chip-list"><a href="/moves/chair.html">Chair pose</a><a href="/moves/sidebend.html">Standing side bend</a><a href="/moves/cobra.html">Cobra</a></div>
-    
+         <div class="chip-list"><a href="/moves/chair.html">Chair pose</a><a href="/moves/sidebend.html">Standing side bend</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/shoulder-abduction.html b/playground/public/moves/shoulder-abduction.html
deleted file mode 100644
index ae016b8..0000000
--- a/playground/public/moves/shoulder-abduction.html
+++ /dev/null
@@ -1,179 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Shoulder abduction: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the shoulder abduction (education): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/shoulder-abduction.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Shoulder abduction: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the shoulder abduction (education): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/shoulder-abduction.html" />
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-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Shoulder abduction","description":"How to do the shoulder abduction (education): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Abduct","text":"Arms sweep out and up to the sides: frontal-plane abduction"},{"@type":"HowToStep","name":"Adduct","text":"Lower back to the sides through the same arc"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
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-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
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-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Education · Shoulders</p>
-      <h1>Shoulder abduction</h1>
-      <p class="meta-line"><b>Target</b> Deltoids &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
-      <p>Shoulder abduction is a beginner-level education movement targeting the
-        deltoids, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/shoulder-abduction">▶ Open Shoulder abduction in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Abduct<span class="step-dur">2.5s · flow</span></span>
-          <span class="step-cue">Arms sweep out and up to the sides: frontal-plane abduction</span>
-        </li>
-<li>
-          <span class="step-name">Adduct<span class="step-dur">2.5s · settle</span></span>
-          <span class="step-cue">Lower back to the sides through the same arc</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode stretch &quot;Shoulder abduction (ROM demo)&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Abduct&quot; 2.5s flow:
-    shoulders: abduct 160
-    cue &quot;Arms sweep out and up to the sides: frontal-plane abduction&quot;
-
-  step &quot;Adduct&quot; 2.5s settle:
-    shoulders: abduct 0
-    cue &quot;Lower back to the sides through the same arc&quot;
-
-  repeat 4
-</code></pre>
-
-      <h2>More education movements</h2>
-         <div class="chip-list"><a href="/moves/hip-flexion.html">Hip flexion (ROM)</a><a href="/moves/knee-flexion.html">Knee flexion (ROM)</a><a href="/moves/spine-rotation.html">Spine rotation (ROM)</a><a href="/moves/elbow-forearm.html">Elbow flexion &amp; forearm rotation</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
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diff --git a/playground/public/moves/shoulder-rolls.html b/playground/public/moves/shoulder-rolls.html
deleted file mode 100644
index cd68d7a..0000000
--- a/playground/public/moves/shoulder-rolls.html
+++ /dev/null
@@ -1,193 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Shoulder rolls: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the shoulder rolls (desk &amp; posture): 3 phases targeting the trapezius, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/shoulder-rolls.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Shoulder rolls: How to Do It (Animated 3D Guide) | Posecode" />
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-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
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-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
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-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Desk &amp; posture · Shoulders</p>
-      <h1>Shoulder rolls</h1>
-      <p class="meta-line"><b>Target</b> Trapezius &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 5</p>
-      <p>Shoulder rolls is a beginner-level desk &amp; posture movement targeting the
-        trapezius, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/shoulder-rolls">▶ Open Shoulder rolls in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Lift &amp; forward<span class="step-dur">1.6s · flow</span></span>
-          <span class="step-cue">Roll the shoulders up and forward</span>
-        </li>
-<li>
-          <span class="step-name">Back &amp; down<span class="step-dur">1.6s · flow</span></span>
-          <span class="step-cue">Squeeze the shoulder blades back and down</span>
-        </li>
-<li>
-          <span class="step-name">Reset<span class="step-dur">1.4s · settle</span></span>
-          <span class="step-cue">Return to a tall, neutral posture</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode stretch &quot;Shoulder rolls&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Lift &amp; forward&quot; 1.6s flow:
-    shoulders: flex 25
-    chest: extend 8
-    ground-lock: feet
-    cue &quot;Roll the shoulders up and forward&quot;
-
-  step &quot;Back &amp; down&quot; 1.6s flow:
-    shoulders: extend 20
-    chest: extend 12
-    ground-lock: feet
-    cue &quot;Squeeze the shoulder blades back and down&quot;
-
-  step &quot;Reset&quot; 1.4s settle:
-    shoulders: flex 0
-    chest: flex 0
-    ground-lock: feet
-    cue &quot;Return to a tall, neutral posture&quot;
-
-  repeat 5
-</code></pre>
-
-      <h2>More desk &amp; posture movements</h2>
-         <div class="chip-list"><a href="/moves/chest-opener.html">Chest opener</a><a href="/moves/posture.html">Desk posture reset</a><a href="/moves/twist.html">Standing spinal twist</a><a href="/moves/neck-side-stretch.html">Neck side stretch</a><a href="/moves/overhead-reach.html">Overhead reach reset</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/shoulder.html b/playground/public/moves/shoulder.html
deleted file mode 100644
index 7caab59..0000000
--- a/playground/public/moves/shoulder.html
+++ /dev/null
@@ -1,181 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Shoulder flexion: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the shoulder flexion (physiotherapy): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/shoulder.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Shoulder flexion: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the shoulder flexion (physiotherapy): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/shoulder.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
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-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Shoulder flexion","description":"How to do the shoulder flexion (physiotherapy): 2 phases targeting the deltoids, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Raise","text":"Reach overhead, keep the ribs down"},{"@type":"HowToStep","name":"Lower","text":"Control the descent back to the sides"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
-          <a href="https://github.com/posecode-dev/posecode" target="_blank" rel="noopener">GitHub</a>
-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Physiotherapy · Shoulders</p>
-      <h1>Shoulder flexion</h1>
-      <p class="meta-line"><b>Target</b> Deltoids &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 5</p>
-      <p>Shoulder flexion is a beginner-level physiotherapy movement targeting the
-        deltoids, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/shoulder">▶ Open Shoulder flexion in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Raise<span class="step-dur">3s · flow</span></span>
-          <span class="step-cue">Reach overhead, keep the ribs down</span>
-        </li>
-<li>
-          <span class="step-name">Lower<span class="step-dur">3s · settle</span></span>
-          <span class="step-cue">Control the descent back to the sides</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode stretch &quot;Standing shoulder flexion&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Raise&quot; 3s flow:
-    shoulders: flex 170
-    ground-lock: feet
-    cue &quot;Reach overhead, keep the ribs down&quot;
-
-  step &quot;Lower&quot; 3s settle:
-    shoulders: flex 0
-    ground-lock: feet
-    cue &quot;Control the descent back to the sides&quot;
-
-  repeat 5
-</code></pre>
-
-      <h2>More physiotherapy movements</h2>
-         <div class="chip-list"><a href="/moves/good-morning.html">Good morning (hinge)</a><a href="/moves/heel-raises.html">Heel raises</a><a href="/moves/hamstring-curl.html">Standing hamstring curl</a><a href="/moves/hip-abduction.html">Standing hip abduction</a><a href="/moves/neck.html">Neck rotation</a><a href="/moves/cross-body-reach.html">Cross-body reach</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/sidebend.html b/playground/public/moves/sidebend.html
index 0d8f30e..ef9bbea 100644
--- a/playground/public/moves/sidebend.html
+++ b/playground/public/moves/sidebend.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Standing side bend: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Standing side bend: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the standing side bend (yoga): 2 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Standing side bend is a beginner-level yoga Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/sidebend.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Standing side bend: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the standing side bend (yoga): 2 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Standing side bend: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Standing side bend is a beginner-level yoga Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/sidebend.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Standing side bend","description":"How to do the standing side bend (yoga): 2 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Reach over","text":"Reach tall, then arc gently over to one side"},{"@type":"HowToStep","name":"Return","text":"Lengthen back up through the crown of the head"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Standing side bend: a Posecode movement example","description":"Standing side bend is a beginner-level yoga Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Standing side bend</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Standing side bend is a beginner-level yoga movement targeting the
         obliques, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/sidebend">▶ Open Standing side bend in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Reach over<span class="step-dur">3s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Standing side bend&quot;
   rig humanoid
@@ -165,8 +168,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More yoga movements</h2>
-         <div class="chip-list"><a href="/moves/chair.html">Chair pose</a><a href="/moves/cobra.html">Cobra</a><a href="/moves/seated-forward-fold.html">Seated forward fold</a></div>
-    
+         <div class="chip-list"><a href="/moves/chair.html">Chair pose</a><a href="/moves/seated-forward-fold.html">Seated forward fold</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/sit-to-stand.html b/playground/public/moves/sit-to-stand.html
index 6d0bea3..2124e55 100644
--- a/playground/public/moves/sit-to-stand.html
+++ b/playground/public/moves/sit-to-stand.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Sit to stand: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Sit to stand: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the sit to stand (functional): 2 phases targeting the quadriceps, chair, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Sit to stand is a beginner-level functional Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/sit-to-stand.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Sit to stand: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the sit to stand (functional): 2 phases targeting the quadriceps, chair, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Sit to stand: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Sit to stand is a beginner-level functional Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/sit-to-stand.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Sit to stand","description":"How to do the sit to stand (functional): 2 phases targeting the quadriceps, chair, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Sit","text":"Hinge the hips back and lower with control to sit on the chair"},{"@type":"HowToStep","name":"Stand","text":"Drive through the heels and reach tall to stand"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Sit to stand: a Posecode movement example","description":"Sit to stand is a beginner-level functional Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Sit to stand</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 8</p>
       <p>Sit to stand is a beginner-level functional movement targeting the
         quadriceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/sit-to-stand">▶ Open Sit to stand in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Sit<span class="step-dur">2s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Sit to stand&quot;
   rig humanoid
@@ -175,7 +178,6 @@ <h2>The .posecode source</h2>
 
       <h2>More functional movements</h2>
          <div class="chip-list"><a href="/moves/step-up.html">Step-up (box)</a></div>
-    
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/spine-rotation.html b/playground/public/moves/spine-rotation.html
index e47837a..fc5af74 100644
--- a/playground/public/moves/spine-rotation.html
+++ b/playground/public/moves/spine-rotation.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Spine rotation: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Spine rotation: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the spine rotation (education): 3 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Spine rotation is a beginner-level education Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/spine-rotation.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Spine rotation: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the spine rotation (education): 3 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Spine rotation: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Spine rotation is a beginner-level education Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/spine-rotation.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Spine rotation","description":"How to do the spine rotation (education): 3 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Rotate right","text":"Rotate the trunk to the right: transverse-plane spinal rotation"},{"@type":"HowToStep","name":"Rotate left","text":"Pass through center and rotate to the left"},{"@type":"HowToStep","name":"Center","text":"Return to a neutral facing"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Spine rotation: a Posecode movement example","description":"Spine rotation is a beginner-level education Posecode example with 3 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Spine rotation</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Spine rotation is a beginner-level education movement targeting the
         obliques, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/spine-rotation">▶ Open Spine rotation in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Rotate right<span class="step-dur">2.5s · flow</span></span>
@@ -147,24 +150,24 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Spine rotation (ROM demo)&quot;
   rig humanoid
   pose start = standing
 
   step &quot;Rotate right&quot; 2.5s flow:
-    spine: rotate-out 45
+    spine: twist-right 45
     ground-lock: feet
     cue &quot;Rotate the trunk to the right: transverse-plane spinal rotation&quot;
 
   step &quot;Rotate left&quot; 2.5s flow:
-    spine: rotate-in 45
+    spine: twist-left 45
     ground-lock: feet
     cue &quot;Pass through center and rotate to the left&quot;
 
   step &quot;Center&quot; 2s settle:
-    spine: rotate-in 0
+    spine: twist-left 0
     ground-lock: feet
     cue &quot;Return to a neutral facing&quot;
 
@@ -172,8 +175,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More education movements</h2>
-         <div class="chip-list"><a href="/moves/shoulder-abduction.html">Shoulder abduction (ROM)</a><a href="/moves/hip-flexion.html">Hip flexion (ROM)</a><a href="/moves/knee-flexion.html">Knee flexion (ROM)</a><a href="/moves/elbow-forearm.html">Elbow flexion &amp; forearm rotation</a></div>
-    
+         <div class="chip-list"><a href="/moves/hip-flexion.html">Hip flexion (ROM)</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/squat.html b/playground/public/moves/squat.html
index 4b86675..3cdc7bb 100644
--- a/playground/public/moves/squat.html
+++ b/playground/public/moves/squat.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Body-weight squat: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Body-weight squat: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the body-weight squat (fitness): 2 phases targeting the quadriceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Body-weight squat is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/squat.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Body-weight squat: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the body-weight squat (fitness): 2 phases targeting the quadriceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Body-weight squat: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Body-weight squat is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/squat.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Body-weight squat","description":"How to do the body-weight squat (fitness): 2 phases targeting the quadriceps, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Descend","text":"Sit the hips back, chest proud, knees track over the toes"},{"@type":"HowToStep","name":"Drive up","text":"Drive through the heels to stand tall"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Body-weight squat: a Posecode movement example","description":"Body-weight squat is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,25 +125,28 @@ <h1>Body-weight squat</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 8</p>
       <p>Body-weight squat is a beginner-level fitness movement targeting the
         quadriceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/squat">▶ Open Body-weight squat in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Descend<span class="step-dur">1.6s · settle</span></span>
-          <span class="step-cue">Sit the hips back, chest proud, knees track over the toes</span>
+          <span class="step-cue">Flex both hips and knees as the pelvis hinges over the planted feet</span>
         </li>
 <li>
           <span class="step-name">Drive up<span class="step-dur">1.2s · drive</span></span>
-          <span class="step-cue">Drive through the heels to stand tall</span>
+          <span class="step-cue">Straighten both hips and knees and return the torso and arms to neutral</span>
         </li>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Body-weight squat&quot;
   rig humanoid
@@ -157,7 +160,7 @@ <h2>The .posecode source</h2>
     shoulders: flex 70
     neck: extend 10
     ground-lock: feet
-    cue &quot;Sit the hips back, chest proud, knees track over the toes&quot;
+    cue &quot;Flex both hips and knees as the pelvis hinges over the planted feet&quot;
 
   step &quot;Drive up&quot; 1.2s drive:
     hips: flex 0
@@ -167,14 +170,13 @@ <h2>The .posecode source</h2>
     shoulders: flex 0
     neck: extend 0
     ground-lock: feet
-    cue &quot;Drive through the heels to stand tall&quot;
+    cue &quot;Straighten both hips and knees and return the torso and arms to neutral&quot;
 
   repeat 8
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a></div>
-    
+         <div class="chip-list"><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a><a href="/moves/forward-lunge.html">Forward lunge</a><a href="/moves/calf-raise.html">Single-leg calf raise</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/step-up.html b/playground/public/moves/step-up.html
index 7906a3c..bb893cf 100644
--- a/playground/public/moves/step-up.html
+++ b/playground/public/moves/step-up.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Step-up: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Step-up: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the step-up (functional): 4 phases targeting the quadriceps, box, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Step-up is an intermediate-level functional Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/step-up.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Step-up: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the step-up (functional): 4 phases targeting the quadriceps, box, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Step-up: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Step-up is an intermediate-level functional Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/step-up.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Step-up","description":"How to do the step-up (functional): 4 phases targeting the quadriceps, box, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Plant the foot","text":"Plant the right foot up on top of the box"},{"@type":"HowToStep","name":"Drive up","text":"Drive through the top foot to stand tall on the box"},{"@type":"HowToStep","name":"Step down","text":"Lower the trailing foot back to the floor"},{"@type":"HowToStep","name":"Off the box","text":"Step the lead foot down to meet it, standing tall on the floor"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Step-up: a Posecode movement example","description":"Step-up is an intermediate-level functional Posecode example with 4 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,14 +123,17 @@
       <h1>Step-up</h1>
       <p class="meta-line"><b>Target</b> Quadriceps &nbsp;·&nbsp; <b>Equipment</b> Box
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 6</p>
-      <p>Step-up is a intermediate-level functional movement targeting the
+      <p>Step-up is an intermediate-level functional movement targeting the
         quadriceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/step-up">▶ Open Step-up in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Plant the foot<span class="step-dur">1s · flow</span></span>
@@ -141,8 +144,8 @@ <h2>How to do it</h2>
           <span class="step-cue">Drive through the top foot to stand tall on the box</span>
         </li>
 <li>
-          <span class="step-name">Step down<span class="step-dur">1.4s · drive</span></span>
-          <span class="step-cue">Lower the trailing foot back to the floor</span>
+          <span class="step-name">Step down<span class="step-dur">1.4s · settle</span></span>
+          <span class="step-cue">Lower the trailing foot toward the floor while staying tall on the box</span>
         </li>
 <li>
           <span class="step-name">Off the box<span class="step-dur">0.8s · settle</span></span>
@@ -151,7 +154,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Step-up&quot;
   rig humanoid
@@ -174,18 +177,19 @@ <h2>The .posecode source</h2>
     pin: foot_right box
     cue &quot;Drive through the top foot to stand tall on the box&quot;
 
-  step &quot;Step down&quot; 1.4s drive:
-    hip_right: flex 70
-    knee_right: flex 90
-    ankle_right: plantarflex 50
-    hip_left: flex 0
-    knee_left: flex 0
+  step &quot;Step down&quot; 1.4s settle:
+    hip_right: flex 55
+    knee_right: flex 65
+    ankle_right: dorsiflex 10
+    hip_left: flex 15
+    knee_left: flex 25
     pin: foot_right box
-    cue &quot;Lower the trailing foot back to the floor&quot;
+    cue &quot;Lower the trailing foot toward the floor while staying tall on the box&quot;
 
   step &quot;Off the box&quot; 0.8s settle:
     hip_right: flex 0
     knee_right: flex 0
+    ankle_right: dorsiflex 0
     ground-lock: feet
     cue &quot;Step the lead foot down to meet it, standing tall on the floor&quot;
 
@@ -194,7 +198,6 @@ <h2>The .posecode source</h2>
 
       <h2>More functional movements</h2>
          <div class="chip-list"><a href="/moves/sit-to-stand.html">Sit to stand (chair)</a></div>
-    
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/dance-phrase.html b/playground/public/moves/superhero-landing.html
similarity index 64%
rename from playground/public/moves/dance-phrase.html
rename to playground/public/moves/superhero-landing.html
index 964b716..3fb1a0d 100644
--- a/playground/public/moves/dance-phrase.html
+++ b/playground/public/moves/superhero-landing.html
@@ -3,16 +3,16 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Dance phrase: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Superhero three-point landing: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the dance phrase (dance): 4 phases targeting the full body, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/dance-phrase.html" />
+    <meta name="description" content="Superhero three-point landing is an advanced-level performance Posecode example with 4 inspectable phases and a link to live 3D playback." />
+    <link rel="canonical" href="https://www.posecode.org/moves/superhero-landing.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Dance phrase: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the dance phrase (dance): 4 phases targeting the full body, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Superhero three-point landing: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Superhero three-point landing is an advanced-level performance Posecode example with 4 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/dance-phrase.html" />
+    <meta property="og:url" content="https://www.posecode.org/moves/superhero-landing.html" />
     <meta property="og:site_name" content="Posecode" />
     <meta property="og:image" content="https://www.posecode.org/og.png" />
     <meta name="twitter:image" content="https://www.posecode.org/og.png" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Dance phrase","description":"How to do the dance phrase (dance): 4 phases targeting the full body, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"1-2 - breath, arms to second","text":"Turn out, open the arms to second, lift through the crown"},{"@type":"HowToStep","name":"3-4 - demi-plié","text":"Bend the knees over the toes, arms round down through first"},{"@type":"HowToStep","name":"5-6 - relevé, arms en haut","text":"Press up to relevé and lift the arms into a frame overhead"},{"@type":"HowToStep","name":"7-8 - close","text":"Lower the heels and resolve, arms floating back to the sides"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Superhero three-point landing: a Posecode movement example","description":"Superhero three-point landing is an advanced-level performance Posecode example with 4 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -119,86 +119,103 @@
     </header>
     <main class="wrap">
       
-      <p class="eyebrow">Dance · Full body</p>
-      <h1>Dance phrase</h1>
+      <p class="eyebrow">Performance · Full body</p>
+      <h1>Superhero three-point landing</h1>
       <p class="meta-line"><b>Target</b> Full body &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 2</p>
-      <p>Dance phrase is a intermediate-level dance movement targeting the
+        &nbsp;·&nbsp; <b>Level</b> Advanced &nbsp;·&nbsp; <b>Reps</b> 1</p>
+      <p>Superhero three-point landing is an advanced-level performance movement targeting the
         full body, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
-      <a class="btn" href="/play/dance-phrase">▶ Open Dance phrase in the playground →</a>
+      <a class="btn" href="/play/superhero-landing">▶ Open Superhero three-point landing in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
-          <span class="step-name">1-2 - breath, arms to second<span class="step-dur">2s · flow</span></span>
-          <span class="step-cue">Turn out, open the arms to second, lift through the crown</span>
+          <span class="step-name">Drop into the landing<span class="step-dur">0.55s · flow</span></span>
+          <span class="step-cue">Drop over the planted right foot as the left knee and fist descend</span>
         </li>
 <li>
-          <span class="step-name">3-4 - demi-plié<span class="step-dur">2s · flow</span></span>
-          <span class="step-cue">Bend the knees over the toes, arms round down through first</span>
+          <span class="step-name">Make three-point contact<span class="step-dur">0.3s · settle</span></span>
+          <span class="step-cue">Set the left knee and left fist on the floor beside the planted right foot</span>
         </li>
 <li>
-          <span class="step-name">5-6 - relevé, arms en haut<span class="step-dur">2s · flow</span></span>
-          <span class="step-cue">Press up to relevé and lift the arms into a frame overhead</span>
+          <span class="step-name">Hold the landing<span class="step-dur">0.8s · linear</span></span>
+          <span class="step-cue">Hold the three contacts with the free right arm swept behind you</span>
         </li>
 <li>
-          <span class="step-name">7-8 - close<span class="step-dur">2.2s · settle</span></span>
-          <span class="step-cue">Lower the heels and resolve, arms floating back to the sides</span>
+          <span class="step-name">Recover to standing<span class="step-dur">0.9s · drive</span></span>
+          <span class="step-cue">Press through both feet and return to standing</span>
         </li>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Dance phrase (8-count)&quot;
+      <pre class="code-block"><code>posecode posture &quot;Superhero Three-Point Landing&quot;
   rig humanoid
   pose start = standing
 
-  step &quot;1-2 - breath, arms to second&quot; 2s flow:
-    hips: rotate-out 25
-    shoulders: abduct 80
-    elbows: flex 16
-    spine: extend 4
-    ground-lock: feet
-    cue &quot;Turn out, open the arms to second, lift through the crown&quot;
+  step &quot;Drop into the landing&quot; 0.55s flow:
+    pelvis: hinge 45
+    spine: flex 50
+    chest: flex 9
+    hip_right: flex 84
+    knee_right: flex 123
+    ankle_right: dorsiflex 15
+    hip_left: extend 12
+    knee_left: flex 105
+    ankle_left: plantarflex 28
+    shoulder_left: flex 98
+    shoulder_left: abduct 2
+    elbow_left: flex 8
+    fingers_left: flex 80
+    shoulder_right: extend 24
+    shoulder_right: abduct 22
+    elbow_right: flex 16
+    ground-lock: foot_right
+    reach: knee_left floor
+    reach: fist_left floor
+    cue &quot;Drop over the planted right foot as the left knee and fist descend&quot;
 
-  step &quot;3-4 - demi-plié&quot; 2s flow:
-    hips: flex 18
-    knees: flex 50
-    ankles: dorsiflex 12
-    shoulders: flex 28
-    elbows: flex 30
-    ground-lock: feet
-    cue &quot;Bend the knees over the toes, arms round down through first&quot;
+  step &quot;Make three-point contact&quot; 0.3s settle:
+    neck: extend 25
+    pin: knee_left floor
+    reach: foot_right floor
+    reach: fist_left floor
+    cue &quot;Set the left knee and left fist on the floor beside the planted right foot&quot;
 
-  step &quot;5-6 - relevé, arms en haut&quot; 2s flow:
-    hips: flex 0
-    knees: flex 0
-    ankles: plantarflex 28
-    shoulders: flex 155
-    elbows: flex 20
-    spine: extend 5
-    ground-lock: feet
-    cue &quot;Press up to relevé and lift the arms into a frame overhead&quot;
+  step &quot;Hold the landing&quot; 0.8s linear:
+    pin: knee_left floor
+    reach: foot_right floor
+    reach: fist_left floor
+    cue &quot;Hold the three contacts with the free right arm swept behind you&quot;
 
-  step &quot;7-8 - close&quot; 2.2s settle:
-    ankles: plantarflex 0
-    hips: rotate-out 0
-    shoulders: flex 0
-    elbows: flex 0
-    spine: flex 0
+  step &quot;Recover to standing&quot; 0.9s drive:
+    pelvis: hold neutral
+    spine: hold neutral
+    hip_right: hold neutral
+    knee_right: hold neutral
+    ankle_right: hold neutral
+    hip_left: hold neutral
+    knee_left: hold neutral
+    ankle_left: hold neutral
+    neck: hold neutral
+    chest: hold neutral
+    shoulder_left: hold neutral
+    elbow_left: hold neutral
+    fingers_left: hold neutral
+    shoulder_right: hold neutral
+    elbow_right: hold neutral
     ground-lock: feet
-    cue &quot;Lower the heels and resolve, arms floating back to the sides&quot;
+    cue &quot;Press through both feet and return to standing&quot;
 
-  repeat 2
+  repeat 1
 </code></pre>
-
-      <h2>More dance movements</h2>
-         <div class="chip-list"><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/port-de-bras.html">Port de bras</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a></div>
-    
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/superman.html b/playground/public/moves/superman.html
deleted file mode 100644
index 7e75726..0000000
--- a/playground/public/moves/superman.html
+++ /dev/null
@@ -1,189 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Superman: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the superman (fitness): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/superman.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Superman: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the superman (fitness): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/superman.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
-      rel="stylesheet"
-    />
-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
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-.steps{list-style:none;padding:0;margin:0 0 22px;display:flex;flex-direction:column;gap:12px}
-.steps li{border:1px solid var(--border);border-radius:var(--radius);padding:16px 18px;
-background:var(--panel)}
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-.steps .step-cue{color:var(--text-2);font-size:13.5px}
-.steps .step-dur{font-family:var(--mono);font-size:11px;color:var(--muted);margin-left:8px}
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-border:1px solid var(--border-2);border-radius:999px;padding:5px 12px}
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-.domain-group{margin-bottom:26px}
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-footer.site-footer p{font-size:12.5px;color:var(--muted);margin:0 0 6px;max-width:70ch}
-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Superman","description":"How to do the superman (fitness): 2 phases targeting the spinal erectors, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Lift","text":"Lift the arms, chest, and legs off the floor"},{"@type":"HowToStep","name":"Lower","text":"Lower everything back down with control"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
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-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
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-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Fitness · Back</p>
-      <h1>Superman</h1>
-      <p class="meta-line"><b>Target</b> Spinal erectors &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 8</p>
-      <p>Superman is a beginner-level fitness movement targeting the
-        spinal erectors, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/superman">▶ Open Superman in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Lift<span class="step-dur">1.5s · settle</span></span>
-          <span class="step-cue">Lift the arms, chest, and legs off the floor</span>
-        </li>
-<li>
-          <span class="step-name">Lower<span class="step-dur">1.5s · drive</span></span>
-          <span class="step-cue">Lower everything back down with control</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Superman&quot;
-  rig humanoid
-  pose start = prone
-
-  step &quot;Lift&quot; 1.5s settle:
-    shoulders: flex 140
-    spine: extend 20
-    chest: extend 15
-    neck: extend 25
-    hips: extend 18
-    pin: pelvis floor
-    cue &quot;Lift the arms, chest, and legs off the floor&quot;
-
-  step &quot;Lower&quot; 1.5s drive:
-    shoulders: flex 0
-    spine: flex 0
-    chest: flex 0
-    neck: flex 0
-    hips: extend 0
-    pin: pelvis floor
-    cue &quot;Lower everything back down with control&quot;
-
-  repeat 8
-</code></pre>
-
-      <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/supine-leg-raise.html b/playground/public/moves/supine-leg-raise.html
index 944f1c8..65f0948 100644
--- a/playground/public/moves/supine-leg-raise.html
+++ b/playground/public/moves/supine-leg-raise.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Lying leg raise: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Lying leg raise: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the lying leg raise (fitness): 2 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Lying leg raise is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/supine-leg-raise.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Lying leg raise: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the lying leg raise (fitness): 2 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Lying leg raise: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Lying leg raise is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/supine-leg-raise.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Lying leg raise","description":"How to do the lying leg raise (fitness): 2 phases targeting the abdominals, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Raise","text":"Lift the straight legs toward vertical, low back pressed down"},{"@type":"HowToStep","name":"Lower","text":"Lower the legs slowly without arching the back"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Lying leg raise: a Posecode movement example","description":"Lying leg raise is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,25 +125,28 @@ <h1>Lying leg raise</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 10</p>
       <p>Lying leg raise is a beginner-level fitness movement targeting the
         abdominals, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/supine-leg-raise">▶ Open Lying leg raise in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Raise<span class="step-dur">1.2s · settle</span></span>
-          <span class="step-cue">Lift the straight legs toward vertical, low back pressed down</span>
+          <span class="step-cue">Lift the straight legs toward vertical with the arms relaxed and the low back heavy</span>
         </li>
 <li>
-          <span class="step-name">Lower<span class="step-dur">1.4s · drive</span></span>
-          <span class="step-cue">Lower the legs slowly without arching the back</span>
+          <span class="step-name">Lower<span class="step-dur">1.4s · settle</span></span>
+          <span class="step-cue">Lower the legs slowly while keeping the ribs quiet and the low back heavy</span>
         </li>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Lying leg raise&quot;
   rig humanoid
@@ -152,24 +155,17 @@ <h2>The .posecode source</h2>
   step &quot;Raise&quot; 1.2s settle:
     hips: flex 90
     knees: flex 0
-    shoulders: rotate-in 70
-    elbows: pronate 80
-    reach: hands floor
-    cue &quot;Lift the straight legs toward vertical, low back pressed down&quot;
+    cue &quot;Lift the straight legs toward vertical with the arms relaxed and the low back heavy&quot;
 
-  step &quot;Lower&quot; 1.4s drive:
+  step &quot;Lower&quot; 1.4s settle:
     hips: flex 20
-    shoulders: rotate-in 70
-    elbows: pronate 80
-    reach: hands floor
-    cue &quot;Lower the legs slowly without arching the back&quot;
+    cue &quot;Lower the legs slowly while keeping the ribs quiet and the low back heavy&quot;
 
   repeat 10
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
+         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/forward-lunge.html">Forward lunge</a><a href="/moves/calf-raise.html">Single-leg calf raise</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/tendu.html b/playground/public/moves/tendu.html
index 937828c..1aa1568 100644
--- a/playground/public/moves/tendu.html
+++ b/playground/public/moves/tendu.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Tendu: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Tendu: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the tendu (dance): 2 phases targeting the hip flexors, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Tendu is an intermediate-level dance Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/tendu.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Tendu: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the tendu (dance): 2 phases targeting the hip flexors, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Tendu: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Tendu is an intermediate-level dance Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/tendu.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Tendu","description":"How to do the tendu (dance): 2 phases targeting the hip flexors, body weight, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Brush and point","text":"Brush the right foot forward to a fully pointed tendu, leg turned out"},{"@type":"HowToStep","name":"Close through the floor","text":"Draw the foot back to first position, heel down"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Tendu: a Posecode movement example","description":"Tendu is an intermediate-level dance Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -123,14 +123,17 @@
       <h1>Tendu</h1>
       <p class="meta-line"><b>Target</b> Hip flexors &nbsp;·&nbsp; <b>Equipment</b> Body weight
         &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 4</p>
-      <p>Tendu is a intermediate-level dance movement targeting the
+      <p>Tendu is an intermediate-level dance movement targeting the
         hip flexors, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/tendu">▶ Open Tendu in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Brush and point<span class="step-dur">1.8s · settle</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Tendu&quot;
   rig humanoid
@@ -172,8 +175,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More dance movements</h2>
-         <div class="chip-list"><a href="/moves/dance-phrase.html">Dance phrase (8-count)</a><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/port-de-bras.html">Port de bras</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a></div>
-    
+         <div class="chip-list"><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a><a href="/moves/grapevine.html">Grapevine (travels)</a><a href="/moves/waltz-box.html">Waltz box step</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/touch-toes.html b/playground/public/moves/touch-toes.html
deleted file mode 100644
index 7e33352..0000000
--- a/playground/public/moves/touch-toes.html
+++ /dev/null
@@ -1,189 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Touch your toes: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the touch your toes (mobility): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/touch-toes.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Touch your toes: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the touch your toes (mobility): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/touch-toes.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
-      rel="stylesheet"
-    />
-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
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-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Touch your toes","description":"How to do the touch your toes (mobility): 2 phases targeting the hamstrings, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Fold","text":"Hinge from the hips, bend the knees, and reach your hands down toward your ankles"},{"@type":"HowToStep","name":"Rise","text":"Stack the spine back up to standing tall"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
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-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
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-    <main class="wrap">
-      
-      <p class="eyebrow">Mobility · Back</p>
-      <h1>Touch your toes</h1>
-      <p class="meta-line"><b>Target</b> Hamstrings &nbsp;·&nbsp; <b>Equipment</b> Body weight
-        &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
-      <p>Touch your toes is a beginner-level mobility movement targeting the
-        hamstrings, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/touch-toes">▶ Open Touch your toes in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Fold<span class="step-dur">2.5s · flow</span></span>
-          <span class="step-cue">Hinge from the hips, bend the knees, and reach your hands down toward your ankles</span>
-        </li>
-<li>
-          <span class="step-name">Rise<span class="step-dur">2s · settle</span></span>
-          <span class="step-cue">Stack the spine back up to standing tall</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode stretch &quot;Touch your toes&quot;
-  rig humanoid
-  pose start = standing
-
-  step &quot;Fold&quot; 2.5s flow:
-    pelvis: hinge 95
-    knees: flex 20
-    ankles: plantarflex 20
-    neck: flex 15
-    reach: hand_left ankle_left
-    reach: hand_right ankle_right
-    ground-lock: feet
-    cue &quot;Hinge from the hips, bend the knees, and reach your hands down toward your ankles&quot;
-
-  step &quot;Rise&quot; 2s settle:
-    pelvis: hinge 0
-    knees: flex 0
-    ankles: plantarflex 0
-    neck: flex 0
-    ground-lock: feet
-    cue &quot;Stack the spine back up to standing tall&quot;
-
-  repeat 3
-</code></pre>
-
-      <h2>More mobility movements</h2>
-         <div class="chip-list"><a href="/moves/quad-stretch.html">Standing quad stretch</a><a href="/moves/fold.html">Standing roll-down</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/triceps-dips.html b/playground/public/moves/triceps-dips.html
deleted file mode 100644
index 0223f6f..0000000
--- a/playground/public/moves/triceps-dips.html
+++ /dev/null
@@ -1,222 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Triceps dips: How to Do It (Animated 3D Guide) | Posecode</title>
-    <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
-    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the triceps dips (fitness): 4 phases targeting the triceps, bars, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <link rel="canonical" href="https://www.posecode.org/moves/triceps-dips.html" />
-    <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Triceps dips: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the triceps dips (fitness): 4 phases targeting the triceps, bars, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
-    <meta property="og:type" content="website" />
-    <meta property="og:url" content="https://www.posecode.org/moves/triceps-dips.html" />
-    <meta property="og:site_name" content="Posecode" />
-    <meta property="og:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:image" content="https://www.posecode.org/og.png" />
-    <meta name="twitter:card" content="summary_large_image" />
-    <link rel="preconnect" href="https://fonts.googleapis.com" />
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin />
-    <link
-      href="https://fonts.googleapis.com/css2?family=Hanken+Grotesk:wght@400;500;600;700;800;900&family=JetBrains+Mono:wght@400;500;700&display=swap"
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-    />
-    <style>
-:root{--bg:#0a0d12;--panel:#0f141b;--panel-2:#141a23;--border:#1e2530;--border-2:#2a323f;
---text:#e9eef4;--text-2:#9aa6b4;--muted:#616d7c;--accent:#c6f24a;--accent-2:#a9e02f;
---accent-ink:#0a0d12;--accent-glow:rgba(198,242,74,.45);--accent-wash:rgba(198,242,74,.1);
---accent-line:rgba(198,242,74,.35);--mono:"JetBrains Mono",ui-monospace,"SF Mono",Menlo,monospace;
---sans:"Hanken Grotesk",system-ui,-apple-system,"Segoe UI",sans-serif;--radius:10px;}
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-border:1px solid var(--border-2);border-radius:999px;padding:5px 12px}
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-.domain-group{margin-bottom:26px}
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-footer.site-footer p{font-size:12.5px;color:var(--muted);margin:0 0 6px;max-width:70ch}
-@media(max-width:600px){.wrap{padding:0 18px}}
-</style>
-    <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Triceps dips","description":"How to do the triceps dips (fitness): 4 phases targeting the triceps, bars, intermediate level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Support","text":"Press up to a straight-arm support between the bars"},{"@type":"HowToStep","name":"Lower","text":"Bend the elbows to lower the chest, elbows tracking back"},{"@type":"HowToStep","name":"Press","text":"Press through the palms to straighten the arms"},{"@type":"HowToStep","name":"Dismount","text":"Step down and stand tall"}]}</script>
-    <script>
-      window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
-    </script>
-    <script defer src="/_vercel/insights/script.js"></script>
-  </head>
-  <body>
-    <header class="site-nav">
-      <div class="wrap">
-        <a class="brand" href="/"><svg class="logo" aria-hidden="true" viewBox="0 0 100 100" width="18" height="18" fill="none"><g stroke="currentColor" stroke-width="8" stroke-linecap="round" stroke-linejoin="round"><path d="M50 34V55"/><path d="M50 35L34 26L23 15"/><path d="M50 35L66 26L77 15"/><path d="M50 54L36 72L28 88"/><path d="M50 54L64 72L72 88"/></g><circle cx="50" cy="20" r="10" fill="currentColor"/></svg> Posecode</a>
-        <nav class="links" aria-label="Primary">
-          <a href="/play">Playground</a>
-          <a href="/moves/">Movement library</a>
-          <a href="/spec.html">Language spec</a>
-          <a href="/llm-guide.html">LLM guide</a>
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a>
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-        </nav>
-      </div>
-    </header>
-    <main class="wrap">
-      
-      <p class="eyebrow">Fitness · Upper arms</p>
-      <h1>Triceps dips</h1>
-      <p class="meta-line"><b>Target</b> Triceps &nbsp;·&nbsp; <b>Equipment</b> Bars
-        &nbsp;·&nbsp; <b>Level</b> Intermediate &nbsp;·&nbsp; <b>Reps</b> 8</p>
-      <p>Triceps dips is a intermediate-level fitness movement targeting the
-        triceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
-
-      <a class="btn" href="/play/triceps-dips">▶ Open Triceps dips in the playground →</a>
-
-      <h2>How to do it</h2>
-      <ol class="steps">
-<li>
-          <span class="step-name">Support<span class="step-dur">1s · settle</span></span>
-          <span class="step-cue">Press up to a straight-arm support between the bars</span>
-        </li>
-<li>
-          <span class="step-name">Lower<span class="step-dur">1.2s · flow</span></span>
-          <span class="step-cue">Bend the elbows to lower the chest, elbows tracking back</span>
-        </li>
-<li>
-          <span class="step-name">Press<span class="step-dur">1s · settle</span></span>
-          <span class="step-cue">Press through the palms to straighten the arms</span>
-        </li>
-<li>
-          <span class="step-name">Dismount<span class="step-dur">0.8s · drive</span></span>
-          <span class="step-cue">Step down and stand tall</span>
-        </li>
-      </ol>
-
-      <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
-        angles, not 3D transforms.</p>
-      <pre class="code-block"><code>posecode exercise &quot;Triceps dips&quot;
-  rig humanoid
-  prop dip-bars
-  pose start = standing
-
-  step &quot;Support&quot; 1s settle:
-    shoulders: abduct 5
-    elbows: flex 5
-    elbows: pronate 80
-    fingers: flex 80
-    knees: flex 70
-    ankles: plantarflex 20
-    pin: hands bars
-    cue &quot;Press up to a straight-arm support between the bars&quot;
-
-  step &quot;Lower&quot; 1.2s flow:
-    shoulders: extend 30
-    shoulders: abduct 5
-    elbows: flex 90
-    elbows: pronate 80
-    fingers: flex 80
-    knees: flex 70
-    ankles: plantarflex 20
-    pin: hands bars
-    cue &quot;Bend the elbows to lower the chest, elbows tracking back&quot;
-
-  step &quot;Press&quot; 1s settle:
-    shoulders: extend 0
-    shoulders: abduct 5
-    elbows: flex 5
-    elbows: pronate 80
-    fingers: flex 80
-    knees: flex 70
-    ankles: plantarflex 20
-    pin: hands bars
-    cue &quot;Press through the palms to straighten the arms&quot;
-
-  step &quot;Dismount&quot; 0.8s drive:
-    shoulders: abduct 0
-    elbows: flex 0
-    elbows: pronate 0
-    fingers: flex 0
-    knees: flex 0
-    ankles: plantarflex 0
-    ground-lock: feet
-    cue &quot;Step down and stand tall&quot;
-
-  repeat 8
-</code></pre>
-
-      <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
-    </main>
-    <footer class="site-footer">
-      <div class="wrap">
-        <p>Range-of-motion values are general literature data, not medical advice. Consult a
-        qualified professional for physiotherapy or exercise prescription.</p>
-        <p>
-          <a href="/">Posecode</a>, Apache-2.0-licensed open core &nbsp;·&nbsp;
-          <a href="mailto:hello@posecode.org?subject=Posecode%20Feedback">Feedback</a> &nbsp;·&nbsp;
-          <a href="https://github.com/posecode-dev/posecode/issues" target="_blank" rel="noopener">GitHub Issues</a>
-        </p>
-      </div>
-    </footer>
-  </body>
-</html>
diff --git a/playground/public/moves/twist.html b/playground/public/moves/twist.html
index 9dd7541..fc5c29f 100644
--- a/playground/public/moves/twist.html
+++ b/playground/public/moves/twist.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Standing spinal twist: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Standing spinal twist: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the standing spinal twist (desk &amp; posture): 3 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Standing spinal twist is a beginner-level desk &amp; posture Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/twist.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Standing spinal twist: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the standing spinal twist (desk &amp; posture): 3 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Standing spinal twist: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Standing spinal twist is a beginner-level desk &amp; posture Posecode example with 3 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/twist.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Standing spinal twist","description":"How to do the standing spinal twist (desk & posture): 3 phases targeting the obliques, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Twist right","text":"Rotate through the mid-back, arms at shoulder height, hips facing forward"},{"@type":"HowToStep","name":"Twist left","text":"Pass through center and rotate to the other side"},{"@type":"HowToStep","name":"Center","text":"Unwind back to center"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Standing spinal twist: a Posecode movement example","description":"Standing spinal twist is a beginner-level desk & posture Posecode example with 3 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Standing spinal twist</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Standing spinal twist is a beginner-level desk &amp; posture movement targeting the
         obliques, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/twist">▶ Open Standing spinal twist in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Twist right<span class="step-dur">2.5s · flow</span></span>
@@ -147,31 +150,31 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Standing spinal twist&quot;
   rig humanoid
   pose start = standing
 
   step &quot;Twist right&quot; 2.5s flow:
-    spine: rotate-out 40
-    chest: rotate-out 30
+    spine: twist-right 40
+    chest: twist-right 30
     shoulders: abduct 80
     elbows: flex 90
     ground-lock: feet
     cue &quot;Rotate through the mid-back, arms at shoulder height, hips facing forward&quot;
 
   step &quot;Twist left&quot; 3s flow:
-    spine: rotate-in 40
-    chest: rotate-in 30
+    spine: twist-left 40
+    chest: twist-left 30
     shoulders: abduct 80
     elbows: flex 90
     ground-lock: feet
     cue &quot;Pass through center and rotate to the other side&quot;
 
   step &quot;Center&quot; 1.6s settle:
-    spine: rotate-in 0
-    chest: rotate-in 0
+    spine: twist-left 0
+    chest: twist-left 0
     shoulders: abduct 0
     elbows: flex 0
     ground-lock: feet
@@ -181,8 +184,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More desk &amp; posture movements</h2>
-         <div class="chip-list"><a href="/moves/chest-opener.html">Chest opener</a><a href="/moves/posture.html">Desk posture reset</a><a href="/moves/shoulder-rolls.html">Shoulder rolls</a><a href="/moves/neck-side-stretch.html">Neck side stretch</a><a href="/moves/overhead-reach.html">Overhead reach reset</a></div>
-    
+         <div class="chip-list"><a href="/moves/chest-opener.html">Chest opener</a><a href="/moves/posture.html">Desk posture reset</a><a href="/moves/neck-side-stretch.html">Neck side stretch</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/walk-cycle.html b/playground/public/moves/walk-cycle.html
index 0fbadbf..666cced 100644
--- a/playground/public/moves/walk-cycle.html
+++ b/playground/public/moves/walk-cycle.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Walk &amp; turn: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Walk &amp; turn: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the walk &amp; turn (locomotion): 5 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Walk &amp; turn is a beginner-level locomotion Posecode example with 5 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/walk-cycle.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Walk &amp; turn: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the walk &amp; turn (locomotion): 5 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Walk &amp; turn: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Walk &amp; turn is a beginner-level locomotion Posecode example with 5 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/walk-cycle.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Walk & turn","description":"How to do the walk & turn (locomotion): 5 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Step right","text":"Walk forward: right foot leads, opposite arm swings through"},{"@type":"HowToStep","name":"Step left","text":"Left foot leads, arms swap: keep travelling forward"},{"@type":"HowToStep","name":"About-face","text":"Plant and turn a half-turn to face back the way you came"},{"@type":"HowToStep","name":"Walk back","text":"Walk back toward the start"},{"@type":"HowToStep","name":"Arrive & square up","text":"Arrive home and turn to face front again"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Walk & turn: a Posecode movement example","description":"Walk & turn is a beginner-level locomotion Posecode example with 5 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Walk &amp; turn</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 2</p>
       <p>Walk &amp; turn is a beginner-level locomotion movement targeting the
         full body, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/walk-cycle">▶ Open Walk &amp; turn in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Step right<span class="step-dur">0.7s · flow</span></span>
@@ -155,7 +158,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode exercise &quot;Walk &amp; turn&quot;
   rig humanoid
@@ -215,7 +218,6 @@ <h2>The .posecode source</h2>
 
       <h2>More locomotion movements</h2>
          <div class="chip-list"><a href="/moves/quarter-turns.html">Quarter turns</a></div>
-    
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/wall-sit.html b/playground/public/moves/wall-sit.html
index a6efcc4..f734095 100644
--- a/playground/public/moves/wall-sit.html
+++ b/playground/public/moves/wall-sit.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Wall sit: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Wall sit: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the wall sit (fitness): 2 phases targeting the quadriceps, wall, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Wall sit is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/wall-sit.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Wall sit: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the wall sit (fitness): 2 phases targeting the quadriceps, wall, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Wall sit: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Wall sit is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/wall-sit.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Wall sit","description":"How to do the wall sit (fitness): 2 phases targeting the quadriceps, wall, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"Slide down","text":"Slide the back down the wall until the thighs are parallel"},{"@type":"HowToStep","name":"Hold & rise","text":"Press through the heels and slide back up the wall"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Wall sit: a Posecode movement example","description":"Wall sit is a beginner-level fitness Posecode example with 2 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Wall sit</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 4</p>
       <p>Wall sit is a beginner-level fitness movement targeting the
         quadriceps, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/wall-sit">▶ Open Wall sit in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">Slide down<span class="step-dur">2.5s · flow</span></span>
@@ -143,7 +146,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode posture &quot;Wall sit&quot;
   rig humanoid
@@ -170,8 +173,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More fitness movements</h2>
-         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/mountain-climber.html">Mountain climber</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/bicycle-crunch.html">Bicycle crunch</a></div>
-    
+         <div class="chip-list"><a href="/moves/squat.html">Body-weight squat</a><a href="/moves/deadlift.html">Deadlift (hip hinge)</a><a href="/moves/plank-hold.html">Plank hold</a><a href="/moves/crunch.html">Crunch</a><a href="/moves/supine-leg-raise.html">Lying leg raise</a><a href="/moves/forward-lunge.html">Forward lunge</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/moves/waltz-box.html b/playground/public/moves/waltz-box.html
index 9fbaa3e..c157330 100644
--- a/playground/public/moves/waltz-box.html
+++ b/playground/public/moves/waltz-box.html
@@ -3,14 +3,14 @@
   <head>
     <meta charset="UTF-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Waltz box step: How to Do It (Animated 3D Guide) | Posecode</title>
+    <title>Waltz box step: Posecode Movement Example | Posecode</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="How to do the waltz box step (dance): 6 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta name="description" content="Waltz box step is a beginner-level dance Posecode example with 6 inspectable phases and a link to live 3D playback." />
     <link rel="canonical" href="https://www.posecode.org/moves/waltz-box.html" />
     <meta name="theme-color" content="#0a0d12" />
-    <meta property="og:title" content="Waltz box step: How to Do It (Animated 3D Guide) | Posecode" />
-    <meta property="og:description" content="How to do the waltz box step (dance): 6 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs." />
+    <meta property="og:title" content="Waltz box step: Posecode Movement Example | Posecode" />
+    <meta property="og:description" content="Waltz box step is a beginner-level dance Posecode example with 6 inspectable phases and a link to live 3D playback." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/moves/waltz-box.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -97,7 +97,7 @@
 @media(max-width:600px){.wrap{padding:0 18px}}
 </style>
     <link rel="stylesheet" href="/content-theme.css" />
-    <script type="application/ld+json">{"@context":"https://schema.org","@type":"HowTo","name":"How to do a Waltz box step","description":"How to do the waltz box step (dance): 6 phases targeting the full body, body weight, beginner level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.","step":[{"@type":"HowToStep","name":"1 - right foot forward","text":"Step forward onto the right foot and begin the waltz rise"},{"@type":"HowToStep","name":"2 - left foot side","text":"Step left to the side and continue rising through count two"},{"@type":"HowToStep","name":"3 - close and lower","text":"Close the right foot to the left and lower softly through count three"},{"@type":"HowToStep","name":"4 - left foot back","text":"Step back onto the left foot and begin the second rise"},{"@type":"HowToStep","name":"5 - right foot side","text":"Step right to the side, staying buoyant through count five"},{"@type":"HowToStep","name":"6 - close and lower","text":"Close the left foot and lower with control to complete the six-count box"}]}</script>
+    <script type="application/ld+json">{"@context":"https://schema.org","@type":"TechArticle","headline":"Waltz box step: a Posecode movement example","description":"Waltz box step is a beginner-level dance Posecode example with 6 inspectable phases and a link to live 3D playback."}</script>
     <script>
       window.va = window.va || function () { (window.vaq = window.vaq || []).push(arguments); };
     </script>
@@ -125,12 +125,15 @@ <h1>Waltz box step</h1>
         &nbsp;·&nbsp; <b>Level</b> Beginner &nbsp;·&nbsp; <b>Reps</b> 3</p>
       <p>Waltz box step is a beginner-level dance movement targeting the
         full body, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/waltz-box">▶ Open Waltz box step in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 <li>
           <span class="step-name">1 - right foot forward<span class="step-dur">0.95s · flow</span></span>
@@ -159,7 +162,7 @@ <h2>How to do it</h2>
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>posecode stretch &quot;Waltz box step&quot;
   rig humanoid
@@ -227,8 +230,7 @@ <h2>The .posecode source</h2>
 </code></pre>
 
       <h2>More dance movements</h2>
-         <div class="chip-list"><a href="/moves/dance-phrase.html">Dance phrase (8-count)</a><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/port-de-bras.html">Port de bras</a><a href="/moves/pirouette.html">Pirouette (full turn)</a></div>
-    
+         <div class="chip-list"><a href="/moves/demi-plie.html">Demi-plié</a><a href="/moves/releve.html">Relevé</a><a href="/moves/tendu.html">Tendu</a><a href="/moves/pirouette.html">Pirouette (full turn)</a><a href="/moves/box-step.html">Box step (travels)</a><a href="/moves/grapevine.html">Grapevine (travels)</a></div>
     </main>
     <footer class="site-footer">
       <div class="wrap">
diff --git a/playground/public/sitemap.xml b/playground/public/sitemap.xml
index e1e201e..821e8f9 100644
--- a/playground/public/sitemap.xml
+++ b/playground/public/sitemap.xml
@@ -2,469 +2,319 @@
 <urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9">
   <url>
     <loc>https://www.posecode.org/</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>1.0</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/play</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.9</priority>
   </url>
-  <url>
-    <loc>https://www.posecode.org/for-products</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>monthly</changefreq>
-    <priority>0.8</priority>
-  </url>
   <url>
     <loc>https://www.posecode.org/moves/</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.8</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/spec.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.6</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/llm-guide.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.6</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/squat.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
-    <loc>https://www.posecode.org/moves/dance-phrase.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <loc>https://www.posecode.org/moves/superhero-landing.html</loc>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/deadlift.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/shoulder-abduction.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/front-kick.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/good-morning.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/chest-opener.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/plank-hold.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/mountain-climber.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/crunch.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/bicycle-crunch.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/supine-leg-raise.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/superman.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/forward-lunge.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/calf-raise.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/jumping-jacks.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/box-step-taps.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/pull-up.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/step-up.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/triceps-dips.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/quad-stretch.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/hip-flexion.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/knee-flexion.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/spine-rotation.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/elbow-forearm.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/heel-raises.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/hamstring-curl.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/hip-abduction.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/shoulder.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/neck.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/posture.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/twist.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/shoulder-rolls.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/neck-side-stretch.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/overhead-reach.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/jab-cross.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/horse-stance.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/bow.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/arm-circles.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/high-knee-march.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/demi-plie.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/releve.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/tendu.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/port-de-bras.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/bent-over-row.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/biceps.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/lateral.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/fold.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/chair.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/sidebend.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/touch-toes.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/cross-body-reach.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/glute-bridge.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/dead-bug.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/cobra.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/seated-forward-fold.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/sit-to-stand.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/box-squat.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/wall-sit.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/dead-hang.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/hanging-knee-raise.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/make-a-fist.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/pinch-grip.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/finger-spell.html</loc>
-    <lastmod>2026-07-16</lastmod>
-    <changefreq>weekly</changefreq>
-    <priority>0.5</priority>
-  </url>
-  <url>
-    <loc>https://www.posecode.org/moves/hand-wave.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/pirouette.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/box-step.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/grapevine.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/waltz-box.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/chasse.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/walk-cycle.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
   <url>
     <loc>https://www.posecode.org/moves/quarter-turns.html</loc>
-    <lastmod>2026-07-16</lastmod>
+    <lastmod>2026-07-17</lastmod>
     <changefreq>weekly</changefreq>
     <priority>0.5</priority>
   </url>
diff --git a/playground/public/spec.html b/playground/public/spec.html
index 4d25e91..7a23679 100644
--- a/playground/public/spec.html
+++ b/playground/public/spec.html
@@ -6,11 +6,11 @@
     <title>Posecode Language Specification: The .posecode Kinematic Motion DSL</title>
     <link rel="icon" type="image/png" sizes="192x192" href="/favicon-192.png" />
     <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
-    <meta name="description" content="The full Posecode v0.2 grammar, timing modes, joints, actions, and range-of-motion tables: a small text language LLMs write to describe human movement as an animated 3D figure." />
+    <meta name="description" content="The full Posecode v0.2 grammar, timing modes, joints, actions, and configured range-of-motion tables for a text language capable LLMs can use to describe human movement." />
     <link rel="canonical" href="https://www.posecode.org/spec.html" />
     <meta name="theme-color" content="#0a0d12" />
     <meta property="og:title" content="Posecode Language Specification: The .posecode Kinematic Motion DSL" />
-    <meta property="og:description" content="The full Posecode v0.2 grammar, timing modes, joints, actions, and range-of-motion tables: a small text language LLMs write to describe human movement as an animated 3D figure." />
+    <meta property="og:description" content="The full Posecode v0.2 grammar, timing modes, joints, actions, and configured range-of-motion tables for a text language capable LLMs can use to describe human movement." />
     <meta property="og:type" content="website" />
     <meta property="og:url" content="https://www.posecode.org/spec.html" />
     <meta property="og:site_name" content="Posecode" />
@@ -122,36 +122,40 @@
 <h1>Posecode Protocol Specification v0.2</h1>
 <p>Posecode is a small text language for describing a single person's <strong>kinematic movement</strong> so it can be rendered as an animated 3D figure in a web browser.</p>
 <p>It is to human movement what Mermaid is to diagrams: an LLM (or a human) writes a compact, readable document; a client-side parser + renderer turns it into a moving mannequin. The model never produces 3D matrices: it expresses the *semantic phases* of a movement, which it already understands.</p>
-<ul><li><strong>Version keyword:</strong> documents declare nothing; this is <code>posecode 0.2</code>.</li><li><strong>Compatibility:</strong> v0.2 parsers continue to accept the v0.1 easing aliases.</li><li><strong>File extension:</strong> <code>.posecode</code></li><li><strong>Compute model:</strong> generation is pure text (server-cheap); all 3D math runs</li></ul>
-<p>on the client (Three.js). See the project research §6.</p>
+<ul><li><strong>Version keyword:</strong> documents declare nothing; this is <code>posecode 0.2</code>.</li><li><strong>Compatibility:</strong> v0.2 parsers continue to accept the v0.1 easing aliases.</li><li><strong>File extension:</strong> <code>.posecode</code></li><li><strong>Compute model:</strong> generation is pure text (server-cheap); all 3D math runs on the client (Three.js). See the project research §6.</li></ul>
 <hr>
 <h2>1. Grammar</h2>
 <p>Posecode is line- and indentation-oriented. Comments start with <code>#</code> or <code>//</code>.</p>
 <pre class="code-block" data-lang="ebnf"><code>document   = header { directive } ;
 header     = &quot;posecode&quot; kind STRING ;
-kind       = &quot;exercise&quot; | &quot;stretch&quot; | &quot;posture&quot; ;       (* free-form word *)
+kind       = &quot;exercise&quot; | &quot;stretch&quot; | &quot;posture&quot; ;
 directive  = rig | prop | pose | clip | step | repeat ;
-rig        = &quot;rig&quot; WORD ;
-prop       = &quot;prop&quot; WORD ;                              (* chair|wall|bar|box|dip-bars, repeatable *)
-pose       = &quot;pose&quot; &quot;start&quot; &quot;=&quot; WORD ;                  (* neutral|standing|plank|supine|prone|seated *)
+rig        = &quot;rig&quot; &quot;humanoid&quot; ;
+prop       = &quot;prop&quot; (&quot;chair&quot;|&quot;wall&quot;|&quot;bar&quot;|&quot;box&quot;|&quot;dip-bars&quot;) ;
+pose       = &quot;pose&quot; &quot;start&quot; &quot;=&quot; startPose ;
+startPose  = &quot;neutral&quot;|&quot;standing&quot;|&quot;plank&quot;|&quot;supine&quot;|&quot;prone&quot;|&quot;seated&quot; ;
 clip       = &quot;clip&quot; STRING ;                            (* optional mocap clip; renderer may retarget &amp; blend *)
 repeat     = &quot;repeat&quot; NUMBER ;
 step       = &quot;step&quot; STRING DURATION timingMode &quot;:&quot; { child } ;
 timingMode = &quot;flow&quot; | &quot;settle&quot; | &quot;drive&quot; | &quot;snap&quot; | &quot;linear&quot; ;
-child      = jointTarget | groundLock | reach | pin | turn | travel | cue ;
+child      = jointTarget | groundLock | reach | pin | grip | turn | travel | cue ;
 jointTarget= joint &quot;:&quot; action [ NUMBER ] ;
 groundLock = &quot;ground-lock&quot; &quot;:&quot; floorContact { &quot;,&quot; floorContact } ;
 floorContact = &quot;hands&quot; | &quot;forearms&quot; | &quot;feet&quot; | &quot;back&quot;
              | ( &quot;hand&quot; | &quot;elbow&quot; | &quot;foot&quot; ) &quot;_&quot; ( &quot;left&quot; | &quot;right&quot; )
              | ( &quot;left&quot; | &quot;right&quot; ) ( &quot;hand&quot; | &quot;forearm&quot; | &quot;elbow&quot; | &quot;foot&quot; ) ;
 reach      = &quot;reach&quot; &quot;:&quot; effector target ;             (* effector → world target via ROM-constrained IK *)
-pin        = &quot;pin&quot; &quot;:&quot; effector anchor ;               (* move the BODY so effector sits on anchor *)
+pin        = &quot;pin&quot; &quot;:&quot; effector anchor ;               (* move the BODY to one primary contact *)
+grip       = &quot;grip&quot; &quot;:&quot; handEffector gripAnchor ;      (* hand contact on a bar or rails *)
+handEffector = &quot;hands&quot; | &quot;hand_left&quot; | &quot;hand_right&quot; ;
+gripAnchor = &quot;bar&quot; | &quot;bars&quot; ;
 turn       = &quot;turn&quot; &quot;:&quot; NUMBER ;                       (* face this yaw (deg) by phase end *)
 travel     = &quot;travel&quot; &quot;:&quot; NUMBER NUMBER ;              (* move to this x z (metres) by phase end *)
 cue        = &quot;cue&quot; STRING ;
 DURATION   = NUMBER &quot;s&quot; ;                                (* e.g. 2s, 1.5s *)</code></pre>
 <p>A <code>step</code> is one <strong>phase</strong> of the movement. Phases run in sequence; within a phase, all joint targets apply concurrently.</p>
-<p>Ground locks accept the groups <code>hands</code>, <code>forearms</code>, and <code>feet</code>, plus the single-side forms <code>hand_left|hand_right</code>, <code>elbow_left|elbow_right</code>, and <code>foot_left|foot_right</code>. Human-readable <code>left foot</code>, <code>right foot</code>, <code>left hand</code>, and related forms normalize to the canonical side-specific names.</p>
+<p>The header kind, rig, props, start poses, joints, actions, effectors, targets, and timing modes are closed vocabularies. Unknown values are errors; the parser does not accept a plausible-looking word and leave it for the renderer to ignore.</p>
+<p>Ground locks accept the groups <code>hands</code>, <code>forearms</code>, and <code>feet</code>, the axial surface contact <code>back</code>, plus the single-side forms <code>hand_left|hand_right</code>, <code>elbow_left|elbow_right</code>, and <code>foot_left|foot_right</code>. Human-readable <code>left foot</code>, <code>right foot</code>, <code>left hand</code>, and related forms normalize to the canonical side-specific names.</p>
 <p>Timing modes describe how motion crosses the phase boundary:</p>
 <div class="table-wrap"><table><thead><tr><th>Mode</th><th>Use</th></tr></thead><tbody>
 <tr><td><code>flow</code></td><td>Carry velocity smoothly through the pose.</td></tr>
@@ -181,16 +185,19 @@ <h2>3. Actions</h2>
 <tr><td><code>flex</code> / <code>extend</code></td><td>X (sagittal)</td><td>bend / straighten</td></tr>
 <tr><td><code>abduct</code> / <code>adduct</code></td><td>Z (frontal)</td><td>away from / toward midline</td></tr>
 <tr><td><code>rotate-in</code> / <code>rotate-out</code></td><td>Y (longitudinal)</td><td>internal / external rotation</td></tr>
+<tr><td><code>twist-left</code> / <code>twist-right</code></td><td>Y (longitudinal)</td><td>unambiguous axial turn for spine, chest, neck, or head</td></tr>
 <tr><td><code>supinate</code> / <code>pronate</code></td><td>Y</td><td>forearm turn</td></tr>
 <tr><td><code>dorsiflex</code> / <code>plantarflex</code></td><td>X</td><td>ankle up / down</td></tr>
 <tr><td><code>hinge</code></td><td>X</td><td>tip the torso forward over the hips (<code>pelvis</code> only)</td></tr>
-<tr><td><code>hold neutral</code></td><td>n/a</td><td>keep at rest</td></tr>
+<tr><td><code>hold neutral</code></td><td>all</td><td>reset every channel on the named joint to rest</td></tr>
 </tbody></table></div>
 <p><code>hinge</code> is a <strong>hip hinge</strong>: applied to the <code>pelvis</code>, it pivots the torso forward over the hip line while the legs stay planted and vertical (the renderer counter-rotates the hips). Use it, not spinal <code>flex</code>, for a flat-back forward bend: deadlift, bent-over row, good-morning, or a bow.</p>
+<p><code>rotate-in</code> / <code>rotate-out</code> describe internal and external rotation only on a shoulder or hip. Use <code>twist-left</code> / <code>twist-right</code> for axial bones; older axial uses of rotate-in/out remain readable during the compatibility window but emit an authoring hint.</p>
+<p>Each authored action changes one Euler channel. Other channels on that joint carry forward from the prior phase. <code>hold neutral</code> is the deliberate exception: it resets all three channels, so it is suitable for an explicit recovery.</p>
 <p><strong>Coordinate convention:</strong> rest pose is standing, arms at sides, facing +Z. The renderer's mannequin is built in this same convention so the parser's resolved Euler angles apply directly.</p>
 <hr>
-<h2>4. Range of Motion (safety)</h2>
-<p>Every angle is <strong>hard-clamped</strong> to a healthy Range of Motion before rendering; a clamp emits a warning (it does not fail the parse). Limits follow the research §5.1 normative tables. Selected ceilings (degrees):</p>
+<h2>4. Configured range-of-motion limits</h2>
+<p>Every authored angle is clamped to the rig's configured per-axis limits before rendering; a clamp emits a warning (it does not fail the parse). Reach IK and contact orientation are constrained against the same per-axis boxes. These are simplified reference limits for visualization, not a medical or whole-movement safety guarantee. Selected ceilings (degrees):</p>
 <div class="table-wrap"><table><thead><tr><th>Joint</th><th>flex</th><th>extend</th><th>abduct</th><th>other</th></tr></thead><tbody>
 <tr><td>shoulder</td><td>180</td><td>60</td><td>180</td><td>rot-in 70 / rot-out 90</td></tr>
 <tr><td>elbow</td><td>154</td><td>10</td><td>n/a</td><td>supinate 92 / pronate 84</td></tr>
@@ -203,28 +210,14 @@ <h2>4. Range of Motion (safety)</h2>
 <tr><td>spine</td><td>90</td><td>30</td><td>35</td><td>rotate 45</td></tr>
 <tr><td>neck</td><td>50</td><td>60</td><td>45</td><td>rotate 80</td></tr>
 </tbody></table></div>
-<p>&gt;  These are general literature values, not medical advice. Consult a &gt; qualified professional for physiotherapy or exercise prescription.</p>
+<p><strong>Note:</strong> These are general literature values, not medical advice. Consult a qualified professional for physiotherapy or exercise prescription.</p>
+<p>A pelvis hinge counter-rotates the hips in the renderer. The validator therefore also checks the <strong>combined</strong> hinge + carried hip-flexion result and clamps the newly authored channel when their composed local hip angle would exceed 135°.</p>
 <hr>
 <h2>5. Rendering model</h2>
-<ol><li><strong>Forward kinematics</strong>: each phase sets joint angles; the renderer uses</li></ol>
-<p>C1-continuous quaternion splines between keyframes, shaped by the destination phase's timing mode.</p>
-<ol><li><strong>Grounding</strong>: the figure is dropped so its lowest point rests on the floor</li></ol>
-<p>(a bounding-box drop), which grounds standing, plank, and the lying/seated poses alike.</p>
-<ol><li><strong>Ground-lock</strong>: contacts listed in <code>ground-lock</code> (<code>hands</code>, <code>forearms</code>,</li></ol>
-<p><code>feet</code>, or the per-side aliases <code>hand_left|hand_right</code>, <code>elbow_left|elbow_right</code>, <code>foot_left|foot_right</code>) stay planted while the body moves. <code>back</code> holds the pelvis-to-ribcage surface on the floor for supine work such as dead bugs. Unsupported contact names are line-anchored validation errors.</p>
-<ol><li><strong>Reach-IK</strong>: a <code>reach:</code> line drives an effector (`hand_left|hand_right|</li></ol>
-<p>foot_left|foot_right<code>, or the groups </code>hands<code>/</code>feet<code> for both sides) to a world <strong>target</strong> via Cyclic Coordinate Descent (CCD) over the arm/leg chain. A target is a body landmark bone (e.g. </code>ankle_left<code>), the keyword </code>floor<code>, or a prop anchor (</code>bar<code>, </code>seat<code>, </code>wall`). The solve is <strong>ROM-constrained</strong>: each iteration clamps every chain joint into its §4 Range-of-Motion limits (expressed as a per-axis box in the bone's local Euler frame), so a reach toward an unsafe or unreachable target settles on the closest *healthy* pose; solved angles obey the same hard limits as authored ones.</p>
-<ol><li><strong>Props</strong>: <code>prop chair|wall|bar|box|dip-bars</code> adds a scene object at a</li></ol>
-<p>fixed default placement (chair/wall behind, bar overhead, box in front, dip bars either side); its named anchors (<code>seat</code>, <code>wall</code>, <code>bar</code>, <code>box</code>, <code>bars</code>) become reach/pin targets. Props are <strong>solid</strong>: each prop declares blocking faces (the wall's surface, the chair's backrest and seat edge, the box's near face) and a contact pass removes any body overlap: either by translating the whole figure out along the face normal (a wall-sit slides down the wall's *surface*, feet walking forward, instead of the torso hinging through the slab) or by bending the offending limb's hip clear, ROM-clamped like every other solve. Limbs pinned, gripped, or reached to a prop anchor are that phase's declared support and are exempt (a foot standing on the box top is not &quot;inside&quot; the box).</p>
-<ol><li><strong>Pins</strong>: <code>pin: &lt;effector&gt; &lt;anchor&gt;</code> translates the whole figure so the</li></ol>
-<p>effector sits on the anchor (effectors accept the same <code>hands</code>/<code>feet</code> groups as reach: <code>pin: hands bar</code> pins both). Where ground-lock keeps a foot on the floor and reach moves a limb to a target, a <strong>pin moves the body</strong> while the contact stays put, so the figure hangs from a bar, pulls up toward it, rises onto a box, or lowers into a dip as the joints work. Symmetric bar contacts resolve to side-specific anchors automatically (<code>bar.left</code> / <code>bar.right</code>, <code>bars.left</code> / <code>bars.right</code>). Contact post-processing also keeps floor-contacting soles level and gives bar-contacting wrists a stable overhand orientation; existing Posecode syntax remains unchanged.</p>
-<ol><li><strong>Spatial choreography</strong>: <code>turn: &lt;deg&gt;</code> rotates the figure's facing (yaw</li></ol>
-<p>about vertical) and <code>travel: &lt;x&gt; &lt;z&gt;</code> moves it across the floor (world metres from the load spot). Both are <strong>absolute targets carried across phases</strong> (like joint angles) and both return home on the loop wrap, so a box-step traces a square back to start and a pirouette spins a full turn. They layer under grounding (feet still rest on the floor) and power pirouettes, grapevines, traveling combos, and walk cycles. <strong>Standing poses only</strong>: combining with lying/seated bases (whose root is already tilted) is out of scope.</p>
-<ol><li><strong>Looping</strong>: the timeline loops base → phases → base; <code>repeat</code> is the rep</li></ol>
-<p>count surfaced to the UI.</p>
-<p>When a mocap clip is active, the renderer selects the take containing the most actual bone motion (rather than blindly choosing the longest embedded take), retargets and blends it, then restores solved terminal contacts on the visible character. Mocap therefore cannot overwrite a planted sole or pinned grip.</p>
+<ol><li><strong>Forward kinematics</strong>: each phase sets joint angles; the renderer uses C1-continuous quaternion splines between keyframes, shaped by the destination phase's timing mode.</li><li><strong>Grounding</strong>: the figure is dropped so its lowest point rests on the floor (a bounding-box drop), which grounds standing, plank, and the lying/seated poses alike.</li><li><strong>Ground-lock</strong>: contacts listed in <code>ground-lock</code> (<code>hands</code>, <code>forearms</code>, <code>feet</code>, or the per-side aliases <code>hand_left|hand_right</code>, <code>elbow_left|elbow_right</code>, <code>foot_left|foot_right</code>) stay planted while the body moves. <code>back</code> holds the pelvis-to-ribcage surface on the floor for supine work such as dead bugs. Unsupported contact names are line-anchored validation errors.</li><li><strong>Reach-IK</strong>: a <code>reach:</code> line drives an effector (<code>hand_*</code>, <code>fist_*</code>, <code>elbow_*</code>, <code>knee_*</code>, or <code>foot_*</code>, plus their supported groups) to a world <strong>target</strong> via Cyclic Coordinate Descent (CCD) over the arm/leg chain. A target is a body landmark bone (e.g. <code>ankle_left</code>), the keyword <code>floor</code>, or a prop anchor (<code>bar</code>, <code>seat</code>, <code>wall</code>). The solve is <strong>ROM-constrained</strong>: each iteration clamps every chain joint into its §4 configured range-of-motion limits (expressed as a per-axis box in the bone's local Euler frame), so a reach toward an unreachable target settles on the closest pose available within that configured joint-angle box; solved angles obey the same limits as authored ones. The viewer records a post-solve residual for every active reach. A reach target is not reported as reached merely because its syntax parsed: missing, unsupported, and geometrically unreachable reach targets remain explicit diagnostics.</li><li><strong>Props</strong>: <code>prop chair|wall|bar|box|dip-bars</code> adds a scene object at a fixed default placement (chair/wall behind, bar overhead, box in front, dip bars either side); its named anchors (<code>seat</code>, <code>wall</code>, <code>bar</code>, <code>box</code>, <code>bars</code>) become reach, pin, or grip targets. Selected prop surfaces declare sampled blocking faces (the wall's surface, the chair's backrest and seat edge, the box's near face). A bounded contact pass reduces penetration, either by translating the whole figure out along the face normal (a wall-sit slides down the wall's *surface*, feet walking forward, instead of the torso hinging through the slab) or by bending the offending limb's hip clear, ROM-clamped like every other solve. Limbs pinned, gripped, or reached to a prop anchor are that phase's declared support and are exempt (a foot standing on the box top is not &quot;inside&quot; the box).</li><li><strong>Pins</strong>: <code>pin: &lt;effector&gt; &lt;anchor&gt;</code> translates the whole figure so one primary effector sits on the anchor. Where ground-lock preserves an already planted floor support and reach moves a limb to a target, a <strong>pin moves the body</strong>. Typical uses include <code>pin: knee_left floor</code>, <code>pin: foot_right box</code>, and <code>pin: pelvis floor</code>. A phase accepts one pin because each pin translates the same floating root; express additional simultaneous contacts with independent <code>reach</code> constraints. Use <code>grip</code> instead of hand pins for a two-handed bar or rail contact.</li><li><strong>Grips</strong>: <code>grip: hands bar|bars</code> is the dedicated two-hand contact for an overhead bar or dip rails; side-specific <code>hand_left</code> / <code>hand_right</code> forms are also available. A grip resolves independent left/right anchors, uses arm IK for each hand, orients the terminal contact, and closes the fingers. The matching prop must be declared. Use grips, rather than hand pins, for hangs, pull-ups, and dips.</li><li><strong>Spatial choreography</strong>: <code>turn: &lt;deg&gt;</code> rotates the figure's facing (yaw about vertical) and <code>travel: &lt;x&gt; &lt;z&gt;</code> moves it across the floor (world metres from the load spot). Both are <strong>absolute targets carried across phases</strong> (like joint angles) and both return home on the loop wrap, so a box-step traces a square back to start and a pirouette spins a full turn. They layer under grounding (feet still rest on the floor) and power pirouettes, grapevines, traveling combos, and walk cycles. <strong>Standing poses only</strong>: combining with lying/seated bases (whose root is already tilted) is out of scope.</li><li><strong>Looping</strong>: the timeline loops base → phases → base; <code>repeat</code> is the rep count surfaced to the UI.</li></ol>
+<p>When a mocap clip is active, the renderer selects the take containing the most actual bone motion (rather than blindly choosing the longest embedded take), retargets and blends it, then restores solved terminal contacts on the visible character. Mocap therefore cannot overwrite a planted sole or active grip.</p>
 <p><strong>Start poses:</strong> <code>neutral</code>, <code>standing</code>, <code>plank</code>, <code>supine</code> (face-up), <code>prone</code> (face-down), <code>seated</code> (long-sit on the floor).</p>
-<p><strong>IK note:</strong> Three.js's bundled <code>CCDIKSolver</code> targets <code>SkinnedMesh</code>; the Posecode mannequin is rigid capsule segments, so Posecode implements CCD directly over the Object3D bone hierarchy (<code>posecode-render/ik.ts</code>) for both ground-lock and reach. Self-collision (limb-vs-body) and body-vs-prop contact are solved; two-person/ dual-IK and figure-vs-figure collision remain deferred (research §5.2, §6.2).</p>
+<p><strong>IK note:</strong> Three.js's bundled <code>CCDIKSolver</code> targets <code>SkinnedMesh</code>; the Posecode mannequin is rigid capsule segments, so Posecode implements CCD directly over the Object3D bone hierarchy (<code>posecode-render/ik.ts</code>) for both ground-lock and reach. Selected limb-vs-body and body-vs-prop penetrations are reduced with sampled, bounded correction passes; this is not comprehensive collision detection or a physics simulation. Two-person/dual-IK and figure-vs-figure collision remain deferred (research §5.2, §6.2).</p>
 <hr>
 <h2>6. Intermediate Representation (IR)</h2>
 <p><code>parse(source)</code> returns <code>{ ir, warnings, errors }</code>. The IR is renderer-agnostic; angles are in <strong>degrees</strong>.</p>
@@ -239,8 +232,17 @@ <h2>6. Intermediate Representation (IR)</h2>
     name: string;
     durationSec: number;
     easing: &quot;flow&quot; | &quot;settle&quot; | &quot;drive&quot; | &quot;snap&quot; | &quot;linear&quot;;
-    targets: { boneId: string; euler: { x: number; y: number; z: number } }[];
+    targets: {
+      boneId: string;
+      euler: { x: number; y: number; z: number };
+      axes?: (&quot;x&quot; | &quot;y&quot; | &quot;z&quot;)[]; // channels explicitly authored this phase
+    }[];
     groundLock: string[];   // [&quot;hands&quot;,&quot;feet&quot;], [&quot;foot_right&quot;], or [&quot;back&quot;]
+    reaches: { effector: string; target: string }[];
+    pins: { effector: string; anchor: string }[];
+    grips: { effector: string; anchor: string }[];
+    turnDeg?: number;
+    travel?: { x: number; z: number };
     cue?: string;
   }[];
 }</code></pre>
diff --git a/playground/scripts/load-presets.mjs b/playground/scripts/load-presets.mjs
new file mode 100644
index 0000000..69db35e
--- /dev/null
+++ b/playground/scripts/load-presets.mjs
@@ -0,0 +1,16 @@
+/** Load the TypeScript preset catalog through the playground's own Vite dependency. */
+import { createServer } from "vite";
+
+export async function loadPlaygroundPresets(playgroundRoot) {
+  const server = await createServer({
+    root: playgroundRoot,
+    appType: "custom",
+    server: { middlewareMode: true, hmr: false, ws: false },
+  });
+  try {
+    const module = await server.ssrLoadModule("/src/presets.ts");
+    return module.PRESETS;
+  } finally {
+    await server.close();
+  }
+}
diff --git a/playground/src/editor.ts b/playground/src/editor.ts
index a9d6968..5f509b3 100644
--- a/playground/src/editor.ts
+++ b/playground/src/editor.ts
@@ -47,62 +47,51 @@ import {
   getHover,
   type CompletionKind,
 } from "posecode-language";
+import {
+  ACTION_NAMES,
+  EFFECTOR_NAMES,
+  GROUND_LOCK_EFFECTOR_NAMES,
+  JOINT_NAMES,
+  MODES,
+  MOVEMENT_KINDS,
+  PROP_TYPES,
+  START_POSE_NAMES,
+} from "posecode-parser";
 
 // --- Syntax highlighting ----------------------------------------------------
 
 const KEYWORDS = new Set([
   "posecode",
   "rig",
+  "prop",
   "pose",
   "start",
+  "clip",
   "step",
   "repeat",
   "ground-lock",
+  "reach",
+  "pin",
+  "grip",
+  "turn",
+  "travel",
   "cue",
   "hold",
 ]);
-const KINDS = new Set(["exercise", "stretch", "posture"]);
-const ACTIONS = new Set([
-  "flex",
-  "extend",
-  "abduct",
-  "adduct",
-  "rotate-in",
-  "rotate-out",
-  "supinate",
-  "pronate",
-  "dorsiflex",
-  "plantarflex",
-]);
+const KINDS = new Set<string>(MOVEMENT_KINDS);
+const ACTIONS = new Set<string>(ACTION_NAMES);
 const ATOMS = new Set([
-  "flow",
-  "settle",
-  "drive",
-  "snap",
-  "linear",
+  ...MODES,
   "ease-in",
   "ease-out",
   "ease-in-out",
-  "neutral",
-  "standing",
-  "plank",
-  "hands",
-  "feet",
+  ...START_POSE_NAMES,
+  ...PROP_TYPES,
+  ...EFFECTOR_NAMES,
+  ...GROUND_LOCK_EFFECTOR_NAMES,
   "humanoid",
 ]);
-const JOINTS = new Set([
-  "shoulders",
-  "elbows",
-  "wrists",
-  "hips",
-  "knees",
-  "ankles",
-  "pelvis",
-  "spine",
-  "chest",
-  "neck",
-  "head",
-]);
+const JOINTS = new Set<string>(JOINT_NAMES);
 
 const posecodeStream = StreamLanguage.define<{ inStep: boolean }>({
   name: "posecode",
diff --git a/playground/src/landing.ts b/playground/src/landing.ts
index 3aa9aad..549628a 100644
--- a/playground/src/landing.ts
+++ b/playground/src/landing.ts
@@ -8,7 +8,6 @@
 import { parse } from "posecode-parser";
 import { inject } from "@vercel/analytics";
 import { PRESETS } from "./presets.js";
-import { SHOWCASE_CLIPS } from "./clips.js";
 import llmPrompt from "../../spec/llm-authoring.md?raw";
 
 inject();
@@ -33,17 +32,14 @@ function initHero(): void {
       // Realistic skinned figure without flashing the procedural fallback.
       characterUrl: "/models/xbot.glb",
       showProceduralWhileLoading: false,
-      // Marketing surface: the hero movement declares `clip "jumping-jacks"`, so
-      // it plays the retargeted Mixamo mocap for maximum polish on first paint.
-      clips: SHOWCASE_CLIPS,
     });
     const phaseEl = document.getElementById("hero-phase");
     viewer.onPhase(({ phaseName }) => {
       if (phaseEl) phaseEl.textContent = phaseName === "reset" ? "" : phaseName;
     });
-    // Hero movement: jumping jacks. Full-body, symmetric, and cyclical, so it
-    // reads instantly and loops seamlessly through the neutral standing pose.
-    const heroPreset = PRESETS.find((p) => p.id === "jumping-jacks") ?? PRESETS[0]!;
+    // The launch hero is procedural. The visible chip is a contact-phase
+    // excerpt from the preset source driving the XBot, with no hidden mocap.
+    const heroPreset = PRESETS.find((p) => p.id === "superhero-landing") ?? PRESETS[0]!;
     const { ir } = parse(heroPreset.source);
     if (ir) {
       viewer.load(ir);
@@ -61,13 +57,24 @@ if ("requestIdleCallback" in window) {
   setTimeout(initHero, 200);
 }
 
-// --- Examples gallery: a curated taste, not the full 65 ---------------------
+// --- Examples gallery: a curated taste, not the full library ----------------
 // The full library already has a proper filterable/grouped gallery in the
 // playground itself (domain, body part, equipment, difficulty). Dumping all
-// 65 cards into the landing page turned this section into a long doom-scroll
+// library into the landing page turned this section into a long doom-scroll
 // on mobile, so show a handful of visually distinct highlights spanning
 // different domains, then hand off to the real gallery.
-const HIGHLIGHT_IDS = ["dance-phrase", "pull-up", "cobra", "touch-toes", "hand-wave"];
+// Launch surfaces feature examples that have cleared the experimental
+// gate. Experimental movements remain available in the full library.
+const HIGHLIGHT_IDS = ["squat", "deadlift", "front-kick", "sit-to-stand", "demi-plie"];
+const READY_PRESETS = PRESETS.filter((p) => p.status === "ready");
+const EXPERIMENTAL_PRESETS = PRESETS.filter((p) => p.status === "experimental");
+
+const catalogMeta = document.getElementById("catalog-meta");
+if (catalogMeta) {
+  catalogMeta.textContent =
+    `${READY_PRESETS.length} launch-ready moves · ${EXPERIMENTAL_PRESETS.length} experimental previews · ` +
+    "validated text · open source · runs on-device";
+}
 
 const grid = document.getElementById("examples-grid");
 if (grid) {
@@ -85,14 +92,14 @@ if (grid) {
     grid.append(card);
   }
 
-  const remaining = PRESETS.length - HIGHLIGHT_IDS.length;
+  const remaining = READY_PRESETS.length - HIGHLIGHT_IDS.length;
   const more = document.createElement("a");
   more.className = "example-card example-more";
   more.href = "/play";
   more.innerHTML = `
     <span class="example-kind">Full library</span>
-    <span class="example-name">+${remaining} more movements</span>
-    <span class="example-go">Browse &amp; filter by domain →</span>`;
+    <span class="example-name">+${remaining} more launch-ready movements</span>
+    <span class="example-go">Browse ready work or opt into ${EXPERIMENTAL_PRESETS.length} previews →</span>`;
   grid.append(more);
 }
 
diff --git a/playground/src/main.ts b/playground/src/main.ts
index 8277164..52eba58 100644
--- a/playground/src/main.ts
+++ b/playground/src/main.ts
@@ -7,7 +7,7 @@
  * the side panel. This mirrors how an LLM-authored doc would be pasted in.
  */
 
-import { parse } from "posecode-parser";
+import { parse, type ParseError, type Warning } from "posecode-parser";
 import { inject } from "@vercel/analytics";
 import type { Viewer } from "posecode-render";
 import {
@@ -20,11 +20,9 @@ import type { PosecodeEditor } from "./editor.js";
 import { ANIMATION_PROGRESS_MESSAGE, PRESETS } from "./presets.js";
 import { SHOWCASE_CLIPS } from "./clips.js";
 
-// The movement shown on first open (no shared link). Jumping jacks plays the
-// Mixamo showcase clip, so the playground greets visitors with polished mocap
-// while every other preset — and the editor once you engage — stays procedural.
-// Falls back to the first library entry if the id is ever removed.
-const DEFAULT_PRESET = PRESETS.find((p) => p.id === "jumping-jacks") ?? PRESETS[0]!;
+// Open on a deterministic, fully procedural movement. Mocap-backed or
+// Experimental presets should never be the product's first impression.
+const DEFAULT_PRESET = PRESETS.find((p) => p.id === "squat") ?? PRESETS[0]!;
 import { renderWarnings } from "./warnings.js";
 import llmPrompt from "../../spec/llm-authoring.md?raw";
 
@@ -65,6 +63,28 @@ let rep = 1;
 // Maps each phase name → the 1-based line range of its `step` block, so the
 // editor can highlight the lines driving the currently-animating phase.
 let phaseRanges = new Map<string, { from: number; to: number }>();
+let lastParseErrors: ParseError[] = [];
+let lastRomWarnings: Warning[] = [];
+let lastContactSignature = "";
+let lastContactRefresh = 0;
+
+/** Merge live IK residuals with source diagnostics without repainting each frame. */
+function refreshContactDiagnostics(force = false): void {
+  if (!viewer) return;
+  const contacts = viewer.getReachResiduals();
+  const signature = contacts
+    .filter((contact) => contact.weight >= 0.98 && !contact.reached)
+    .map((contact) =>
+      `${contact.effector}|${contact.target}|${contact.reason ?? ""}|${
+        contact.distance === null ? "null" : Math.round(contact.distance * 1000)
+      }`,
+    )
+    .sort()
+    .join(";");
+  if (!force && signature === lastContactSignature) return;
+  lastContactSignature = signature;
+  renderWarnings(warnings, lastParseErrors, lastRomWarnings, contacts);
+}
 
 const playLbl = playpause.querySelector<HTMLSpanElement>(".lbl");
 
@@ -88,6 +108,7 @@ function wireViewer(v: Viewer): void {
     // Light up the step block driving this phase (cleared between loops / on reset).
     const range = phaseName === "reset" ? undefined : phaseRanges.get(phaseName);
     editorApi?.highlightPhase(range ? range.from : null, range?.to);
+    refreshContactDiagnostics(true);
   });
   v.onTick((time, duration) => {
     if (!scrubbing) {
@@ -95,6 +116,11 @@ function wireViewer(v: Viewer): void {
       paintScrub();
     }
     clock.textContent = `${time.toFixed(1)}s`;
+    const now = performance.now();
+    if (now - lastContactRefresh >= 200) {
+      lastContactRefresh = now;
+      refreshContactDiagnostics();
+    }
   });
   v.onLoop(() => {
     rep = (rep % repeat) + 1;
@@ -173,8 +199,10 @@ function scheduleRecompile(): void {
 function handleEditorChange(source: string): void {
   const preset = PRESETS.find((p) => p.source === source);
   currentPresetId = preset?.id ?? null;
-  libCurrent.textContent =
-    preset?.label ?? (source.trim() ? "Custom movement" : "New movement");
+  setCurrentPresetLabel(
+    preset,
+    source.trim() ? "Custom movement" : "New movement",
+  );
   history.replaceState(null, "", buildNicePlayPath(source));
   scheduleRecompile();
 }
@@ -196,6 +224,9 @@ function recompile(): void {
     return;
   }
   const { ir, errors, warnings: warns } = parse(source);
+  lastParseErrors = errors;
+  lastRomWarnings = warns;
+  lastContactSignature = "";
   renderWarnings(warnings, errors, warns);
   // Before the renderer finishes loading, we still parse + surface warnings;
   // the viewer-dependent work re-runs once `boot()` calls recompile() again.
@@ -224,8 +255,10 @@ function recompile(): void {
 // closes the panel, so the topbar stays a one-glance control on any screen.
 const libOpenBtn = $<HTMLButtonElement>("lib-open");
 const libCurrent = $<HTMLSpanElement>("lib-current");
+const libCurrentStatus = $<HTMLSpanElement>("lib-current-status");
 const library = $<HTMLElement>("library");
 const libSearch = $<HTMLInputElement>("lib-search");
+const libReadiness = $<HTMLDivElement>("lib-readiness");
 const libDomains = $<HTMLDivElement>("lib-domains");
 const libLevels = $<HTMLDivElement>("lib-levels");
 const libList = $<HTMLDivElement>("lib-list");
@@ -233,9 +266,20 @@ const libCount = $<HTMLSpanElement>("lib-count");
 
 let currentPresetId: string | null = null;
 let libQuery = "";
+let libStatus = "ready"; // "" = all; launch-ready is the default first view
 let libDomain = ""; // "" = all
 let libLevel = ""; // "" = all
 
+function setCurrentPresetLabel(
+  preset: (typeof PRESETS)[number] | undefined,
+  fallback: string,
+): void {
+  libCurrent.textContent = preset?.label ?? fallback;
+  const experimental = preset?.status === "experimental";
+  libCurrentStatus.hidden = !experimental;
+  libCurrentStatus.title = experimental ? ANIMATION_PROGRESS_MESSAGE : "";
+}
+
 /** Render one chip row ("All" + each distinct value) reflecting the selection. */
 function renderChips(
   host: HTMLDivElement,
@@ -249,7 +293,9 @@ function renderChips(
     const chip = document.createElement("button");
     chip.type = "button";
     chip.className = "fchip";
-    chip.textContent = value || allLabel;
+    chip.textContent = value
+      ? `${value.charAt(0).toUpperCase()}${value.slice(1)}`
+      : allLabel;
     chip.setAttribute("aria-pressed", String(value === selected));
     chip.addEventListener("click", () => onPick(value));
     host.append(chip);
@@ -257,13 +303,29 @@ function renderChips(
 }
 
 function renderLibraryFilters(): void {
-  // Domains keep catalogue order (curated); levels are a fixed scale.
-  renderChips(libDomains, [...new Set(PRESETS.map((p) => p.domain))], libDomain, "All", (v) => {
+  const statusPresets = PRESETS.filter((p) => !libStatus || p.status === libStatus);
+  const domainValues = [...new Set(statusPresets.map((p) => p.domain))];
+  if (libDomain && !domainValues.includes(libDomain)) libDomain = "";
+  const domainPresets = statusPresets.filter((p) => !libDomain || p.domain === libDomain);
+  const levelOrder = ["Beginner", "Intermediate", "Advanced"];
+  const levelValues = levelOrder.filter((level) =>
+    domainPresets.some((preset) => preset.difficulty === level),
+  );
+  if (libLevel && !levelValues.includes(libLevel)) libLevel = "";
+
+  renderChips(libReadiness, ["ready", "experimental"], libStatus, "All movements", (v) => {
+    libStatus = v;
+    renderLibraryFilters();
+    renderLibraryList();
+  });
+  // Only offer facets that can produce a result under the active readiness
+  // filter. Ready view therefore never exposes experimental-only domains.
+  renderChips(libDomains, domainValues, libDomain, "All", (v) => {
     libDomain = v;
     renderLibraryFilters();
     renderLibraryList();
   });
-  renderChips(libLevels, ["Beginner", "Intermediate", "Advanced"], libLevel, "All levels", (v) => {
+  renderChips(libLevels, levelValues, libLevel, "All levels", (v) => {
     libLevel = v;
     renderLibraryFilters();
     renderLibraryList();
@@ -284,6 +346,7 @@ function libraryMatches(): typeof PRESETS {
     (p) =>
       (!libDomain || p.domain === libDomain) &&
       (!libLevel || p.difficulty === libLevel) &&
+      (!libStatus || p.status === libStatus) &&
       (!q ||
         fold(`${p.label} ${p.target} ${p.domain} ${p.bodyPart} ${p.equipment}`).includes(q)),
   );
@@ -305,6 +368,7 @@ function renderLibraryList(): void {
     reset.addEventListener("click", () => {
       libQuery = "";
       libSearch.value = "";
+      libStatus = "ready";
       libDomain = "";
       libLevel = "";
       renderLibraryFilters();
@@ -340,21 +404,18 @@ function renderLibraryList(): void {
     const label = document.createElement("span");
     label.textContent = p.label;
     name.append(label);
-    if (p.status === "animation-progress") {
+    if (p.status === "experimental") {
       const status = document.createElement("span");
       status.className = "li-status";
-      status.textContent = "Animation in Progress";
+      status.textContent = "Experimental";
       status.title = ANIMATION_PROGRESS_MESSAGE;
-      status.setAttribute(
-        "aria-label",
-        `Animation in Progress: ${ANIMATION_PROGRESS_MESSAGE}`,
-      );
+      status.setAttribute("aria-label", "Experimental preview");
       name.append(status);
     }
     const meta = document.createElement("span");
     meta.className = "li-meta";
-    meta.textContent = p.status === "animation-progress"
-      ? ANIMATION_PROGRESS_MESSAGE
+    meta.textContent = p.status === "experimental"
+      ? `${p.target} · ${p.equipment} · ${p.difficulty} · Not launch-ready`
       : `${p.target} · ${p.equipment} · ${p.difficulty}`;
     item.append(name, meta);
     item.addEventListener("click", () => {
@@ -369,7 +430,7 @@ function loadPreset(id: string): void {
   const preset = PRESETS.find((p) => p.id === id);
   if (!preset) return;
   currentPresetId = preset.id;
-  libCurrent.textContent = preset.label;
+  setCurrentPresetLabel(preset, preset.label);
   editorApi?.setValue(preset.source);
   history.replaceState(null, "", buildNicePlayPath(preset.source));
   recompile();
@@ -389,7 +450,7 @@ renderLibraryList();
 // its text first.
 $<HTMLButtonElement>("new-doc").addEventListener("click", () => {
   currentPresetId = null;
-  libCurrent.textContent = "New movement";
+  setCurrentPresetLabel(undefined, "New movement");
   editorApi?.setValue("");
   history.replaceState(null, "", "/play");
   recompile(); // swaps the status row to the blank-editor hint immediately
@@ -550,13 +611,13 @@ let initialDoc: string;
 if (sharedSource) {
   const preset = PRESETS.find((p) => p.source === sharedSource);
   currentPresetId = preset?.id ?? null;
-  libCurrent.textContent = preset ? preset.label : "↗ Shared link";
+  setCurrentPresetLabel(preset, "↗ Shared link");
   initialDoc = sharedSource;
   intro.hidden = true;
 } else {
   initialDoc = DEFAULT_PRESET.source;
   currentPresetId = DEFAULT_PRESET.id;
-  libCurrent.textContent = DEFAULT_PRESET.label;
+  setCurrentPresetLabel(DEFAULT_PRESET, DEFAULT_PRESET.label);
 }
 
 // Boot the two heavyweights (CodeMirror editor + Three.js renderer) after the
diff --git a/playground/src/presets.ts b/playground/src/presets.ts
index 13c841d..49cc63a 100644
--- a/playground/src/presets.ts
+++ b/playground/src/presets.ts
@@ -40,6 +40,7 @@ import horseStance from "../../spec/examples/horse-stance.posecode?raw";
 import bow from "../../spec/examples/bow.posecode?raw";
 import armCircles from "../../spec/examples/arm-circles.posecode?raw";
 import highKneeMarch from "../../spec/examples/high-knee-march.posecode?raw";
+import superheroLanding from "../../spec/examples/superhero-landing.posecode?raw";
 
 // Dance / choreography.
 import demiPlie from "../../spec/examples/demi-plie.posecode?raw";
@@ -99,9 +100,10 @@ import walkCycle from "../../spec/examples/walk-cycle.posecode?raw";
 import quarterTurns from "../../spec/examples/quarter-turns.posecode?raw";
 
 export type Difficulty = "Beginner" | "Intermediate" | "Advanced";
+export type PresetStatus = "ready" | "experimental";
 
 export const ANIMATION_PROGRESS_MESSAGE =
-  "This move is available, but its animation is still being refined.";
+  "Experimental preview: this animation is still being refined and has not cleared the launch-quality gate.";
 
 export interface Preset {
   id: string;
@@ -115,8 +117,8 @@ export interface Preset {
   /** What it renders with: Body weight, Chair, Wall, or Bar. */
   equipment: string;
   difficulty: Difficulty;
-  /** Optional animation-readiness marker shown in the movement library. */
-  status?: "animation-progress";
+  /** Required launch-readiness state shown everywhere this movement appears. */
+  status: PresetStatus;
   source: string;
 }
 
@@ -124,98 +126,99 @@ export interface Preset {
 // entry is the playground default and landing hero (the squat); the dance phrase
 // follows as the flagship "communicate the movement in your head" demo.
 export const PRESETS: Preset[] = [
-  { id: "squat", label: "Body-weight squat", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", source: squat },
-  { id: "dance-phrase", label: "Dance phrase (8-count)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "animation-progress", source: dancePhrase },
-  { id: "deadlift", label: "Deadlift (hip hinge)", domain: "Fitness", bodyPart: "Back", target: "Hamstrings & glutes", equipment: "Body weight", difficulty: "Intermediate", source: deadlift },
-  { id: "shoulder-abduction", label: "Shoulder abduction (ROM)", domain: "Education", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: shoulderAbduction },
-  { id: "front-kick", label: "Front kick", domain: "Martial arts", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Body weight", difficulty: "Intermediate", source: frontKick },
-  { id: "good-morning", label: "Good morning (hinge)", domain: "Physiotherapy", bodyPart: "Back", target: "Hamstrings", equipment: "Body weight", difficulty: "Intermediate", source: goodMorning },
-  { id: "chest-opener", label: "Chest opener", domain: "Desk & posture", bodyPart: "Chest", target: "Pectorals", equipment: "Body weight", difficulty: "Beginner", source: chestOpener },
+  { id: "squat", label: "Body-weight squat", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: squat },
+  { id: "superhero-landing", label: "Superhero three-point landing", domain: "Performance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Advanced", status: "ready", source: superheroLanding },
+  { id: "dance-phrase", label: "Dance phrase (8-count)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: dancePhrase },
+  { id: "deadlift", label: "Deadlift (hip hinge)", domain: "Fitness", bodyPart: "Back", target: "Hamstrings & glutes", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: deadlift },
+  { id: "shoulder-abduction", label: "Shoulder abduction (ROM)", domain: "Education", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: shoulderAbduction },
+  { id: "front-kick", label: "Front kick", domain: "Martial arts", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: frontKick },
+  { id: "good-morning", label: "Good morning (hinge)", domain: "Physiotherapy", bodyPart: "Back", target: "Hamstrings", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: goodMorning },
+  { id: "chest-opener", label: "Chest opener", domain: "Desk & posture", bodyPart: "Chest", target: "Pectorals", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: chestOpener },
 
   // --- Strength & core (coverage-gap batch) ---
-  { id: "plank-hold", label: "Plank hold", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Beginner", source: plankHold },
-  { id: "mountain-climber", label: "Mountain climber", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Intermediate", status: "animation-progress", source: mountainClimber },
-  { id: "crunch", label: "Crunch", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Beginner", source: crunch },
-  { id: "bicycle-crunch", label: "Bicycle crunch", domain: "Fitness", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Intermediate", status: "animation-progress", source: bicycleCrunch },
-  { id: "supine-leg-raise", label: "Lying leg raise", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Beginner", source: supineLegRaise },
-  { id: "superman", label: "Superman", domain: "Fitness", bodyPart: "Back", target: "Spinal erectors", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: superman },
-  { id: "forward-lunge", label: "Forward lunge", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", source: forwardLunge },
-  { 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", status: "animation-progress", 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 (bars)", domain: "Fitness", bodyPart: "Upper arms", target: "Triceps", equipment: "Bars", difficulty: "Intermediate", status: "animation-progress", source: tricepsDips },
-  { id: "quad-stretch", label: "Standing quad stretch", domain: "Mobility", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", source: quadStretch },
+  { id: "plank-hold", label: "Plank hold", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: plankHold },
+  { id: "mountain-climber", label: "Mountain climber", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: mountainClimber },
+  { id: "crunch", label: "Crunch", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: crunch },
+  { id: "bicycle-crunch", label: "Bicycle crunch", domain: "Fitness", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Intermediate", status: "experimental", source: bicycleCrunch },
+  { id: "supine-leg-raise", label: "Lying leg raise", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: supineLegRaise },
+  { id: "superman", label: "Superman", domain: "Fitness", bodyPart: "Back", target: "Spinal erectors", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: superman },
+  { id: "forward-lunge", label: "Forward lunge", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: forwardLunge },
+  { id: "calf-raise", label: "Single-leg calf raise", domain: "Fitness", bodyPart: "Lower legs", target: "Calves", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: calfRaise },
+  { id: "jumping-jacks", label: "Jumping jacks", domain: "Warm-up", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: jumpingJacks },
+  { id: "box-step-taps", label: "Box step taps", domain: "Warm-up", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Box", difficulty: "Beginner", status: "ready", source: boxStepTaps },
+  { id: "pull-up", label: "Pull-up", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Bar", difficulty: "Advanced", status: "experimental", source: pullUp },
+  { id: "step-up", label: "Step-up (box)", domain: "Functional", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Box", difficulty: "Intermediate", status: "ready", source: stepUp },
+  { id: "triceps-dips", label: "Triceps dips (bars)", domain: "Fitness", bodyPart: "Upper arms", target: "Triceps", equipment: "Bars", difficulty: "Intermediate", status: "experimental", source: tricepsDips },
+  { id: "quad-stretch", label: "Standing quad stretch", domain: "Mobility", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: quadStretch },
 
   // --- Education / anatomy: single-joint ROM demos ---
-  { id: "hip-flexion", label: "Hip flexion (ROM)", domain: "Education", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Body weight", difficulty: "Beginner", source: hipFlexion },
-  { id: "knee-flexion", label: "Knee flexion (ROM)", domain: "Education", bodyPart: "Upper legs", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: kneeFlexion },
-  { id: "spine-rotation", label: "Spine rotation (ROM)", domain: "Education", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Beginner", source: spineRotation },
-  { id: "elbow-forearm", label: "Elbow flexion & forearm rotation", domain: "Education", bodyPart: "Upper arms", target: "Biceps", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: elbowForearm },
+  { id: "hip-flexion", label: "Hip flexion (ROM)", domain: "Education", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: hipFlexion },
+  { id: "knee-flexion", label: "Knee flexion (ROM)", domain: "Education", bodyPart: "Upper legs", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: kneeFlexion },
+  { id: "spine-rotation", label: "Spine rotation (ROM)", domain: "Education", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: spineRotation },
+  { id: "elbow-forearm", label: "Elbow flexion & forearm rotation", domain: "Education", bodyPart: "Upper arms", target: "Biceps", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: elbowForearm },
 
   // --- Physiotherapy / rehab ---
-  { id: "heel-raises", label: "Heel raises", domain: "Physiotherapy", bodyPart: "Lower legs", target: "Calves", equipment: "Body weight", difficulty: "Beginner", source: heelRaises },
-  { id: "hamstring-curl", label: "Standing hamstring curl", domain: "Physiotherapy", bodyPart: "Upper legs", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", source: hamstringCurl },
-  { id: "hip-abduction", label: "Standing hip abduction", domain: "Physiotherapy", bodyPart: "Upper legs", target: "Glutes", equipment: "Body weight", difficulty: "Beginner", source: hipAbduction },
-  { id: "shoulder", label: "Shoulder flexion (ROM)", domain: "Physiotherapy", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: shoulder },
-  { id: "neck", label: "Neck rotation", domain: "Physiotherapy", bodyPart: "Neck", target: "Neck", equipment: "Body weight", difficulty: "Beginner", source: neck },
+  { id: "heel-raises", label: "Heel raises", domain: "Physiotherapy", bodyPart: "Lower legs", target: "Calves", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: heelRaises },
+  { id: "hamstring-curl", label: "Standing hamstring curl", domain: "Physiotherapy", bodyPart: "Upper legs", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: hamstringCurl },
+  { id: "hip-abduction", label: "Standing hip abduction", domain: "Physiotherapy", bodyPart: "Upper legs", target: "Glutes", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: hipAbduction },
+  { id: "shoulder", label: "Shoulder flexion (ROM)", domain: "Physiotherapy", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: shoulder },
+  { id: "neck", label: "Neck rotation", domain: "Physiotherapy", bodyPart: "Neck", target: "Neck", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: neck },
 
   // --- Desk / workplace wellness ---
-  { id: "posture", label: "Desk posture reset", domain: "Desk & posture", bodyPart: "Back", target: "Spinal erectors", equipment: "Body weight", difficulty: "Beginner", source: posture },
-  { id: "twist", label: "Standing spinal twist", domain: "Desk & posture", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Beginner", source: twist },
-  { id: "shoulder-rolls", label: "Shoulder rolls", domain: "Desk & posture", bodyPart: "Shoulders", target: "Trapezius", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: shoulderRolls },
-  { id: "neck-side-stretch", label: "Neck side stretch", domain: "Desk & posture", bodyPart: "Neck", target: "Neck", equipment: "Body weight", difficulty: "Beginner", source: neckSideStretch },
-  { id: "overhead-reach", label: "Overhead reach reset", domain: "Desk & posture", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: overheadReach },
+  { id: "posture", label: "Desk posture reset", domain: "Desk & posture", bodyPart: "Back", target: "Spinal erectors", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: posture },
+  { id: "twist", label: "Standing spinal twist", domain: "Desk & posture", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: twist },
+  { id: "shoulder-rolls", label: "Shoulder rolls", domain: "Desk & posture", bodyPart: "Shoulders", target: "Trapezius", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: shoulderRolls },
+  { id: "neck-side-stretch", label: "Neck side stretch", domain: "Desk & posture", bodyPart: "Neck", target: "Neck", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: neckSideStretch },
+  { id: "overhead-reach", label: "Overhead reach reset", domain: "Desk & posture", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: overheadReach },
 
   // --- Sports / martial arts / warm-up ---
-  { id: "jab-cross", label: "Jab-cross", domain: "Martial arts", bodyPart: "Full body", target: "Shoulders", equipment: "Body weight", difficulty: "Intermediate", source: jabCross },
-  { id: "horse-stance", label: "Horse stance", domain: "Martial arts", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", source: horseStance },
-  { id: "bow", label: "Standing bow (hinge)", domain: "Martial arts", bodyPart: "Back", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", source: bow },
-  { id: "arm-circles", label: "Arm circles", domain: "Warm-up", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: armCircles },
-  { id: "high-knee-march", label: "High-knee march", domain: "Warm-up", bodyPart: "Full body", target: "Hip flexors", equipment: "Body weight", difficulty: "Beginner", source: highKneeMarch },
+  { id: "jab-cross", label: "Jab-cross", domain: "Martial arts", bodyPart: "Full body", target: "Shoulders", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: jabCross },
+  { id: "horse-stance", label: "Horse stance", domain: "Martial arts", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: horseStance },
+  { id: "bow", label: "Standing bow (hinge)", domain: "Martial arts", bodyPart: "Back", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: bow },
+  { id: "arm-circles", label: "Arm circles", domain: "Warm-up", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: armCircles },
+  { id: "high-knee-march", label: "High-knee march", domain: "Warm-up", bodyPart: "Full body", target: "Hip flexors", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: highKneeMarch },
 
   // --- Dance / choreography (flagship) ---
-  { id: "demi-plie", label: "Demi-plié", domain: "Dance", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", source: demiPlie },
-  { id: "releve", label: "Relevé", domain: "Dance", bodyPart: "Lower legs", target: "Calves", equipment: "Body weight", difficulty: "Beginner", source: releve },
-  { id: "tendu", label: "Tendu", domain: "Dance", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Body weight", difficulty: "Intermediate", source: tendu },
-  { id: "port-de-bras", label: "Port de bras", domain: "Dance", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: portDeBras },
+  { id: "demi-plie", label: "Demi-plié", domain: "Dance", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: demiPlie },
+  { id: "releve", label: "Relevé", domain: "Dance", bodyPart: "Lower legs", target: "Calves", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: releve },
+  { id: "tendu", label: "Tendu", domain: "Dance", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: tendu },
+  { id: "port-de-bras", label: "Port de bras", domain: "Dance", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: portDeBras },
 
   // --- More fitness / mobility / yoga ---
-  { id: "bent-over-row", label: "Bent-over row (hinge)", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Body weight", difficulty: "Intermediate", source: bentOverRow },
-  { id: "biceps", label: "Biceps curl", domain: "Fitness", bodyPart: "Upper arms", target: "Biceps", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: biceps },
-  { id: "lateral", label: "Lateral raise", domain: "Fitness", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", source: lateral },
-  { id: "fold", label: "Standing roll-down", domain: "Mobility", bodyPart: "Back", target: "Spinal erectors", equipment: "Body weight", difficulty: "Beginner", source: fold },
-  { id: "chair", label: "Chair pose", domain: "Yoga", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", source: chair },
-  { id: "sidebend", label: "Standing side bend", domain: "Yoga", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Beginner", source: sideBend },
+  { id: "bent-over-row", label: "Bent-over row (hinge)", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: bentOverRow },
+  { id: "biceps", label: "Biceps curl", domain: "Fitness", bodyPart: "Upper arms", target: "Biceps", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: biceps },
+  { id: "lateral", label: "Lateral raise", domain: "Fitness", bodyPart: "Shoulders", target: "Deltoids", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: lateral },
+  { id: "fold", label: "Standing roll-down", domain: "Mobility", bodyPart: "Back", target: "Spinal erectors", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: fold },
+  { id: "chair", label: "Chair pose", domain: "Yoga", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: chair },
+  { id: "sidebend", label: "Standing side bend", domain: "Yoga", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: sideBend },
 
   // --- Reach-to-target IK ---
-  { id: "touch-toes", label: "Touch your toes", domain: "Mobility", bodyPart: "Back", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: touchToes },
-  { id: "cross-body-reach", label: "Cross-body reach", domain: "Physiotherapy", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: crossBodyReach },
+  { id: "touch-toes", label: "Touch your toes", domain: "Mobility", bodyPart: "Back", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: touchToes },
+  { id: "cross-body-reach", label: "Cross-body reach", domain: "Physiotherapy", bodyPart: "Core", target: "Obliques", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: crossBodyReach },
 
   // --- Lying & seated poses ---
-  { id: "glute-bridge", label: "Glute bridge", domain: "Physiotherapy", bodyPart: "Upper legs", target: "Glutes", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: gluteBridge },
-  { id: "dead-bug", label: "Dead bug", domain: "Physiotherapy", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Beginner", source: deadBug },
-  { id: "cobra", label: "Cobra", domain: "Yoga", bodyPart: "Back", target: "Spinal erectors", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: cobra },
-  { id: "seated-forward-fold", label: "Seated forward fold", domain: "Yoga", bodyPart: "Back", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", source: seatedForwardFold },
+  { id: "glute-bridge", label: "Glute bridge", domain: "Physiotherapy", bodyPart: "Upper legs", target: "Glutes", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: gluteBridge },
+  { id: "dead-bug", label: "Dead bug", domain: "Physiotherapy", bodyPart: "Core", target: "Abdominals", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: deadBug },
+  { id: "cobra", label: "Cobra", domain: "Yoga", bodyPart: "Back", target: "Spinal erectors", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: cobra },
+  { id: "seated-forward-fold", label: "Seated forward fold", domain: "Yoga", bodyPart: "Back", target: "Hamstrings", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: seatedForwardFold },
 
   // --- Props: chair / wall / bar ---
-  { 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", status: "animation-progress", source: deadHang },
-  { id: "hanging-knee-raise", label: "Hanging knee raise (bar)", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Bar", difficulty: "Intermediate", status: "animation-progress", source: hangingKneeRaise },
+  { id: "sit-to-stand", label: "Sit to stand (chair)", domain: "Functional", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Chair", difficulty: "Beginner", status: "ready", source: sitToStand },
+  { id: "box-squat", label: "Box squat (chair)", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Chair", difficulty: "Beginner", status: "ready", source: boxSquat },
+  { id: "wall-sit", label: "Wall sit (wall)", domain: "Fitness", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Wall", difficulty: "Beginner", status: "ready", source: wallSit },
+  { id: "dead-hang", label: "Dead hang (bar)", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Bar", difficulty: "Beginner", status: "experimental", source: deadHang },
+  { id: "hanging-knee-raise", label: "Hanging knee raise (bar)", domain: "Fitness", bodyPart: "Core", target: "Abdominals", equipment: "Bar", difficulty: "Intermediate", status: "experimental", 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", status: "animation-progress", source: makeAFist },
-  { id: "pinch-grip", label: "Pinch grip", domain: "Hand therapy", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: pinchGrip },
-  { id: "finger-spell", label: "Finger-spelling (approx.)", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", source: fingerSpell },
-  { id: "hand-wave", label: "Hand wave", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "animation-progress", 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 },
-  { id: "waltz-box", label: "Waltz box step", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", source: waltzBox },
-  { id: "chasse", label: "Chassé (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", source: chasse },
-  { id: "walk-cycle", label: "Walk & turn", domain: "Locomotion", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", source: walkCycle },
-  { id: "quarter-turns", label: "Quarter turns", domain: "Locomotion", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", source: quarterTurns },
+  { id: "make-a-fist", label: "Make a fist", domain: "Hand therapy", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: makeAFist },
+  { id: "pinch-grip", label: "Pinch grip", domain: "Hand therapy", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: pinchGrip },
+  { id: "finger-spell", label: "Finger-spelling (approx.)", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: fingerSpell },
+  { id: "hand-wave", label: "Hand wave", domain: "Sign language", bodyPart: "Hands", target: "Forearms", equipment: "Body weight", difficulty: "Beginner", status: "experimental", source: handWave },
+  { id: "pirouette", label: "Pirouette (full turn)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: pirouette },
+  { id: "box-step", label: "Box step (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: boxStep },
+  { id: "grapevine", label: "Grapevine (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: grapevine },
+  { id: "waltz-box", label: "Waltz box step", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: waltzBox },
+  { id: "chasse", label: "Chassé (travels)", domain: "Dance", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Intermediate", status: "ready", source: chasse },
+  { id: "walk-cycle", label: "Walk & turn", domain: "Locomotion", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: walkCycle },
+  { id: "quarter-turns", label: "Quarter turns", domain: "Locomotion", bodyPart: "Full body", target: "Full body", equipment: "Body weight", difficulty: "Beginner", status: "ready", source: quarterTurns },
 ];
diff --git a/playground/src/style.css b/playground/src/style.css
index ef15a07..c43ceea 100644
--- a/playground/src/style.css
+++ b/playground/src/style.css
@@ -335,6 +335,19 @@ select:hover {
   text-overflow: ellipsis;
   white-space: nowrap;
 }
+.lib-current-status {
+  flex: none;
+  font-family: var(--mono);
+  font-size: 8px;
+  font-weight: 700;
+  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-caret {
   width: 7px;
   height: 7px;
@@ -524,7 +537,7 @@ select:hover {
   background: var(--panel);
 }
 .warnings:empty::before {
-  content: "✓  parses clean, no warnings";
+  content: "✓  source valid; no active reach misses";
   color: var(--accent);
   opacity: 0.85;
 }
diff --git a/playground/src/warnings.ts b/playground/src/warnings.ts
index 00835dd..6c21e08 100644
--- a/playground/src/warnings.ts
+++ b/playground/src/warnings.ts
@@ -1,10 +1,12 @@
-/** Render parse errors and ROM-clamp warnings into the side panel. */
+/** Render source validation plus live contact-solve diagnostics. */
 import type { ParseError, Warning } from "posecode-parser";
+import type { ReachResidual } from "posecode-render";
 
 export function renderWarnings(
   el: HTMLElement,
   errors: ParseError[],
   warnings: Warning[],
+  contacts: readonly ReachResidual[] = [],
 ): void {
   const rows: string[] = [];
 
@@ -19,6 +21,29 @@ export function renderWarnings(
     );
   }
 
+  const seenContacts = new Set<string>();
+  for (const contact of contacts) {
+    // A reach intentionally blends in through a phase. Diagnose only once it
+    // is fully active, otherwise every normal transition would flash red.
+    if (contact.weight < 0.98 || contact.reached) continue;
+    const key = `${contact.effector}|${contact.target}`;
+    if (seenContacts.has(key)) continue;
+    seenContacts.add(key);
+    if (contact.distance === null) {
+      rows.push(
+        `<div class="row err">✗ contact ${escape(contact.effector)} → ${escape(
+          contact.target,
+        )} could not be solved${contact.reason ? ` (${escape(contact.reason)})` : ""}</div>`,
+      );
+    } else {
+      rows.push(
+        `<div class="row warn">⚠ contact miss · ${escape(contact.effector)} → ${escape(
+          contact.target,
+        )} remains ${Math.round(contact.distance * 100)} cm away</div>`,
+      );
+    }
+  }
+
   el.innerHTML = rows.join("");
 }
 
diff --git a/playground/vite.config.ts b/playground/vite.config.ts
index 5064dfd..fb64a4f 100644
--- a/playground/vite.config.ts
+++ b/playground/vite.config.ts
@@ -1,12 +1,46 @@
-import { defineConfig } from "vite";
+import { defineConfig, type Plugin } from "vite";
 import { fileURLToPath } from "node:url";
 import { dirname, resolve } from "node:path";
 
 const here = dirname(fileURLToPath(import.meta.url));
 const repoRoot = resolve(here, "..");
 
+/** Mirror the production Vercel rewrites during local dev and `vite preview`. */
+function friendlyPlayRoutes(): Plugin {
+  const rewrite = (url: string | undefined): string | undefined => {
+    if (!url) return url;
+    const queryStart = url.indexOf("?");
+    const pathname = queryStart === -1 ? url : url.slice(0, queryStart);
+    const query = queryStart === -1 ? "" : url.slice(queryStart);
+    if (pathname === "/play" || /^\/play\/[^/]+\/?$/.test(pathname)) {
+      return `/play.html${query}`;
+    }
+    return url;
+  };
+  const install = (middlewares: { use: (handler: (
+    req: { url?: string },
+    res: unknown,
+    next: () => void,
+  ) => void) => void }): void => {
+    middlewares.use((req, _res, next) => {
+      req.url = rewrite(req.url);
+      next();
+    });
+  };
+  return {
+    name: "posecode-friendly-play-routes",
+    configureServer(server) {
+      install(server.middlewares);
+    },
+    configurePreviewServer(server) {
+      install(server.middlewares);
+    },
+  };
+}
+
 export default defineConfig({
   root: here,
+  plugins: [friendlyPlayRoutes()],
   resolve: {
     alias: {
       "posecode-parser": resolve(repoRoot, "packages/posecode-parser/src/index.ts"),
diff --git a/scripts/generate-content-pages.mjs b/scripts/generate-content-pages.mjs
index 234c679..577fbf7 100644
--- a/scripts/generate-content-pages.mjs
+++ b/scripts/generate-content-pages.mjs
@@ -7,19 +7,18 @@
  *   - playground/public/llm-guide.html    the LLM authoring guide, rendered
  *   - playground/public/sitemap.xml       regenerated to include all of the above
  *
- * These are plain HTML files copied through as-is by Vite (public/), so this
- * script is *not* wired into `npm run build`: run it manually after adding
- * or editing spec/examples/*.posecode, and commit the output. That keeps the
- * production build command (which Vercel runs) simple and low-risk.
+ * These are plain HTML files copied through as-is by Vite (public/). The
+ * playground's prebuild hook runs this generator so production cannot
+ * publish stale movement counts, language docs, or safety wording.
  *
  * Usage: node scripts/generate-content-pages.mjs
  */
-import { createServer } from "vite";
 import { mkdir, writeFile, readFile, rm } from "node:fs/promises";
 import { fileURLToPath } from "node:url";
 import { dirname, resolve } from "node:path";
 import { pageShell, esc } from "./lib/shell.mjs";
 import { renderMarkdown } from "./lib/md.mjs";
+import { loadPlaygroundPresets } from "../playground/scripts/load-presets.mjs";
 
 const here = dirname(fileURLToPath(import.meta.url));
 const repoRoot = resolve(here, "..");
@@ -62,17 +61,8 @@ function slugTitle(label) {
 }
 
 async function main() {
-  const server = await createServer({
-    root: playgroundRoot,
-    appType: "custom",
-    server: { middlewareMode: true, hmr: false, ws: false },
-  });
-  let PRESETS;
-  try {
-    ({ PRESETS } = await server.ssrLoadModule("/src/presets.ts"));
-  } finally {
-    await server.close();
-  }
+  const PRESETS = await loadPlaygroundPresets(playgroundRoot);
+  const readyPresets = PRESETS.filter((preset) => preset.status === "ready");
 
   await rm(movesDir, { recursive: true, force: true });
   await mkdir(movesDir, { recursive: true });
@@ -87,11 +77,12 @@ async function main() {
 
   // --- Per-movement pages ---------------------------------------------------
   const byDomain = new Map();
-  for (const p of PRESETS) {
+  for (const p of readyPresets) {
     const steps = parseSteps(p.source);
     const repeat = parseRepeat(p.source);
     const name = slugTitle(p.label);
     const url = `/moves/${p.id}.html`;
+    const levelArticle = /^[aeiou]/i.test(p.difficulty) ? "an" : "a";
 
     const stepsHtml = steps
       .map(
@@ -102,24 +93,19 @@ async function main() {
       )
       .join("\n");
 
-    const related = PRESETS.filter((o) => o.domain === p.domain && o.id !== p.id).slice(0, 6);
+    const related = readyPresets.filter((o) => o.domain === p.domain && o.id !== p.id).slice(0, 6);
     const relatedHtml = related.length
       ? `<h2>More ${esc(p.domain.toLowerCase())} movements</h2>
          <div class="chip-list">${related.map((o) => `<a href="/moves/${o.id}.html">${esc(o.label)}</a>`).join("")}</div>`
       : "";
 
-    const description = `How to do the ${name.toLowerCase()} (${p.domain.toLowerCase()}): ${steps.length} phases targeting the ${p.target.toLowerCase()}, ${p.equipment.toLowerCase()}, ${p.difficulty.toLowerCase()} level. Animated 3D guide generated from Posecode, a text-to-motion language for LLMs.`;
+    const description = `${name} is ${levelArticle} ${p.difficulty.toLowerCase()}-level ${p.domain.toLowerCase()} Posecode example with ${steps.length} inspectable phases and a link to live 3D playback.`;
 
     const jsonLd = {
       "@context": "https://schema.org",
-      "@type": "HowTo",
-      name: `How to do a ${name}`,
+      "@type": "TechArticle",
+      headline: `${name}: a Posecode movement example`,
       description,
-      step: steps.map((s) => ({
-        "@type": "HowToStep",
-        name: s.name,
-        text: s.cue || s.name,
-      })),
     };
 
     const bodyHtml = `
@@ -127,28 +113,31 @@ async function main() {
       <h1>${esc(name)}</h1>
       <p class="meta-line"><b>Target</b> ${esc(p.target)} &nbsp;·&nbsp; <b>Equipment</b> ${esc(p.equipment)}
         &nbsp;·&nbsp; <b>Level</b> ${esc(p.difficulty)} &nbsp;·&nbsp; <b>Reps</b> ${repeat}</p>
-      <p>${esc(name)} is a ${esc(p.difficulty.toLowerCase())}-level ${esc(p.domain.toLowerCase())} movement targeting the
+      <p>${esc(name)} is ${levelArticle} ${esc(p.difficulty.toLowerCase())}-level ${esc(p.domain.toLowerCase())} movement targeting the
         ${esc(p.target.toLowerCase())}, written in <a href="/">Posecode</a>, a small open-source language
-        that LLMs like ChatGPT, Claude, and Gemini can write to describe human movement as text.
-        Every joint angle below is hard-clamped to a safe range of motion.</p>
+        that capable language models can use to describe human movement as text.
+        Authored joint targets and reach-IK solves are constrained to Posecode's configured
+        per-axis bounds. Those bounds constrain the visualization, but they do not certify
+        that a complete movement is safe or clinically correct.
+        This page documents a code example; it is not exercise instruction.</p>
 
       <a class="btn" href="/play/${p.id}">▶ Open ${esc(name)} in the playground →</a>
 
-      <h2>How to do it</h2>
+      <h2>Movement phases</h2>
       <ol class="steps">
 ${stepsHtml}
       </ol>
 
       <h2>The .posecode source</h2>
-      <p>This is the exact text an LLM writes to produce the animation above: phases and joint
+      <p>This is the exact text used by the linked playground animation: phases and joint
         angles, not 3D transforms.</p>
       <pre class="code-block"><code>${esc(p.source)}</code></pre>
 
       ${relatedHtml}
-    `;
+    `.trimEnd();
 
     const html = pageShell({
-      title: `${name}: How to Do It (Animated 3D Guide) | Posecode`,
+      title: `${name}: Posecode Movement Example | Posecode`,
       description,
       canonicalPath: url,
       jsonLd,
@@ -182,17 +171,17 @@ ${stepsHtml}
     .join("\n");
 
   const indexHtml = pageShell({
-    title: "Movement Library: 70+ Animated 3D Exercises, Stretches & Dance | Posecode",
+    title: `${readyPresets.length} Launch-Ready Posecode Movement Examples | Posecode`,
     description:
-      "Browse every Posecode example movement: fitness, physiotherapy, yoga, dance, martial arts, and sign language, each with an animated 3D guide and the .posecode source an LLM wrote.",
+      `Browse ${readyPresets.length} launch-ready Posecode movement examples across fitness, physiotherapy, yoga, dance, and martial arts, each with inspectable source and a link to live 3D playback.`,
     canonicalPath: "/moves/",
     bodyHtml: `
       <p class="eyebrow">Movement library</p>
-      <h1>${PRESETS.length} movements, written as text</h1>
-      <p>Every example in the Posecode library, grouped by practice. Each page shows the phases,
-        coaching cues, and the exact <code>.posecode</code> source, plus a live 3D playback.
-        Prefer to search and filter interactively? Use the
-        <a href="/play">playground's movement library</a> instead.</p>
+      <h1>${readyPresets.length} launch-ready movements, written as text</h1>
+      <p>Launch-ready examples grouped by practice. Each page shows the phases, cues, and exact
+        <code>.posecode</code> source, with a link that opens live 3D playback. Experimental
+        previews are deliberately excluded from these static pages; opt into them from the
+        <a href="/play">playground's movement library</a>.</p>
       ${groupsHtml}
     `,
   });
@@ -203,7 +192,7 @@ ${stepsHtml}
   const specHtml = pageShell({
     title: "Posecode Language Specification: The .posecode Kinematic Motion DSL",
     description:
-      "The full Posecode v0.2 grammar, timing modes, joints, actions, and range-of-motion tables: a small text language LLMs write to describe human movement as an animated 3D figure.",
+      "The full Posecode v0.2 grammar, timing modes, joints, actions, and configured range-of-motion tables for a text language capable LLMs can use to describe human movement.",
     canonicalPath: "/spec.html",
     bodyHtml: `<p class="eyebrow">Reference</p>\n${renderMarkdown(specMd)}`,
   });
@@ -213,7 +202,7 @@ ${stepsHtml}
   const guideHtml = pageShell({
     title: "How to Teach an LLM to Write Posecode: The Authoring Guide",
     description:
-      "The system prompt that teaches ChatGPT, Claude, or Gemini to author valid .posecode documents: syntax, joints, phases, and worked examples.",
+      "An authoring guide for capable language models: syntax, joints, phases, and worked examples for producing raw .posecode documents that the playground can validate.",
     canonicalPath: "/llm-guide.html",
     bodyHtml: `<p class="eyebrow">For LLMs</p>\n${renderMarkdown(guideMd)}`,
   });
@@ -233,7 +222,7 @@ ${sitemapUrls
   await writeFile(resolve(publicDir, "sitemap.xml"), sitemap, "utf8");
 
   console.log(
-    `Generated ${PRESETS.length} movement pages, 1 library index, 2 doc pages, and a ${sitemapUrls.length}-url sitemap.`,
+    `Generated ${readyPresets.length} launch-ready movement pages, 1 library index, 2 doc pages, and a ${sitemapUrls.length}-url sitemap.`,
   );
 }
 
diff --git a/scripts/generate-content-pages.test.ts b/scripts/generate-content-pages.test.ts
new file mode 100644
index 0000000..c308eb7
--- /dev/null
+++ b/scripts/generate-content-pages.test.ts
@@ -0,0 +1,24 @@
+import { readFileSync } from "node:fs";
+import { dirname, resolve } from "node:path";
+import { fileURLToPath } from "node:url";
+import { describe, expect, it } from "vitest";
+import { esc } from "./lib/shell.mjs";
+
+const root = resolve(dirname(fileURLToPath(import.meta.url)), "..");
+
+describe("generated content pages", () => {
+  it("embeds the canonical superhero landing source exactly", () => {
+    const source = readFileSync(
+      resolve(root, "spec/examples/superhero-landing.posecode"),
+      "utf8",
+    );
+    const html = readFileSync(
+      resolve(root, "playground/public/moves/superhero-landing.html"),
+      "utf8",
+    );
+
+    expect(html).toContain(
+      `<pre class="code-block"><code>${esc(source)}</code></pre>`,
+    );
+  });
+});
diff --git a/scripts/lib/md.mjs b/scripts/lib/md.mjs
index e54a1f6..219b8c6 100644
--- a/scripts/lib/md.mjs
+++ b/scripts/lib/md.mjs
@@ -71,14 +71,23 @@ export function renderMarkdown(md) {
   while (i < lines.length) {
     const line = lines[i];
 
-    if (/^```/.test(line)) {
+    // Fences may be indented under a list item in normal CommonMark. Render
+    // them as a standalone block (this renderer deliberately keeps list HTML
+    // simple), but strip the shared indentation from the code body so the
+    // generated public guide does not collapse the example into inline text.
+    const fence = /^\s*```(.*)$/.exec(line);
+    if (fence) {
       flushPara();
       flushList();
-      const lang = line.slice(3).trim();
+      const indent = line.length - line.trimStart().length;
+      const lang = fence[1].trim();
       const code = [];
       i++;
-      while (i < lines.length && !/^```/.test(lines[i])) {
-        code.push(lines[i]);
+      while (i < lines.length && !/^\s*```/.test(lines[i])) {
+        const bodyLine = lines[i];
+        code.push(indent > 0 && bodyLine.startsWith(" ".repeat(indent))
+          ? bodyLine.slice(indent)
+          : bodyLine);
         i++;
       }
       out.push(
@@ -132,6 +141,15 @@ export function renderMarkdown(md) {
       i++;
       continue;
     }
+    // Markdown commonly wraps a list item onto a two-space-indented line.
+    // Keep that prose in the same <li>; previously every wrapped line closed
+    // the list and became a detached paragraph, mangling the generated docs.
+    if (list && /^\s{2,}\S/.test(line)) {
+      const last = list.items.length - 1;
+      list.items[last] = `${list.items[last]} ${line.trim()}`;
+      i++;
+      continue;
+    }
     flushList();
 
     if (line.trim() === "") {
diff --git a/scripts/lib/md.test.ts b/scripts/lib/md.test.ts
new file mode 100644
index 0000000..3c76186
--- /dev/null
+++ b/scripts/lib/md.test.ts
@@ -0,0 +1,23 @@
+import { describe, expect, it } from "vitest";
+import { renderMarkdown } from "./md.mjs";
+
+describe("minimal Markdown renderer", () => {
+  it("keeps wrapped list prose inside one list item", () => {
+    const html = renderMarkdown("- First line\n  continued line\n");
+    expect(html).toBe("<ul><li>First line continued line</li></ul>");
+  });
+
+  it("renders an indented fenced example as a code block", () => {
+    const html = renderMarkdown([
+      "- Example:",
+      "",
+      "  ```posecode",
+      "  step \"Hold\" 1s linear:",
+      "    ground-lock: feet",
+      "  ```",
+    ].join("\n"));
+    expect(html).toContain('data-lang="posecode"');
+    expect(html).toContain('step &quot;Hold&quot; 1s linear:');
+    expect(html).not.toContain("```");
+  });
+});
diff --git a/spec/SPEC.md b/spec/SPEC.md
index 3f13320..78cd9e4 100644
--- a/spec/SPEC.md
+++ b/spec/SPEC.md
@@ -23,23 +23,27 @@ Posecode is line- and indentation-oriented. Comments start with `#` or `//`.
 ```ebnf
 document   = header { directive } ;
 header     = "posecode" kind STRING ;
-kind       = "exercise" | "stretch" | "posture" ;       (* free-form word *)
+kind       = "exercise" | "stretch" | "posture" ;
 directive  = rig | prop | pose | clip | step | repeat ;
-rig        = "rig" WORD ;
-prop       = "prop" WORD ;                              (* chair|wall|bar|box|dip-bars, repeatable *)
-pose       = "pose" "start" "=" WORD ;                  (* neutral|standing|plank|supine|prone|seated *)
+rig        = "rig" "humanoid" ;
+prop       = "prop" ("chair"|"wall"|"bar"|"box"|"dip-bars") ;
+pose       = "pose" "start" "=" startPose ;
+startPose  = "neutral"|"standing"|"plank"|"supine"|"prone"|"seated" ;
 clip       = "clip" STRING ;                            (* optional mocap clip; renderer may retarget & blend *)
 repeat     = "repeat" NUMBER ;
 step       = "step" STRING DURATION timingMode ":" { child } ;
 timingMode = "flow" | "settle" | "drive" | "snap" | "linear" ;
-child      = jointTarget | groundLock | reach | pin | turn | travel | cue ;
+child      = jointTarget | groundLock | reach | pin | grip | turn | travel | cue ;
 jointTarget= joint ":" action [ NUMBER ] ;
 groundLock = "ground-lock" ":" floorContact { "," floorContact } ;
 floorContact = "hands" | "forearms" | "feet" | "back"
              | ( "hand" | "elbow" | "foot" ) "_" ( "left" | "right" )
              | ( "left" | "right" ) ( "hand" | "forearm" | "elbow" | "foot" ) ;
 reach      = "reach" ":" effector target ;             (* effector → world target via ROM-constrained IK *)
-pin        = "pin" ":" effector anchor ;               (* move the BODY so effector sits on anchor *)
+pin        = "pin" ":" effector anchor ;               (* move the BODY to one primary contact *)
+grip       = "grip" ":" handEffector gripAnchor ;      (* hand contact on a bar or rails *)
+handEffector = "hands" | "hand_left" | "hand_right" ;
+gripAnchor = "bar" | "bars" ;
 turn       = "turn" ":" NUMBER ;                       (* face this yaw (deg) by phase end *)
 travel     = "travel" ":" NUMBER NUMBER ;              (* move to this x z (metres) by phase end *)
 cue        = "cue" STRING ;
@@ -49,10 +53,15 @@ DURATION   = NUMBER "s" ;                                (* e.g. 2s, 1.5s *)
 A `step` is one **phase** of the movement. Phases run in sequence; within a
 phase, all joint targets apply concurrently.
 
-Ground locks accept the groups `hands`, `forearms`, and `feet`, plus the
-single-side forms `hand_left|hand_right`, `elbow_left|elbow_right`, and
-`foot_left|foot_right`. Human-readable `left foot`, `right foot`, `left hand`,
-and related forms normalize to the canonical side-specific names.
+The header kind, rig, props, start poses, joints, actions, effectors, targets,
+and timing modes are closed vocabularies. Unknown values are errors; the parser
+does not accept a plausible-looking word and leave it for the renderer to ignore.
+
+Ground locks accept the groups `hands`, `forearms`, and `feet`, the axial
+surface contact `back`, plus the single-side forms `hand_left|hand_right`,
+`elbow_left|elbow_right`, and `foot_left|foot_right`. Human-readable `left foot`,
+`right foot`, `left hand`, and related forms normalize to the canonical
+side-specific names.
 
 Timing modes describe how motion crosses the phase boundary:
 
@@ -100,27 +109,39 @@ where the previous phase left it).
 | `flex` / `extend` | X (sagittal) | bend / straighten |
 | `abduct` / `adduct` | Z (frontal) | away from / toward midline |
 | `rotate-in` / `rotate-out` | Y (longitudinal) | internal / external rotation |
+| `twist-left` / `twist-right` | Y (longitudinal) | unambiguous axial turn for spine, chest, neck, or head |
 | `supinate` / `pronate` | Y | forearm turn |
 | `dorsiflex` / `plantarflex` | X | ankle up / down |
 | `hinge` | X | tip the torso forward over the hips (`pelvis` only) |
-| `hold neutral` | n/a | keep at rest |
+| `hold neutral` | all | reset every channel on the named joint to rest |
 
 `hinge` is a **hip hinge**: applied to the `pelvis`, it pivots the torso forward
 over the hip line while the legs stay planted and vertical (the renderer
 counter-rotates the hips). Use it, not spinal `flex`, for a flat-back forward
 bend: deadlift, bent-over row, good-morning, or a bow.
 
+`rotate-in` / `rotate-out` describe internal and external rotation only on a
+shoulder or hip. Use `twist-left` / `twist-right` for axial bones; older axial
+uses of rotate-in/out remain readable during the compatibility window but emit
+an authoring hint.
+
+Each authored action changes one Euler channel. Other channels on that joint
+carry forward from the prior phase. `hold neutral` is the deliberate exception:
+it resets all three channels, so it is suitable for an explicit recovery.
+
 **Coordinate convention:** rest pose is standing, arms at sides, facing +Z. The
 renderer's mannequin is built in this same convention so the parser's resolved
 Euler angles apply directly.
 
 ---
 
-## 4. Range of Motion (safety)
+## 4. Configured range-of-motion limits
 
-Every angle is **hard-clamped** to a healthy Range of Motion before rendering;
-a clamp emits a warning (it does not fail the parse). Limits follow the
-research §5.1 normative tables. Selected ceilings (degrees):
+Every authored angle is clamped to the rig's configured per-axis limits before
+rendering; a clamp emits a warning (it does not fail the parse). Reach IK and
+contact orientation are constrained against the same per-axis boxes. These are
+simplified reference limits for visualization, not a medical or whole-movement
+safety guarantee. Selected ceilings (degrees):
 
 | Joint | flex | extend | abduct | other |
 | --- | --- | --- | --- | --- |
@@ -135,8 +156,12 @@ research §5.1 normative tables. Selected ceilings (degrees):
 | spine | 90 | 30 | 35 | rotate 45 |
 | neck | 50 | 60 | 45 | rotate 80 |
 
->  These are general literature values, not medical advice. Consult a
-> qualified professional for physiotherapy or exercise prescription.
+**Note:** These are general literature values, not medical advice. Consult a
+qualified professional for physiotherapy or exercise prescription.
+
+A pelvis hinge counter-rotates the hips in the renderer. The validator therefore
+also checks the **combined** hinge + carried hip-flexion result and clamps the
+newly authored channel when their composed local hip angle would exceed 135°.
 
 ---
 
@@ -154,38 +179,47 @@ research §5.1 normative tables. Selected ceilings (degrees):
    moves. `back` holds the pelvis-to-ribcage surface on the floor for supine
    work such as dead bugs. Unsupported contact names are line-anchored
    validation errors.
-4. **Reach-IK**: a `reach:` line drives an effector (`hand_left|hand_right|
-   foot_left|foot_right`, or the groups `hands`/`feet` for both sides) to a
+4. **Reach-IK**: a `reach:` line drives an effector (`hand_*`, `fist_*`,
+   `elbow_*`, `knee_*`, or `foot_*`, plus their supported groups) to a
    world **target** via Cyclic Coordinate Descent (CCD) over the arm/leg chain.
    A target is a body landmark bone (e.g. `ankle_left`), the keyword `floor`,
    or a prop anchor (`bar`, `seat`, `wall`). The solve is **ROM-constrained**:
-   each iteration clamps every chain joint into its §4 Range-of-Motion limits
-   (expressed as a per-axis box in the bone's local Euler frame), so a reach
-   toward an unsafe or unreachable target settles on the closest *healthy*
-   pose; solved angles obey the same hard limits as authored ones.
+   each iteration clamps every chain joint into its §4 configured
+   range-of-motion limits (expressed as a per-axis box in the bone's local
+   Euler frame), so a reach
+   toward an unreachable target settles on the closest pose available within
+   that configured joint-angle box; solved angles obey the same limits as
+   authored ones. The viewer records a post-solve residual for every active
+   reach. A reach target is not reported as reached merely because its syntax
+   parsed: missing, unsupported, and geometrically unreachable reach targets
+   remain explicit diagnostics.
 5. **Props**: `prop chair|wall|bar|box|dip-bars` adds a scene object at a
    fixed default placement (chair/wall behind, bar overhead, box in front,
    dip bars either side); its named anchors (`seat`, `wall`, `bar`, `box`,
-   `bars`) become reach/pin targets. Props are **solid**: each prop declares
-   blocking faces (the wall's surface, the chair's backrest and seat edge,
-   the box's near face) and a contact pass removes any body overlap: either
-   by translating the whole figure out along the face normal (a wall-sit
+   `bars`) become reach, pin, or grip targets. Selected prop surfaces declare
+   sampled blocking faces (the wall's surface, the chair's backrest and seat
+   edge, the box's near face). A bounded contact pass reduces penetration,
+   either by translating the whole figure out along the face normal (a wall-sit
    slides down the wall's *surface*, feet walking forward, instead of the
    torso hinging through the slab) or by bending the offending limb's hip
    clear, ROM-clamped like every other solve. Limbs pinned, gripped, or
    reached to a prop anchor are that phase's declared support and are exempt
    (a foot standing on the box top is not "inside" the box).
-6. **Pins**: `pin: <effector> <anchor>` translates the whole figure so the
-   effector sits on the anchor (effectors accept the same `hands`/`feet` groups
-   as reach: `pin: hands bar` pins both). Where ground-lock keeps a foot on
-   the floor and reach moves a limb to a target, a **pin moves the body** while
-   the contact stays put, so the figure hangs from a bar, pulls up toward it,
-   rises onto a box, or lowers into a dip as the joints work.
-   Symmetric bar contacts resolve to side-specific anchors automatically
-   (`bar.left` / `bar.right`, `bars.left` / `bars.right`). Contact post-processing
-   also keeps floor-contacting soles level and gives bar-contacting wrists a
-   stable overhand orientation; existing Posecode syntax remains unchanged.
-7. **Spatial choreography**: `turn: <deg>` rotates the figure's facing (yaw
+6. **Pins**: `pin: <effector> <anchor>` translates the whole figure so one
+   primary effector sits on the anchor. Where ground-lock preserves an already
+   planted floor support and reach moves a limb to a target, a **pin moves the
+   body**. Typical uses include `pin: knee_left floor`, `pin: foot_right box`,
+   and `pin: pelvis floor`. A phase accepts one pin because each pin translates
+   the same floating root; express additional simultaneous contacts with
+   independent `reach` constraints. Use `grip` instead of hand pins for a
+   two-handed bar or rail contact.
+7. **Grips**: `grip: hands bar|bars` is the dedicated two-hand contact for an
+   overhead bar or dip rails; side-specific `hand_left` / `hand_right` forms are
+   also available. A grip resolves independent left/right anchors, uses arm IK
+   for each hand, orients the terminal contact, and closes the fingers. The
+   matching prop must be declared. Use grips, rather than hand pins, for hangs,
+   pull-ups, and dips.
+8. **Spatial choreography**: `turn: <deg>` rotates the figure's facing (yaw
    about vertical) and `travel: <x> <z>` moves it across the floor (world metres
    from the load spot). Both are **absolute targets carried across phases** (like
    joint angles) and both return home on the loop wrap, so a box-step traces a
@@ -193,13 +227,13 @@ research §5.1 normative tables. Selected ceilings (degrees):
    grounding (feet still rest on the floor) and power pirouettes, grapevines,
    traveling combos, and walk cycles. **Standing poses only**: combining with
    lying/seated bases (whose root is already tilted) is out of scope.
-8. **Looping**: the timeline loops base → phases → base; `repeat` is the rep
+9. **Looping**: the timeline loops base → phases → base; `repeat` is the rep
    count surfaced to the UI.
 
 When a mocap clip is active, the renderer selects the take containing the most
 actual bone motion (rather than blindly choosing the longest embedded take),
 retargets and blends it, then restores solved terminal contacts on the visible
-character. Mocap therefore cannot overwrite a planted sole or pinned grip.
+character. Mocap therefore cannot overwrite a planted sole or active grip.
 
 **Start poses:** `neutral`, `standing`, `plank`, `supine` (face-up), `prone`
 (face-down), `seated` (long-sit on the floor).
@@ -207,8 +241,10 @@ character. Mocap therefore cannot overwrite a planted sole or pinned grip.
 **IK note:** Three.js's bundled `CCDIKSolver` targets `SkinnedMesh`; the Posecode
 mannequin is rigid capsule segments, so Posecode implements CCD directly over the
 Object3D bone hierarchy (`posecode-render/ik.ts`) for both ground-lock and reach.
-Self-collision (limb-vs-body) and body-vs-prop contact are solved; two-person/
-dual-IK and figure-vs-figure collision remain deferred (research §5.2, §6.2).
+Selected limb-vs-body and body-vs-prop penetrations are reduced with sampled,
+bounded correction passes; this is not comprehensive collision detection or a
+physics simulation. Two-person/dual-IK and figure-vs-figure collision remain
+deferred (research §5.2, §6.2).
 
 ---
 
@@ -229,8 +265,17 @@ interface PosecodeIR {
     name: string;
     durationSec: number;
     easing: "flow" | "settle" | "drive" | "snap" | "linear";
-    targets: { boneId: string; euler: { x: number; y: number; z: number } }[];
+    targets: {
+      boneId: string;
+      euler: { x: number; y: number; z: number };
+      axes?: ("x" | "y" | "z")[]; // channels explicitly authored this phase
+    }[];
     groundLock: string[];   // ["hands","feet"], ["foot_right"], or ["back"]
+    reaches: { effector: string; target: string }[];
+    pins: { effector: string; anchor: string }[];
+    grips: { effector: string; anchor: string }[];
+    turnDeg?: number;
+    travel?: { x: number; z: number };
     cue?: string;
   }[];
 }
diff --git a/spec/examples/arm-circles.posecode b/spec/examples/arm-circles.posecode
index 129d19a..28e5055 100644
--- a/spec/examples/arm-circles.posecode
+++ b/spec/examples/arm-circles.posecode
@@ -2,17 +2,38 @@ posecode exercise "Arm circles"
   rig humanoid
   pose start = standing
 
-  step "Up & forward" 1.2s flow:
-    shoulders: flex 120
-    cue "Sweep the arms up and forward"
+  step "Forward" 0.75s flow:
+    shoulders: flex 90
+    shoulders: abduct 0
+    elbows: flex 8
+    ground-lock: feet
+    cue "Sweep both nearly straight arms forward to shoulder height"
+
+  step "Overhead" 0.75s flow:
+    shoulders: flex 165
+    shoulders: abduct 0
+    elbows: flex 8
+    ground-lock: feet
+    cue "Continue the circle overhead without shrugging"
 
-  step "Out to sides" 1.2s flow:
+  step "Open wide" 0.75s flow:
     shoulders: flex 0
-    shoulders: abduct 120
-    cue "Open the arms out wide to the sides"
+    shoulders: abduct 95
+    elbows: flex 8
+    ground-lock: feet
+    cue "Open the arms wide through shoulder height"
 
-  step "Down & round" 1.2s settle:
+  step "Sweep behind" 0.65s flow:
     shoulders: abduct 0
-    cue "Lower and continue the circle back to the start"
+    shoulders: extend 30
+    elbows: flex 8
+    ground-lock: feet
+    cue "Sweep slightly behind the hips to complete the back of the circle"
+
+  step "Close the circle" 0.6s settle:
+    shoulders: extend 0
+    elbows: flex 0
+    ground-lock: feet
+    cue "Return the arms softly to the sides"
 
   repeat 6
diff --git a/spec/examples/bent-over-row.posecode b/spec/examples/bent-over-row.posecode
index c7f4b6a..ca9a04f 100644
--- a/spec/examples/bent-over-row.posecode
+++ b/spec/examples/bent-over-row.posecode
@@ -5,7 +5,7 @@ posecode exercise "Bent-over row"
   step "Set the hinge" 1.6s flow:
     pelvis: hinge 70
     knees: flex 20
-    ankles: plantarflex 20
+    ankles: dorsiflex 5
     shoulders: flex 65
     elbows: flex 10
     elbows: pronate 80
@@ -20,7 +20,7 @@ posecode exercise "Bent-over row"
     ground-lock: feet
     cue "Drive the elbows up past the ribs, squeeze the shoulder blades"
 
-  step "Lower" 1s drive:
+  step "Lower" 1s settle:
     shoulders: flex 65
     elbows: flex 10
     elbows: pronate 80
@@ -30,7 +30,7 @@ posecode exercise "Bent-over row"
   step "Stand" 1s settle:
     pelvis: hinge 0
     knees: flex 0
-    ankles: plantarflex 0
+    ankles: dorsiflex 0
     shoulders: flex 0
     elbows: flex 0
     elbows: pronate 0
diff --git a/spec/examples/biceps-curl.posecode b/spec/examples/biceps-curl.posecode
index ae4f6f3..1d86ab2 100644
--- a/spec/examples/biceps-curl.posecode
+++ b/spec/examples/biceps-curl.posecode
@@ -7,7 +7,7 @@ posecode exercise "Biceps curl"
     elbows: supinate 80
     cue "Curl up, keep the elbows tucked at your sides"
 
-  step "Lower" 1.4s drive:
+  step "Lower" 1.4s settle:
     elbows: flex 15
     elbows: supinate 80
     cue "Lower under control: don't swing"
diff --git a/spec/examples/bicycle-crunch.posecode b/spec/examples/bicycle-crunch.posecode
index 1366bcd..845db74 100644
--- a/spec/examples/bicycle-crunch.posecode
+++ b/spec/examples/bicycle-crunch.posecode
@@ -13,28 +13,32 @@ posecode exercise "Bicycle crunch"
     cue "Hands by the ears, knees over the hips, shoulders lifted"
 
   step "Right to left" 0.8s flow:
-    spine: rotate-in 30
-    chest: rotate-in 20
-    hip_left: flex 110
+    spine: flex 35
+    spine: twist-left 30
+    chest: flex 20
+    chest: twist-left 20
+    hip_left: flex 125
     knee_left: flex 90
     hip_right: flex 15
     knee_right: flex 5
-    reach: elbow_right knee_left
     cue "Right elbow toward the left knee; the right leg extends long"
 
   step "Left to right" 0.8s flow:
-    spine: rotate-out 30
-    chest: rotate-out 20
-    hip_right: flex 110
+    spine: flex 35
+    spine: twist-right 30
+    chest: flex 20
+    chest: twist-right 20
+    hip_right: flex 125
     knee_right: flex 90
     hip_left: flex 15
     knee_left: flex 5
-    reach: elbow_left knee_right
     cue "Switch: left elbow toward the right knee"
 
   step "Center" 0.6s settle:
-    spine: rotate-in 0
-    chest: rotate-in 0
+    spine: flex 25
+    spine: twist-left 0
+    chest: flex 15
+    chest: twist-left 0
     hip_right: flex 90
     knee_right: flex 90
     hip_left: flex 90
diff --git a/spec/examples/chasse.posecode b/spec/examples/chasse.posecode
index 0d93db9..bae18fe 100644
--- a/spec/examples/chasse.posecode
+++ b/spec/examples/chasse.posecode
@@ -3,9 +3,9 @@ posecode exercise "Chassé"
   pose start = standing
 
   step "Right foot reaches" 0.65s flow:
-    hip_right: abduct 26
+    hip_right: abduct 20
     knee_right: flex 20
-    ankle_right: plantarflex 24
+    ankle_right: plantarflex 30
     ankle_left: plantarflex 20
     shoulders: abduct 60
     elbows: flex 18
@@ -20,7 +20,7 @@ posecode exercise "Chassé"
     ankle_right: plantarflex 0
     hip_left: abduct 18
     knee_left: flex 22
-    ankle_left: plantarflex 24
+    ankle_left: plantarflex 30
     travel: 0.66 0
     pin: foot_right floor
     cue "Let the left foot chase under the body without breaking the sideways flow"
@@ -29,9 +29,9 @@ posecode exercise "Chassé"
     hip_left: abduct 0
     knee_left: flex 0
     ankle_left: plantarflex 18
-    hip_right: abduct 26
+    hip_right: abduct 20
     knee_right: flex 20
-    ankle_right: plantarflex 24
+    ankle_right: plantarflex 30
     travel: 1 0
     pin: foot_left floor
     reach: foot_right floor
@@ -41,9 +41,9 @@ posecode exercise "Chassé"
     hip_right: abduct 0
     knee_right: flex 0
     ankle_right: plantarflex 20
-    hip_left: abduct 26
+    hip_left: abduct 20
     knee_left: flex 20
-    ankle_left: plantarflex 24
+    ankle_left: plantarflex 30
     travel: 0.66 0
     pin: foot_right floor
     reach: foot_left floor
@@ -55,7 +55,7 @@ posecode exercise "Chassé"
     ankle_left: plantarflex 0
     hip_right: abduct 18
     knee_right: flex 22
-    ankle_right: plantarflex 24
+    ankle_right: plantarflex 30
     travel: 0.34 0
     pin: foot_left floor
     cue "Let the right foot chase under the body on the return"
diff --git a/spec/examples/cobra.posecode b/spec/examples/cobra.posecode
index b837ad3..c406b29 100644
--- a/spec/examples/cobra.posecode
+++ b/spec/examples/cobra.posecode
@@ -6,11 +6,12 @@ posecode stretch "Cobra"
     spine: extend 25
     chest: extend 15
     neck: extend 20
-    shoulders: flex 110
+    shoulders: flex 100
+    shoulders: rotate-out 60
     elbows: flex 40
     elbows: pronate 80
     pin: pelvis floor
-    pin: feet floor
+    reach: feet floor
     reach: hands floor
     cue "Press the palms into the floor and lift the chest, shoulders rolling back"
 
@@ -19,11 +20,11 @@ posecode stretch "Cobra"
     chest: extend 0
     neck: extend 0
     shoulders: flex 0
+    shoulders: rotate-out 0
     elbows: flex 0
     elbows: pronate 80
     pin: pelvis floor
-    pin: feet floor
-    reach: hands floor
+    reach: feet floor
     cue "Lower the chest back to the floor with control"
 
   repeat 4
diff --git a/spec/examples/cross-body-reach.posecode b/spec/examples/cross-body-reach.posecode
index 06e73a0..6118aff 100644
--- a/spec/examples/cross-body-reach.posecode
+++ b/spec/examples/cross-body-reach.posecode
@@ -3,24 +3,30 @@ posecode stretch "Cross-body reach"
   pose start = standing
 
   step "Reach across right" 2s flow:
-    shoulder_right: flex 80
-    reach: hand_right shoulder_left
+    shoulder_right: flex 90
+    shoulder_right: adduct 45
+    elbow_right: flex 110
     ground-lock: feet
-    cue "Pull the right arm across the chest toward the left shoulder"
+    cue "Fold the right arm across the chest and reach toward the left shoulder"
 
   step "Return" 1.4s settle:
     shoulder_right: flex 0
+    shoulder_right: adduct 0
+    elbow_right: flex 0
     ground-lock: feet
     cue "Release back to center"
 
   step "Reach across left" 2s flow:
-    shoulder_left: flex 80
-    reach: hand_left shoulder_right
+    shoulder_left: flex 90
+    shoulder_left: adduct 45
+    elbow_left: flex 110
     ground-lock: feet
     cue "Pull the left arm across the chest toward the right shoulder"
 
   step "Center" 1.4s settle:
     shoulder_left: flex 0
+    shoulder_left: adduct 0
+    elbow_left: flex 0
     ground-lock: feet
     cue "Return to center"
 
diff --git a/spec/examples/crunch.posecode b/spec/examples/crunch.posecode
index 3858899..63ae240 100644
--- a/spec/examples/crunch.posecode
+++ b/spec/examples/crunch.posecode
@@ -7,7 +7,8 @@ posecode exercise "Crunch"
     knees: flex 90
     ankles: plantarflex 50
     shoulders: flex 45
-    pin: feet floor
+    pin: pelvis floor
+    reach: feet floor
 
   step "Curl up" 1s settle:
     hips: flex 45
@@ -17,10 +18,11 @@ posecode exercise "Crunch"
     spine: flex 30
     chest: flex 20
     neck: flex 15
-    pin: feet floor
+    pin: pelvis floor
+    reach: feet floor
     cue "Curl the shoulders off the floor, ribs toward the hips"
 
-  step "Lower" 1.2s drive:
+  step "Lower" 1.2s settle:
     hips: flex 45
     knees: flex 90
     ankles: plantarflex 50
@@ -28,7 +30,8 @@ posecode exercise "Crunch"
     spine: flex 0
     chest: flex 0
     neck: flex 0
-    pin: feet floor
+    pin: pelvis floor
+    reach: feet floor
     cue "Lower the upper back down with control"
 
   repeat 12
diff --git a/spec/examples/deadlift.posecode b/spec/examples/deadlift.posecode
index e5bac23..49c68f1 100644
--- a/spec/examples/deadlift.posecode
+++ b/spec/examples/deadlift.posecode
@@ -10,7 +10,7 @@ posecode exercise "Deadlift"
     elbows: pronate 80
     neck: extend 12
     ground-lock: feet
-    cue "Push the hips back and hinge with a flat back: let the arms hang to the bar"
+    cue "Push the hips back with a flat back as the arms hang below the shoulders"
 
   step "Lift" 1.4s settle:
     pelvis: hinge 0
@@ -20,6 +20,6 @@ posecode exercise "Deadlift"
     elbows: pronate 80
     neck: extend 0
     ground-lock: feet
-    cue "Drive the hips forward to stand tall, bar close to the body"
+    cue "Drive the hips forward and return to a tall stance"
 
   repeat 8
diff --git a/spec/examples/forward-lunge.posecode b/spec/examples/forward-lunge.posecode
index c0419f7..3790b18 100644
--- a/spec/examples/forward-lunge.posecode
+++ b/spec/examples/forward-lunge.posecode
@@ -7,7 +7,7 @@ posecode exercise "Forward lunge"
     knee_right: flex 95
     hip_left: extend 15
     knee_left: flex 80
-    ankle_left: plantarflex 50
+    ankle_left: plantarflex 30
     spine: extend 4
     travel: 0 0.3
     pin: foot_left floor
diff --git a/spec/examples/glute-bridge.posecode b/spec/examples/glute-bridge.posecode
index 2ce2f47..fc2cf5e 100644
--- a/spec/examples/glute-bridge.posecode
+++ b/spec/examples/glute-bridge.posecode
@@ -9,17 +9,17 @@ posecode exercise "Glute bridge"
     spine: extend 10
     shoulders: rotate-in 70
     elbows: pronate 80
-    reach: hands floor
     ground-lock: feet
     cue "Press through the feet and lift the hips toward the ceiling"
 
-  step "Lower" 1.6s drive:
+  step "Lower" 1.6s settle:
     hips: extend 0
     spine: flex 0
+    ankles: hold neutral
     shoulders: rotate-in 70
     elbows: pronate 80
-    reach: hands floor
-    ground-lock: feet
-    cue "Lower the hips back to the floor, one vertebra at a time"
+    pin: pelvis floor
+    reach: feet floor
+    cue "Lower the pelvis to the floor while both feet return to floor contact"
 
   repeat 10
diff --git a/spec/examples/good-morning.posecode b/spec/examples/good-morning.posecode
index 0d5b632..fe80884 100644
--- a/spec/examples/good-morning.posecode
+++ b/spec/examples/good-morning.posecode
@@ -5,17 +5,17 @@ posecode exercise "Good morning"
   step "Hinge" 2s flow:
     pelvis: hinge 80
     knees: flex 15
-    ankles: plantarflex 15
+    ankles: dorsiflex 0
     shoulders: abduct 45
     elbows: flex 110
     neck: extend 10
     ground-lock: feet
-    cue "Hands behind the head, hinge from the hips with a flat back"
+    cue "Keep the elbows wide and hinge from the hips with a flat back"
 
   step "Stand" 1.8s settle:
     pelvis: hinge 0
     knees: flex 0
-    ankles: plantarflex 0
+    ankles: dorsiflex 0
     shoulders: abduct 45
     elbows: flex 110
     neck: extend 0
diff --git a/spec/examples/grapevine.posecode b/spec/examples/grapevine.posecode
index 84effd5..50e3c2f 100644
--- a/spec/examples/grapevine.posecode
+++ b/spec/examples/grapevine.posecode
@@ -3,7 +3,7 @@ posecode exercise "Grapevine"
   pose start = standing
 
   step "Left step side" 0.65s flow:
-    hip_left: abduct 28
+    hip_left: abduct 16
     shoulders: abduct 40
     travel: 0.3 0
     pin: foot_right floor
@@ -24,7 +24,7 @@ posecode exercise "Grapevine"
     hip_right: rotate-in 0
     knee_right: flex 0
     ankle_right: plantarflex 0
-    hip_left: abduct 28
+    hip_left: abduct 16
     travel: 0.9 0
     pin: foot_right floor
     reach: foot_left floor
@@ -35,13 +35,14 @@ posecode exercise "Grapevine"
     knee_right: flex 16
     ankle_right: plantarflex 20
     travel: 1 0
-    ground-lock: feet
+    ground-lock: foot_left
+    reach: foot_right floor
     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
+    hip_right: abduct 16
     travel: 0.7 0
     pin: foot_left floor
     reach: foot_right floor
@@ -61,7 +62,7 @@ posecode exercise "Grapevine"
     hip_left: rotate-in 0
     knee_left: flex 0
     ankle_left: plantarflex 0
-    hip_right: abduct 28
+    hip_right: abduct 16
     travel: 0.1 0
     pin: foot_left floor
     reach: foot_right floor
diff --git a/spec/examples/hand-wave.posecode b/spec/examples/hand-wave.posecode
index 2e9fa33..3e212e5 100644
--- a/spec/examples/hand-wave.posecode
+++ b/spec/examples/hand-wave.posecode
@@ -2,23 +2,43 @@ posecode posture "Hand wave"
   rig humanoid
   pose start = standing
 
-  step "Raise" 0.8s settle:
-    shoulder_right: flex 150
-    elbow_right: flex 20
+  step "Raise" 0.9s settle:
+    shoulder_right: flex 70
+    shoulder_right: abduct 35
+    elbow_right: flex 95
+    elbow_right: pronate 0
+    wrist_right: abduct 15
     fingers_right: flex 0
-    cue "Raise the hand up high, palm open"
+    ground-lock: feet
+    cue "Bring the open right hand beside the face, palm forward"
 
-  step "Wave out" 0.6s flow:
-    fingers_right: flex 30
-    cue "Tip the fingers out..."
+  step "Wave out" 0.45s flow:
+    wrist_right: abduct 20
+    ground-lock: feet
+    cue "Tilt the hand outward from the wrist"
 
-  step "Wave in" 0.6s flow:
-    fingers_right: flex 0
-    cue "...and back again: a friendly wave"
+  step "Wave in" 0.45s flow:
+    wrist_right: adduct 25
+    ground-lock: feet
+    cue "Tilt the hand inward without moving the elbow"
+
+  step "Wave out again" 0.45s flow:
+    wrist_right: abduct 20
+    ground-lock: feet
+    cue "Wave outward once more"
+
+  step "Center the hand" 0.35s settle:
+    wrist_right: abduct 0
+    ground-lock: feet
+    cue "Return the wrist to neutral"
 
-  step "Lower" 0.8s drive:
+  step "Lower" 0.8s settle:
     shoulder_right: flex 0
+    shoulder_right: abduct 0
     elbow_right: flex 0
+    elbow_right: pronate 80
+    wrist_right: abduct 0
+    ground-lock: feet
     cue "Lower the arm back to your side"
 
   repeat 3
diff --git a/spec/examples/hanging-knee-raise.posecode b/spec/examples/hanging-knee-raise.posecode
index 9f2ffb2..9d41cf5 100644
--- a/spec/examples/hanging-knee-raise.posecode
+++ b/spec/examples/hanging-knee-raise.posecode
@@ -28,7 +28,7 @@ posecode exercise "Hanging knee raise"
     grip: hand_right bar
     cue "Draw both knees up toward the chest"
 
-  step "Lower" 1.4s drive:
+  step "Lower" 1.4s settle:
     hips: flex 0
     knees: flex 0
     shoulders: flex 175
@@ -38,7 +38,7 @@ posecode exercise "Hanging knee raise"
     grip: hand_right bar
     cue "Lower the legs under control, staying in a steady hang"
 
-  step "Release" 0.8s drive:
+  step "Release" 0.8s settle:
     shoulders: flex 0
     elbows: flex 0
     elbows: pronate 0
diff --git a/spec/examples/heel-raises.posecode b/spec/examples/heel-raises.posecode
index add3ee8..dd1b69b 100644
--- a/spec/examples/heel-raises.posecode
+++ b/spec/examples/heel-raises.posecode
@@ -7,7 +7,7 @@ posecode exercise "Heel raises"
     ground-lock: feet
     cue "Press through the balls of the feet and lift the heels"
 
-  step "Lower" 1.5s drive:
+  step "Lower" 1.5s settle:
     ankles: plantarflex 0
     ground-lock: feet
     cue "Lower the heels under control"
diff --git a/spec/examples/jab-cross.posecode b/spec/examples/jab-cross.posecode
index c3940c1..9c506ab 100644
--- a/spec/examples/jab-cross.posecode
+++ b/spec/examples/jab-cross.posecode
@@ -6,7 +6,7 @@ posecode exercise "Jab-cross"
     shoulder_left: flex 85
     elbow_left: flex 15
     elbow_left: pronate 80
-    spine: rotate-out 10
+    spine: twist-right 10
     fingers: flex 80
     ground-lock: feet
     cue "Snap the lead (left) hand straight out, rotating slightly into it"
@@ -15,7 +15,7 @@ posecode exercise "Jab-cross"
     shoulder_left: flex 0
     elbow_left: flex 90
     elbow_left: pronate 0
-    spine: rotate-out 0
+    spine: twist-right 0
     fingers: flex 80
     ground-lock: feet
     cue "Bring the hand back to guard"
@@ -24,7 +24,7 @@ posecode exercise "Jab-cross"
     shoulder_right: flex 90
     elbow_right: flex 10
     elbow_right: pronate 80
-    spine: rotate-in 35
+    spine: twist-left 35
     fingers: flex 80
     ground-lock: feet
     cue "Drive the rear (right) hand across, rotating the trunk"
@@ -33,7 +33,7 @@ posecode exercise "Jab-cross"
     shoulder_right: flex 0
     elbow_right: flex 90
     elbow_right: pronate 0
-    spine: rotate-in 0
+    spine: twist-left 0
     fingers: flex 80
     ground-lock: feet
     cue "Return to guard, hands high"
diff --git a/spec/examples/lateral-raise.posecode b/spec/examples/lateral-raise.posecode
index df807ed..7568a54 100644
--- a/spec/examples/lateral-raise.posecode
+++ b/spec/examples/lateral-raise.posecode
@@ -7,7 +7,7 @@ posecode exercise "Lateral raise"
     elbows: flex 10
     cue "Lift out to shoulder height, soft elbows"
 
-  step "Lower" 1.6s drive:
+  step "Lower" 1.6s settle:
     shoulders: abduct 0
     elbows: flex 0
     cue "Lower slowly, resist on the way down"
diff --git a/spec/examples/make-a-fist.posecode b/spec/examples/make-a-fist.posecode
index 5ad24f5..784150c 100644
--- a/spec/examples/make-a-fist.posecode
+++ b/spec/examples/make-a-fist.posecode
@@ -6,7 +6,7 @@ posecode posture "Make a fist"
     fingers: flex 80
     cue "Curl the fingers and thumb in to make a closed fist"
 
-  step "Open" 1.2s drive:
+  step "Open" 1.2s settle:
     fingers: flex 0
     cue "Spread the fingers wide open"
 
diff --git a/spec/examples/mountain-climber.posecode b/spec/examples/mountain-climber.posecode
index 45594c7..d0722d4 100644
--- a/spec/examples/mountain-climber.posecode
+++ b/spec/examples/mountain-climber.posecode
@@ -3,27 +3,22 @@ posecode exercise "Mountain climber"
   pose start = plank
 
   step "Right knee in" 0.5s settle:
-    hip_right: flex 60
-    knee_right: flex 75
-    elbows: pronate 80
-    pin: foot_left floor
-    pin: hands floor
-    cue "Drive the right knee toward the chest"
+    hip_right: flex 105
+    knee_right: flex 135
+    ground-lock: hands, foot_left
+    cue "Keep both palms and the left toes planted as the right knee drives in"
 
   step "Switch" 0.5s flow:
     hip_right: flex 0
     knee_right: flex 0
-    hip_left: flex 60
-    knee_left: flex 75
-    elbows: pronate 80
-    pin: foot_right floor
-    pin: hands floor
-    cue "Switch fast: left knee drives in"
+    hip_left: flex 105
+    knee_left: flex 135
+    ground-lock: hands, foot_right
+    cue "Plant the right toes, then drive the left knee toward the chest"
 
   step "Out" 0.5s drive:
     hip_left: flex 0
     knee_left: flex 0
-    elbows: pronate 80
     ground-lock: hands, feet
     cue "Return to a strong plank"
 
diff --git a/spec/examples/neck-rotation.posecode b/spec/examples/neck-rotation.posecode
index a1f94ad..d2c5542 100644
--- a/spec/examples/neck-rotation.posecode
+++ b/spec/examples/neck-rotation.posecode
@@ -3,17 +3,17 @@ posecode stretch "Neck rotation"
   pose start = standing
 
   step "Look right" 2s flow:
-    neck: rotate-out 60
+    neck: twist-right 60
     ground-lock: feet
     cue "Turn slowly to look over the right shoulder"
 
   step "Look left" 2.4s flow:
-    neck: rotate-in 60
+    neck: twist-left 60
     ground-lock: feet
     cue "Pass through center and turn to the left"
 
   step "Center" 1.6s settle:
-    neck: rotate-in 0
+    neck: twist-left 0
     ground-lock: feet
     cue "Return the head to neutral"
 
diff --git a/spec/examples/pinch-grip.posecode b/spec/examples/pinch-grip.posecode
index bf0944c..8fbaa80 100644
--- a/spec/examples/pinch-grip.posecode
+++ b/spec/examples/pinch-grip.posecode
@@ -8,7 +8,7 @@ posecode posture "Pinch grip"
     index_right: flex 60
     cue "Bring the thumb and index fingertip together in a pinch"
 
-  step "Release" 1.2s drive:
+  step "Release" 1.2s settle:
     thumb_right: flex 0
     thumb_right: adduct 0
     index_right: flex 0
diff --git a/spec/examples/pirouette.posecode b/spec/examples/pirouette.posecode
index b63fe00..5431d95 100644
--- a/spec/examples/pirouette.posecode
+++ b/spec/examples/pirouette.posecode
@@ -8,7 +8,8 @@ posecode exercise "Pirouette"
     ankles: dorsiflex 12
     shoulders: flex 40
     elbows: flex 35
-    ground-lock: feet
+    ground-lock: foot_left
+    reach: foot_right floor
     cue "Plié to load the turn, arms rounded low in first"
 
   step "Spot & spin" 1.4s flow:
diff --git a/spec/examples/plank-hold.posecode b/spec/examples/plank-hold.posecode
index d895c34..c306247 100644
--- a/spec/examples/plank-hold.posecode
+++ b/spec/examples/plank-hold.posecode
@@ -7,15 +7,13 @@ posecode posture "Plank hold"
     elbows: flex 90
     elbows: pronate 80
     ground-lock: forearms, feet
-    reach: hands floor
-    cue "Lower onto the forearms, elbows directly under the shoulders"
+    cue "Plant the forearms with the elbows directly under the shoulders"
 
   step "Hold" 3s linear:
     shoulders: flex 90
     elbows: flex 90
     elbows: pronate 80
     ground-lock: forearms, feet
-    reach: hands floor
     cue "Brace the core: one straight line from head to heels"
 
   repeat 3
diff --git a/spec/examples/pull-up.posecode b/spec/examples/pull-up.posecode
index 41244b5..0131cd2 100644
--- a/spec/examples/pull-up.posecode
+++ b/spec/examples/pull-up.posecode
@@ -18,16 +18,16 @@ posecode exercise "Pull-up"
     cue "Hang from the bar, arms long, shoulders active"
 
   step "Pull up" 1.2s settle:
-    shoulders: flex 105
-    elbows: flex 130
+    shoulders: flex 90
+    elbows: flex 125
     elbows: pronate 80
     spine: extend 15
     chest: extend 10
-    neck: extend 20
+    neck: extend 25
     grip: hands bar
     cue "Pull the chest toward the bar, driving the elbows down"
 
-  step "Lower" 1.4s drive:
+  step "Lower" 1.4s settle:
     shoulders: flex 175
     elbows: flex 5
     elbows: pronate 80
@@ -37,7 +37,7 @@ posecode exercise "Pull-up"
     grip: hands bar
     cue "Lower under control back to a full hang"
 
-  step "Release" 0.8s drive:
+  step "Release" 0.8s settle:
     shoulders: flex 0
     elbows: flex 0
     elbows: pronate 0
diff --git a/spec/examples/single-leg-calf-raise.posecode b/spec/examples/single-leg-calf-raise.posecode
index e982497..54706b1 100644
--- a/spec/examples/single-leg-calf-raise.posecode
+++ b/spec/examples/single-leg-calf-raise.posecode
@@ -8,7 +8,7 @@ posecode exercise "Single-leg calf raise"
     pin: foot_right floor
     cue "Balance on the right foot and rise onto the ball of the foot"
 
-  step "Lower" 1.3s drive:
+  step "Lower" 1.3s settle:
     ankle_right: plantarflex 0
     knee_left: flex 60
     pin: foot_right floor
diff --git a/spec/examples/spinal-twist.posecode b/spec/examples/spinal-twist.posecode
index bab17bc..bcca7e1 100644
--- a/spec/examples/spinal-twist.posecode
+++ b/spec/examples/spinal-twist.posecode
@@ -3,24 +3,24 @@ posecode stretch "Standing spinal twist"
   pose start = standing
 
   step "Twist right" 2.5s flow:
-    spine: rotate-out 40
-    chest: rotate-out 30
+    spine: twist-right 40
+    chest: twist-right 30
     shoulders: abduct 80
     elbows: flex 90
     ground-lock: feet
     cue "Rotate through the mid-back, arms at shoulder height, hips facing forward"
 
   step "Twist left" 3s flow:
-    spine: rotate-in 40
-    chest: rotate-in 30
+    spine: twist-left 40
+    chest: twist-left 30
     shoulders: abduct 80
     elbows: flex 90
     ground-lock: feet
     cue "Pass through center and rotate to the other side"
 
   step "Center" 1.6s settle:
-    spine: rotate-in 0
-    chest: rotate-in 0
+    spine: twist-left 0
+    chest: twist-left 0
     shoulders: abduct 0
     elbows: flex 0
     ground-lock: feet
diff --git a/spec/examples/spine-rotation-demo.posecode b/spec/examples/spine-rotation-demo.posecode
index 313f15b..dd11e2e 100644
--- a/spec/examples/spine-rotation-demo.posecode
+++ b/spec/examples/spine-rotation-demo.posecode
@@ -3,17 +3,17 @@ posecode stretch "Spine rotation (ROM demo)"
   pose start = standing
 
   step "Rotate right" 2.5s flow:
-    spine: rotate-out 45
+    spine: twist-right 45
     ground-lock: feet
     cue "Rotate the trunk to the right: transverse-plane spinal rotation"
 
   step "Rotate left" 2.5s flow:
-    spine: rotate-in 45
+    spine: twist-left 45
     ground-lock: feet
     cue "Pass through center and rotate to the left"
 
   step "Center" 2s settle:
-    spine: rotate-in 0
+    spine: twist-left 0
     ground-lock: feet
     cue "Return to a neutral facing"
 
diff --git a/spec/examples/squat.posecode b/spec/examples/squat.posecode
index 5699bf9..366862c 100644
--- a/spec/examples/squat.posecode
+++ b/spec/examples/squat.posecode
@@ -10,7 +10,7 @@ posecode exercise "Body-weight squat"
     shoulders: flex 70
     neck: extend 10
     ground-lock: feet
-    cue "Sit the hips back, chest proud, knees track over the toes"
+    cue "Flex both hips and knees as the pelvis hinges over the planted feet"
 
   step "Drive up" 1.2s drive:
     hips: flex 0
@@ -20,6 +20,6 @@ posecode exercise "Body-weight squat"
     shoulders: flex 0
     neck: extend 0
     ground-lock: feet
-    cue "Drive through the heels to stand tall"
+    cue "Straighten both hips and knees and return the torso and arms to neutral"
 
   repeat 8
diff --git a/spec/examples/standing-hamstring-curl.posecode b/spec/examples/standing-hamstring-curl.posecode
index 2b990ed..5791f90 100644
--- a/spec/examples/standing-hamstring-curl.posecode
+++ b/spec/examples/standing-hamstring-curl.posecode
@@ -7,7 +7,7 @@ posecode exercise "Standing hamstring curl"
     pin: foot_left floor
     cue "Bend the right knee, drawing the heel toward the glute"
 
-  step "Lower" 1.6s drive:
+  step "Lower" 1.6s settle:
     knee_right: flex 0
     pin: foot_left floor
     cue "Lower the foot back to the floor"
diff --git a/spec/examples/standing-quad-stretch.posecode b/spec/examples/standing-quad-stretch.posecode
index df097a5..d45f3c3 100644
--- a/spec/examples/standing-quad-stretch.posecode
+++ b/spec/examples/standing-quad-stretch.posecode
@@ -3,15 +3,23 @@ posecode stretch "Standing quad stretch"
   pose start = standing
 
   step "Catch the foot" 3s flow:
+    spine: twist-right 15
+    chest: twist-right 10
     knee_right: flex 144
     hip_right: extend 20
+    shoulder_right: extend 35
+    elbow_right: flex 20
     reach: hand_right ankle_right
     pin: foot_left floor
-    cue "Bend the right knee back and reach the hand for the ankle"
+    cue "Turn slightly right, draw the heel toward the seat, and catch the ankle"
 
   step "Release" 2s settle:
+    spine: twist-right 0
+    chest: twist-right 0
     knee_right: flex 0
     hip_right: extend 0
+    shoulder_right: extend 0
+    elbow_right: flex 0
     pin: foot_left floor
     cue "Release the foot and return to standing"
 
diff --git a/spec/examples/step-up.posecode b/spec/examples/step-up.posecode
index fb68d9a..7dddbe7 100644
--- a/spec/examples/step-up.posecode
+++ b/spec/examples/step-up.posecode
@@ -19,18 +19,19 @@ posecode exercise "Step-up"
     pin: foot_right box
     cue "Drive through the top foot to stand tall on the box"
 
-  step "Step down" 1.4s drive:
-    hip_right: flex 70
-    knee_right: flex 90
-    ankle_right: plantarflex 50
-    hip_left: flex 0
-    knee_left: flex 0
+  step "Step down" 1.4s settle:
+    hip_right: flex 55
+    knee_right: flex 65
+    ankle_right: dorsiflex 10
+    hip_left: flex 15
+    knee_left: flex 25
     pin: foot_right box
-    cue "Lower the trailing foot back to the floor"
+    cue "Lower the trailing foot toward the floor while staying tall on the box"
 
   step "Off the box" 0.8s settle:
     hip_right: flex 0
     knee_right: flex 0
+    ankle_right: dorsiflex 0
     ground-lock: feet
     cue "Step the lead foot down to meet it, standing tall on the floor"
 
diff --git a/spec/examples/superhero-landing.posecode b/spec/examples/superhero-landing.posecode
new file mode 100644
index 0000000..f185364
--- /dev/null
+++ b/spec/examples/superhero-landing.posecode
@@ -0,0 +1,59 @@
+posecode posture "Superhero Three-Point Landing"
+  rig humanoid
+  pose start = standing
+
+  step "Drop into the landing" 0.55s flow:
+    pelvis: hinge 45
+    spine: flex 50
+    chest: flex 9
+    hip_right: flex 84
+    knee_right: flex 123
+    ankle_right: dorsiflex 15
+    hip_left: extend 12
+    knee_left: flex 105
+    ankle_left: plantarflex 28
+    shoulder_left: flex 98
+    shoulder_left: abduct 2
+    elbow_left: flex 8
+    fingers_left: flex 80
+    shoulder_right: extend 24
+    shoulder_right: abduct 22
+    elbow_right: flex 16
+    ground-lock: foot_right
+    reach: knee_left floor
+    reach: fist_left floor
+    cue "Drop over the planted right foot as the left knee and fist descend"
+
+  step "Make three-point contact" 0.3s settle:
+    neck: extend 25
+    pin: knee_left floor
+    reach: foot_right floor
+    reach: fist_left floor
+    cue "Set the left knee and left fist on the floor beside the planted right foot"
+
+  step "Hold the landing" 0.8s linear:
+    pin: knee_left floor
+    reach: foot_right floor
+    reach: fist_left floor
+    cue "Hold the three contacts with the free right arm swept behind you"
+
+  step "Recover to standing" 0.9s drive:
+    pelvis: hold neutral
+    spine: hold neutral
+    hip_right: hold neutral
+    knee_right: hold neutral
+    ankle_right: hold neutral
+    hip_left: hold neutral
+    knee_left: hold neutral
+    ankle_left: hold neutral
+    neck: hold neutral
+    chest: hold neutral
+    shoulder_left: hold neutral
+    elbow_left: hold neutral
+    fingers_left: hold neutral
+    shoulder_right: hold neutral
+    elbow_right: hold neutral
+    ground-lock: feet
+    cue "Press through both feet and return to standing"
+
+  repeat 1
diff --git a/spec/examples/superman.posecode b/spec/examples/superman.posecode
index b950a9e..2c0b76b 100644
--- a/spec/examples/superman.posecode
+++ b/spec/examples/superman.posecode
@@ -8,15 +8,17 @@ posecode exercise "Superman"
     chest: extend 15
     neck: extend 25
     hips: extend 18
+    ankles: plantarflex 50
     pin: pelvis floor
     cue "Lift the arms, chest, and legs off the floor"
 
-  step "Lower" 1.5s drive:
+  step "Lower" 1.5s settle:
     shoulders: flex 0
     spine: flex 0
     chest: flex 0
     neck: flex 0
     hips: extend 0
+    ankles: plantarflex 50
     pin: pelvis floor
     cue "Lower everything back down with control"
 
diff --git a/spec/examples/supine-leg-raise.posecode b/spec/examples/supine-leg-raise.posecode
index 6c2c789..d0beacb 100644
--- a/spec/examples/supine-leg-raise.posecode
+++ b/spec/examples/supine-leg-raise.posecode
@@ -5,16 +5,10 @@ posecode exercise "Lying leg raise"
   step "Raise" 1.2s settle:
     hips: flex 90
     knees: flex 0
-    shoulders: rotate-in 70
-    elbows: pronate 80
-    reach: hands floor
-    cue "Lift the straight legs toward vertical, low back pressed down"
+    cue "Lift the straight legs toward vertical with the arms relaxed and the low back heavy"
 
-  step "Lower" 1.4s drive:
+  step "Lower" 1.4s settle:
     hips: flex 20
-    shoulders: rotate-in 70
-    elbows: pronate 80
-    reach: hands floor
-    cue "Lower the legs slowly without arching the back"
+    cue "Lower the legs slowly while keeping the ribs quiet and the low back heavy"
 
   repeat 10
diff --git a/spec/examples/touch-toes.posecode b/spec/examples/touch-toes.posecode
index 3f5e403..359dd40 100644
--- a/spec/examples/touch-toes.posecode
+++ b/spec/examples/touch-toes.posecode
@@ -4,19 +4,27 @@ posecode stretch "Touch your toes"
 
   step "Fold" 2.5s flow:
     pelvis: hinge 95
+    hips: flex 35
     knees: flex 20
-    ankles: plantarflex 20
+    ankles: dorsiflex 5
+    spine: flex 40
     neck: flex 15
+    shoulders: flex 80
+    fingers: flex 80
     reach: hand_left ankle_left
     reach: hand_right ankle_right
     ground-lock: feet
-    cue "Hinge from the hips, bend the knees, and reach your hands down toward your ankles"
+    cue "Fold through the hips and spine, soften the knees, and reach both hands to the ankles"
 
   step "Rise" 2s settle:
     pelvis: hinge 0
+    hips: flex 0
     knees: flex 0
-    ankles: plantarflex 0
+    ankles: dorsiflex 0
+    spine: flex 0
     neck: flex 0
+    shoulders: flex 0
+    fingers: flex 0
     ground-lock: feet
     cue "Stack the spine back up to standing tall"
 
diff --git a/spec/examples/triceps-dips.posecode b/spec/examples/triceps-dips.posecode
index 0b78c6b..282fc78 100644
--- a/spec/examples/triceps-dips.posecode
+++ b/spec/examples/triceps-dips.posecode
@@ -10,7 +10,7 @@ posecode exercise "Triceps dips"
     fingers: flex 80
     knees: flex 70
     ankles: plantarflex 20
-    pin: hands bars
+    grip: hands bars
     cue "Press up to a straight-arm support between the bars"
 
   step "Lower" 1.2s flow:
@@ -21,7 +21,7 @@ posecode exercise "Triceps dips"
     fingers: flex 80
     knees: flex 70
     ankles: plantarflex 20
-    pin: hands bars
+    grip: hands bars
     cue "Bend the elbows to lower the chest, elbows tracking back"
 
   step "Press" 1s settle:
@@ -32,10 +32,10 @@ posecode exercise "Triceps dips"
     fingers: flex 80
     knees: flex 70
     ankles: plantarflex 20
-    pin: hands bars
+    grip: hands bars
     cue "Press through the palms to straighten the arms"
 
-  step "Dismount" 0.8s drive:
+  step "Dismount" 0.8s settle:
     shoulders: abduct 0
     elbows: flex 0
     elbows: pronate 0
diff --git a/spec/llm-authoring.md b/spec/llm-authoring.md
index 95876ee..9544b41 100644
--- a/spec/llm-authoring.md
+++ b/spec/llm-authoring.md
@@ -6,9 +6,20 @@ into the Posecode playground.
 
 ---
 
-You write **Posecode**, a small text language that describes a single person's
-movement so a 3D mannequin can animate it. Output ONLY a `.posecode` document in a
-code block, no prose.
+You write **Posecode**, a small text language that describes one person's
+movement so a 3D figure can animate it.
+
+When the request is representable, output ONLY the raw `.posecode` document:
+no Markdown fence and no prose. Before writing it, privately lock down the
+movement intent: lead side, moving side, every support/contact, the key pose at
+each phase boundary, and whether each phase accelerates, flows, or settles.
+Never let a cue claim a contact, direction, or body side that the commands do
+not encode.
+
+If the request requires an unsupported capability—free flight, two people,
+arbitrary equipment, exact sign language, or detailed scapular/facial motion—do
+not fabricate a convincing-sounding document. Reply with one short sentence
+beginning `Posecode cannot yet represent...` and name the missing capability.
 
 ## Grammar
 
@@ -19,8 +30,10 @@ posecode <kind> "<Name>"          # kind = exercise | stretch | posture
   pose start = <pose>          # neutral | standing | plank | supine | prone | seated
   step "<Phase name>" <Ns> <mode>:     # mode = flow | settle | drive | snap | linear
     <joint>: <action> <degrees>
-    reach: <effector> <target> # optional: drive a hand/foot to a target via IK
-    ground-lock: <contacts>    # groups/back, foot_left, or natural left foot
+    reach: <effector> <target> # limb IK to a landmark, floor, or declared prop anchor
+    pin: <effector> <anchor>   # move the body while one primary contact stays fixed
+    grip: hands <anchor>       # two-hand grip on a declared bar / rails
+    ground-lock: <contacts>    # planted supports; groups/back or side-specific names
     turn: <degrees>            # optional: face this yaw by phase end (standing only)
     travel: <x> <z>            # optional: move to this x z (metres) by phase end
     cue "<short coaching cue>"
@@ -38,27 +51,68 @@ wrists hips knees ankles`. Plural names move both sides symmetrically; use
 
 - `flex` / `extend`: bend / straighten (sagittal)
 - `abduct` / `adduct`: away from / toward midline (frontal)
-- `rotate-in` / `rotate-out`: internal / external rotation
+- `rotate-in` / `rotate-out`: internal / external rotation of a shoulder or hip
+- `twist-left` / `twist-right`: turn an axial joint (spine, chest, neck, or
+  head) toward the named side
 - `supinate` / `pronate`: forearm turn (palm up / down)
 - `dorsiflex` / `plantarflex`: ankle up / down
 - `hinge`: **hip hinge** (on `pelvis` only): tip the torso forward over the
   hips with a flat back, legs staying planted. Use this, not spinal `flex`,
   for a deadlift, bent-over row, good-morning, or a bow.
-- `hold neutral`: keep the joint at rest
+- `hold neutral`: set every channel on that joint to its rest value (no angle)
+
+Use only anatomically compatible pairs. Examples: knees take flex/extend, ankles
+take dorsiflex/plantarflex, elbows take flex/extend/pronate/supinate, wrists take
+flex/extend/abduct/adduct, and `hinge` belongs only to the pelvis. The validator
+rejects globally-known actions on the wrong joint; never use the absence of a
+warning as permission to invent a pairing.
 
 ## Rules
 
-1. Break the movement into 2–5 concurrent **phases**; each `step` is one phase.
-2. Set the joints that actually move in that phase; unset joints hold their
-   previous value.
-3. Stay within healthy range of motion (e.g. knee flex ≤ 144°, elbow flex ≤
-   154°, shoulder flex ≤ 180°). The renderer hard-clamps anything beyond it.
-4. Add a one-line `cue` per phase. Ground contacts are a closed vocabulary:
-   use `ground-lock: feet` when standing, `ground-lock: hands, feet` in a high
-   plank, `ground-lock: forearms, feet` in a forearm plank, and
-   `ground-lock: back` for supine floor work such as a dead bug. Do not invent
-   other contact names.
-5. `repeat` the rep count.
+1. Break the movement into 2–6 concurrent **phases**; each `step` is the time
+   taken to arrive at one key pose. A duration is not a dwell.
+2. Set only the channels that change. Unset channels hold their previous value;
+   `hold neutral` deliberately resets the whole joint.
+3. Stay within Posecode's configured range-of-motion bounds (for example, knee
+   flex ≤ 144°, elbow flex ≤ 154°, shoulder flex ≤ 180°). These bounds
+   constrain the rig; they do not certify a movement as safe. Do not stack a
+   pelvis hinge and hip flexion past the hip's combined limit.
+4. Choose one lead/trail convention and keep it across joint targets, contacts,
+   phase names, and cues. Mirror all four together when switching sides.
+5. Declare every load-bearing contact in every phase where it remains active.
+   Contacts do not inherit. Use side-specific support for lunges, kneeling, and
+   single-leg work; `ground-lock: feet` is for two genuinely planted feet.
+   Ground contacts are a closed vocabulary: use `ground-lock: hands, feet` in a
+   high plank, `ground-lock: forearms, feet` in a forearm plank, and
+   `ground-lock: back` for supine floor work. Do not invent contact names.
+6. Use `ground-lock` only for floor supports already meant to stay planted.
+   Use `reach` to move a limb to a target, `pin` when a single contact must move
+   the whole body, and `grip` for a bar or rails. Never combine `ground-lock`,
+   `pin`, or `grip` root solvers in one step; use one primary support plus
+   per-limb `reach` constraints for the remaining contacts.
+7. Author the gross body position before adding `reach`. A hand cannot reach a
+   floor that the torso/legs leave outside the arm's reachable workspace.
+8. Derive each cue from the actual commands. Remove phrases such as “foot
+   forward,” “knee down,” “fist planted,” or “arm overhead” unless that exact
+   side and constraint are encoded.
+9. Use `linear` only for an unchanged dwell or intentionally mechanical motion.
+   A moving phase that arrives at a landing or hold should normally `settle`.
+10. Add an explicit unchanged step for a visible hold, repeating its active
+    contacts. Then author a controlled recovery when the movement should loop.
+11. Declare a prop before using its anchor; never invent target names.
+12. Set `repeat` to the requested repetition count.
+
+Before returning the document, privately run this final check:
+
+- Every word comes from the closed vocabulary, and every action is compatible
+  with its joint.
+- Each cue can be traced to a joint target or an active contact on the same
+  body side.
+- Every required support is declared in every phase where it remains active.
+- The gross pose makes each reach plausible; a reach line is not permission to
+  leave the target outside the limb's workspace.
+- The final hold and recovery are explicit, warning-free, and do not rely on
+  an undeclared prop or unsupported physics.
 
 ## Timing modes
 
@@ -68,7 +122,7 @@ wrists hips knees ankles`. Plural names move both sides symmetrically; use
   or final pose.
 - `drive`: accelerate from rest; use for a jump, push, lift, or recoil.
 - `snap`: arrive quickly and stop sharply; use for a strike or release.
-- `linear`: constant timing; best for deliberate holds or mechanical motion.
+- `linear`: constant timing; best for an unchanged dwell or mechanical motion.
 
 The older names `ease-in`, `ease-out`, and `ease-in-out` still parse for
 compatibility, but do not author new documents with them.
@@ -83,16 +137,22 @@ posecode exercise "Body-weight squat"
   step "Descend" 1.6s settle:
     hips: flex 80
     knees: flex 95
-    ankles: dorsiflex 14
+    pelvis: hinge 25
+    spine: flex 0
+    shoulders: flex 70
+    neck: extend 10
     ground-lock: feet
-    cue "Sit the hips back, chest proud, knees track over the toes"
+    cue "Flex both hips and knees as the pelvis hinges over the planted feet"
 
   step "Drive up" 1.2s drive:
     hips: flex 0
     knees: flex 0
-    ankles: dorsiflex 0
+    pelvis: hinge 0
+    spine: flex 0
+    shoulders: flex 0
+    neck: extend 0
     ground-lock: feet
-    cue "Drive through the heels to stand tall"
+    cue "Straighten both hips and knees and return the torso and arms to neutral"
 
   repeat 8
 ```
@@ -103,36 +163,38 @@ A flat-back hinge bends at the **hips**, not the spine. Hinge the `pelvis` and
 let the arms hang; `ground-lock: feet`.
 
 ```posecode
-posecode exercise "Deadlift"
+posecode exercise "Body-weight hip hinge"
   rig humanoid
   pose start = standing
 
   step "Lower" 1.8s settle:
-    pelvis: hinge 95
+    pelvis: hinge 75
     knees: flex 25
-    shoulders: flex 90
+    shoulders: flex 70
     ground-lock: feet
-    cue "Hips back, flat back: let the arms hang to the bar"
+    cue "Hips back and back flat as the arms hang below the shoulders"
 
   step "Lift" 1.4s drive:
     pelvis: hinge 0
     knees: flex 0
     shoulders: flex 0
     ground-lock: feet
-    cue "Drive the hips forward to stand tall"
+    cue "Drive the hips forward and return to a tall stance"
 
   repeat 8
 ```
 
 ## Reaching, props, lying poses & hands
 
-- **Reach a target**: `reach: <effector> <target>` drives a hand or foot to a
-  world point via IK. Effectors: `hand_left hand_right foot_left foot_right`,
-  or `hands` / `feet` for both sides at once. Targets: a body landmark bone
+- **Reach a target**: `reach: <effector> <target>` drives a supported limb
+  endpoint to a world point via IK. Effectors include side-specific hands,
+  fists, elbows, knees, and feet, with groups such as `hands`, `fists`,
+  `forearms`, `knees`, and `feet`. Targets are a body landmark bone
   (`ankle_left`, `knee_right`…), `floor`, or a prop anchor (`bar`, `seat`,
-  `wall`). The solve is ROM-constrained: the arm/leg can never exceed the safe
-  joint limits chasing a target, so an out-of-reach target just yields the
-  closest healthy pose. Author the gross pose (e.g. a `pelvis: hinge`), then
+  `wall`). The solve is ROM-constrained: the arm/leg remains within configured
+  joint bounds while chasing a target, so an out-of-reach target yields the
+  closest bounded pose and a residual diagnostic. Author the gross pose (e.g.
+  a `pelvis: hinge`), then
   let `reach` finish the hand placement. Example, touch your toes:
 
   ```posecode
@@ -148,12 +210,16 @@ posecode exercise "Deadlift"
 - **Props**: `prop chair | wall | bar | box | dip-bars` (top level). The chair
   sits behind the figure (sit-to-stand, box squat), the wall behind that (wall
   sit), the bar overhead, the box in front (step-ups), and the dip bars either
-  side at hip-press height (`pin: hands bars` + elbow flex = triceps dips).
+  side at hip-press height (`grip: hands bars` + elbow flex = triceps dips).
 - **Pins**: `pin: <effector> <anchor>` moves the whole BODY so the effector sits
-  on the anchor (vs `reach`, which moves just the limb). Same effectors as reach,
-  including `hands` / `feet`. Use it for hanging and climbing: `pin: hands bar` +
-  flexing the elbows = a pull-up; `pin: foot_right box` + straightening the leg =
-  a step-up; `pin: hands bars` (dip bars) + bending the elbows = a triceps dip.
+  on the anchor (vs `reach`, which moves just the limb). Use one primary pin for
+  body translation: `pin: foot_right box` can support a step-up, and
+  `pin: pelvis floor` can keep the pelvis on the mat. Use `grip`, not several
+  simultaneous hand pins, for a bar or rails.
+- **Grips**: `grip: hands bar` or `grip: hands bars` is the dedicated two-hand
+  prop contact. It assigns separate left/right anchors, solves both arms, and
+  closes the fingers. Declare `prop bar` or `prop dip-bars` first. Prefer this
+  to multiple pins for a pull-up, hang, or dip.
 - **Lying / seated**: `pose start = supine | prone | seated` for floor and mat
   work (glute bridge, dead bug, cobra, seated forward fold). In a supine
   exercise whose torso stays down, add `ground-lock: back` to each phase.
@@ -161,6 +227,71 @@ posecode exercise "Deadlift"
   (`index_right: flex 95`). Single-DOF per finger, good for grip and rough
   gesture, not exact sign language.
 
+## Three-point superhero landing
+
+A landing is defined by its contacts, not by a dramatic cue. Keep the existing
+front-foot support planted while reach constraints blend the rear knee and
+same-side fist down. Once the knee has arrived, hand the whole-body anchor to
+that knee and solve the foot and fist independently. Repeat the three contacts
+through the hold; never combine a whole-root pin with `ground-lock` in one step.
+
+```posecode
+posecode posture "Superhero Three-Point Landing"
+  rig humanoid
+  pose start = standing
+
+  step "Drop into the landing" 0.55s flow:
+    pelvis: hinge 45
+    spine: flex 50
+    chest: flex 9
+    hip_right: flex 84
+    knee_right: flex 123
+    ankle_right: dorsiflex 15
+    hip_left: extend 12
+    knee_left: flex 105
+    ankle_left: plantarflex 28
+    shoulder_left: flex 98
+    shoulder_left: abduct 2
+    elbow_left: flex 8
+    fingers_left: flex 80
+    shoulder_right: extend 24
+    shoulder_right: abduct 22
+    elbow_right: flex 16
+    ground-lock: foot_right
+    reach: knee_left floor
+    reach: fist_left floor
+    cue "Drop over the planted right foot as the left knee and fist descend"
+
+  step "Make three-point contact" 0.3s settle:
+    neck: extend 25
+    pin: knee_left floor
+    reach: foot_right floor
+    reach: fist_left floor
+    cue "Set the left knee and left fist on the floor beside the planted right foot"
+
+  step "Hold the landing" 0.8s linear:
+    pin: knee_left floor
+    reach: foot_right floor
+    reach: fist_left floor
+    cue "Hold the three contacts with the free right arm swept behind you"
+
+  step "Recover to standing" 0.9s drive:
+    pelvis: hold neutral
+    spine: hold neutral
+    hips: hold neutral
+    knees: hold neutral
+    ankles: hold neutral
+    neck: hold neutral
+    chest: hold neutral
+    shoulders: hold neutral
+    elbows: hold neutral
+    fingers_left: hold neutral
+    ground-lock: feet
+    cue "Press through both feet and return to standing"
+
+  repeat 1
+```
+
 ## Authoring by domain
 
 The same grammar covers many fields. A few patterns that read well:
@@ -168,8 +299,8 @@ The same grammar covers many fields. A few patterns that read well:
 - **Anatomy / education**: isolate one joint and sweep it through its range
   (`shoulders: abduct 160` → `0`). Name the plane in the cue. Great for teaching.
 - **Physiotherapy**: gentle, single-joint reps; for one-sided work use a
-  singular joint (`knee_right: flex 95`) and skip `ground-lock` so the standing
-  leg stays planted.
+  singular joint (`knee_right: flex 95`) and explicitly plant the stance foot,
+  for example `ground-lock: foot_left`.
 - **Desk / posture**: slow `stretch` documents with `ground-lock: feet`;
   contrast a "collapsed" phase with a "tall" reset.
 - **Sports / martial arts**: short phases (0.2–0.6s); use `flow` through a
diff --git a/vitest.config.ts b/vitest.config.ts
index af05dbd..443190f 100644
--- a/vitest.config.ts
+++ b/vitest.config.ts
@@ -2,7 +2,11 @@ import { defineConfig } from "vitest/config";
 
 export default defineConfig({
   test: {
-    include: ["packages/**/test/**/*.test.ts", "playground/test/**/*.test.ts"],
+    include: [
+      "packages/**/test/**/*.test.ts",
+      "playground/test/**/*.test.ts",
+      "scripts/**/*.test.ts",
+    ],
     coverage: {
       provider: "v8",
       include: ["packages/posecode-parser/src/**/*.ts"],