Reduce contact warnings: honest reach/ground-lock + locomotion-aware grounding - #99

Merged

a-baran-orhan merged 7 commits into

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fix/reduce-contact-warnings

Jul 22, 2026

Commits on Jul 22, 2026

fix: stop feet sliding at gait phase transitions (reach, not ground-lock)
a-baran-orhan
committed
8223725
fix: reach (not ground-lock) for relocating feet in single-leg/turn moves
a-baran-orhan
committed
ac0fcd7
fix: gate toe-height warning on shin orientation like heel/sole
a-baran-orhan
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ff861a4
fix: don't flag a locomotion stance foot's roll/swing as a failed flat plant
a-baran-orhan
committed
1373aa7
chore: demote moves with residual contact warnings to experimental
a-baran-orhan
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d248af9
Revert "chore: demote moves with residual contact warnings to experimental"
a-baran-orhan
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d0fa685
test: guard locomotion grounding exemption (and no static over-suppression)
a-baran-orhan
committed
ee72dbf