posecode-parser - npm Package Compare versions

Comparing version 0.2.2 to 0.3.0

dist/protocol.d.ts

+/** Closed vocabulary for document-level Posecode protocol declarations. */
+export declare const MOVEMENT_KINDS: readonly ["exercise", "stretch", "posture"];
+export type MovementKind = (typeof MOVEMENT_KINDS)[number];
+export declare const RIG_NAMES: readonly ["humanoid"];
+export type RigName = (typeof RIG_NAMES)[number];
+export declare const START_POSE_NAMES: readonly ["neutral", "standing", "first-position", "plank", "supine", "prone", "seated"];
+export type StartPoseName = (typeof START_POSE_NAMES)[number];
+export declare const PROP_TYPES: readonly ["chair", "wall", "bar", "box", "dip-bars"];
+export type PropType = (typeof PROP_TYPES)[number];
+/** World-anchor names supplied by each built-in prop. Sided grip aliases are included. */
+export declare const PROP_ANCHORS: Readonly<Record<PropType, readonly string[]>>;
+export declare function isMovementKind(value: string): value is MovementKind;
+export declare function isRigName(value: string): value is RigName;
+export declare function isStartPoseName(value: string): value is StartPoseName;
+export declare function isPropType(value: string): value is PropType;
+/** The prop type that owns an anchor, or null when the word is not a prop anchor. */
+export declare function propForAnchor(anchor: string): PropType | null;
+/** All anchor names made available by the props declared in one document. */
+export declare function anchorsForProps(props: readonly string[]): Set<string>;

dist/protocol.js

+/** Closed vocabulary for document-level Posecode protocol declarations. */
+export const MOVEMENT_KINDS = ["exercise", "stretch", "posture"];
+export const RIG_NAMES = ["humanoid"];
+export const START_POSE_NAMES = [
+    "neutral",
+    "standing",
+    "first-position",
+    "plank",
+    "supine",
+    "prone",
+    "seated",
+];
+export const PROP_TYPES = ["chair", "wall", "bar", "box", "dip-bars"];
+/** World-anchor names supplied by each built-in prop. Sided grip aliases are included. */
+export const PROP_ANCHORS = {
+    chair: ["seat"],
+    wall: ["wall"],
+    bar: ["bar", "bar_left", "bar_right"],
+    box: ["box"],
+    "dip-bars": ["bars", "bars_left", "bars_right"],
+};
+export function isMovementKind(value) {
+    return MOVEMENT_KINDS.includes(value);
+}
+export function isRigName(value) {
+    return RIG_NAMES.includes(value);
+}
+export function isStartPoseName(value) {
+    return START_POSE_NAMES.includes(value);
+}
+export function isPropType(value) {
+    return PROP_TYPES.includes(value);
+}
+/** The prop type that owns an anchor, or null when the word is not a prop anchor. */
+export function propForAnchor(anchor) {
+    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) {
+    const anchors = new Set();
+    for (const value of props) {
+        if (!isPropType(value))
+            continue;
+        for (const anchor of PROP_ANCHORS[value])
+            anchors.add(anchor);
+    }
+    return anchors;
+}
+//# sourceMappingURL=protocol.js.map

dist/protocol.js.map

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NOTICE

+Posecode Parser
+Copyright 2026 Posecode contributors
+
+This product includes software developed by Posecode contributors.
+Third-party dependency notices remain available in their respective distributions.

dist/clamp.d.ts

@@ -6,3 +6,3 @@ /**
  * 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.
@@ -9,0 +9,0 @@ */

dist/clamp.js

@@ -6,13 +6,27 @@ /**
  * 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 { POSECODE_VERSION } from "./types.js";
-import { actionAxis, boneType, expandEffector, expandJoint, flexionSign, isGroundLockEffector, isLeft, } from "./joints.js";
-import { clampAngle, romFor } from "./rom.js";
+import { BONES, actionAxis, boneType, expandEffector, expandJoint, flexionSign, isGroundLockEffector, isLeft, } from "./joints.js";
+import { actionsForJoint, clampAngle, romFor } from "./rom.js";
+import { anchorsForProps, propForAnchor } from "./protocol.js";
 const ZERO = { x: 0, y: 0, z: 0 };
+const AXES = ["x", "y", "z"];
+const BODY_TARGETS = new Set(BONES);
 export function resolve(ast) {
     const warnings = [];
     const errors = [];
-    const phases = ast.steps.map((step) => resolveStep(step, warnings, errors));
+    const declaredAnchors = anchorsForProps(ast.props);
+    const semanticState = initialSemanticState(ast.startPose);
+    const phases = [];
+    // 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 = {
@@ -31,3 +45,31 @@ version: POSECODE_VERSION,
 }
-function resolveStep(step, warnings, errors) {
+function resolveStep(step, declaredAnchors, warnings, errors) {
+    // `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.
@@ -43,4 +85,8 @@ const byBone = new Map();
         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;
@@ -60,2 +106,12 @@ }
         }
+        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 ${[...allowed, "hold"].join(", ")}`,
+            });
+            continue;
+        }
         for (const bone of bones) {
@@ -80,9 +136,11 @@ const clamped = clampAngle(bone, target.action, target.degrees);
             const sign = aa.sign * flexFlip * mirror;
-            const euler = ensure(byBone, bone);
-            euler[aa.axis] = sign * clamped;
+            const authored = ensure(byBone, bone);
+            authored.euler[aa.axis] = sign * clamped;
+            authored.axes.add(aa.axis);
         }
     }
-    const targets = [...byBone.entries()].map(([boneId, euler]) => ({
+    const targets = [...byBone.entries()].map(([boneId, authored]) => ({
         boneId,
-        euler,
+        euler: authored.euler,
+        axes: AXES.filter((axis) => authored.axes.has(axis)),
     }));
@@ -110,2 +168,19 @@ const groundLock = [];
         }
+        if (sides.includes("pelvis")) {
+            errors.push({
+                line: r.line,
+                message: 'reach effector "pelvis" is unsupported; use `pin: pelvis <anchor>`',
+            });
+            continue;
+        }
+        if (!validateReachTarget(r.target, r.line, declaredAnchors, errors)) {
+            continue;
+        }
+        if (sides.some((effector) => contactBoneId(effector) === r.target)) {
+            errors.push({
+                line: r.line,
+                message: `reach effector "${r.effector}" cannot target its own joint "${r.target}"`,
+            });
+            continue;
+        }
         for (const effector of sides)
@@ -121,2 +196,5 @@ reaches.push({ effector, target: r.target });
         }
+        if (!validatePinAnchor(p.anchor, p.line, declaredAnchors, errors)) {
+            continue;
+        }
         for (const effector of sides)
@@ -135,2 +213,27 @@ pins.push({ effector, anchor: p.anchor });
         }
+        if (sides.some((effector) => !effector.startsWith("hand_"))) {
+            errors.push({
+                line: g.line,
+                message: `grip effector "${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 "${sides[0]}"`,
+            });
+            continue;
+        }
         for (const effector of sides) {
@@ -162,2 +265,174 @@ grips.push({ effector, anchor: sideAnchor(g.anchor, effector) });
 }
+/** Reach accepts the floor, body landmarks, and declared prop anchors. */
+function validateReachTarget(value, line, declaredAnchors, errors) {
+    if (value === "floor" || BODY_TARGETS.has(value) || declaredAnchors.has(value)) {
+        return true;
+    }
+    const prop = propForAnchor(value);
+    errors.push({
+        line,
+        message: prop
+            ? `reach target "${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, line, declaredAnchors, errors) {
+    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, line, declaredAnchors, errors) {
+    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) {
+    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, phase, previous, warnings) {
+    const candidate = cloneState(previous);
+    applyPhaseToState(candidate, phase);
+    let pelvisX = candidate.get("pelvis")?.x ?? 0;
+    const hips = ["hip_left", "hip_right"];
+    const pelvisSource = sourceForAxis(step, "pelvis", "x");
+    let pelvisWarning = null;
+    const clampPelvisTo = (safeValue) => {
+        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, bone, axis) {
+    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, bone, axis, value) {
+    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) {
+    const state = new Map();
+    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, phase) {
+    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) {
+    return new Map([...state].map(([bone, euler]) => [bone, { ...euler }]));
+}
+function ensureState(map, bone) {
+    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. */
@@ -184,9 +459,9 @@ const TRAVEL_MAX = 3;
 function ensure(map, bone) {
-    let euler = map.get(bone);
-    if (!euler) {
-        euler = { ...ZERO };
-        map.set(bone, euler);
+    let authored = map.get(bone);
+    if (!authored) {
+        authored = { euler: { ...ZERO }, axes: new Set() };
+        map.set(bone, authored);
     }
-    return euler;
+    return authored;
 }
 //# sourceMappingURL=clamp.js.map

dist/clamp.js.map

@@ -1,1 +0,1 @@
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dist/index.d.ts

@@ -12,4 +12,5 @@ /**
 export { POSECODE_VERSION } from "./types.js";
-export { BONES, JOINT_GROUP_NAMES, JOINT_NAMES, ACTION_NAMES, EFFECTOR_NAMES, GROUND_LOCK_EFFECTOR_NAMES, expandJoint, expandEffector, isGroundLockEffector, actionAxis, boneType, } from "./joints.js";
-export { romFor, clampAngle, eulerRomFor, type RomLimit, type EulerRom } from "./rom.js";
+export { BONES, JOINT_GROUP_NAMES, JOINT_NAMES, ACTION_NAMES, EFFECTOR_NAMES, REACH_EFFECTOR_NAMES, PIN_EFFECTOR_NAMES, GRIP_EFFECTOR_NAMES, GROUND_LOCK_EFFECTOR_NAMES, expandJoint, expandEffector, isGroundLockEffector, actionAxis, boneType, } from "./joints.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";

dist/index.js

@@ -28,5 +28,6 @@ /**
 export { POSECODE_VERSION } from "./types.js";
-export { BONES, JOINT_GROUP_NAMES, JOINT_NAMES, ACTION_NAMES, EFFECTOR_NAMES, GROUND_LOCK_EFFECTOR_NAMES, expandJoint, expandEffector, isGroundLockEffector, actionAxis, boneType, } from "./joints.js";
-export { romFor, clampAngle, eulerRomFor } from "./rom.js";
+export { BONES, JOINT_GROUP_NAMES, JOINT_NAMES, ACTION_NAMES, EFFECTOR_NAMES, REACH_EFFECTOR_NAMES, PIN_EFFECTOR_NAMES, GRIP_EFFECTOR_NAMES, GROUND_LOCK_EFFECTOR_NAMES, expandJoint, expandEffector, isGroundLockEffector, actionAxis, boneType, } from "./joints.js";
+export { romFor, clampAngle, eulerRomFor, isActionAllowed, actionsForJoint, isLegacyAxialAction, } 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, } from "./protocol.js";
 //# sourceMappingURL=index.js.map

dist/index.js.map

@@ -1,1 +0,1 @@
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dist/joints.d.ts

@@ -29,2 +29,6 @@ /**
 export declare const EFFECTOR_NAMES: string[];
+/** Capability-specific contact vocabularies exposed to validators/editors. */
+export declare const REACH_EFFECTOR_NAMES: string[];
+export declare const PIN_EFFECTOR_NAMES: string[];
+export declare const GRIP_EFFECTOR_NAMES: readonly ["hands", "hand_left", "hand_right"];
 /**
@@ -31,0 +35,0 @@ * Contacts accepted by `ground-lock:`. Ground locking has historically

dist/joints.js

@@ -64,2 +64,5 @@ /**
     elbows: ["elbow_left", "elbow_right"],
+    // Anatomical authoring alias: forearm axial rotation lives on the elbow
+    // bone in the rig, but `forearms: pronate 80` is clearer to authors.
+    forearms: ["elbow_left", "elbow_right"],
     wrists: ["wrist_left", "wrist_right"],
@@ -94,4 +97,10 @@ hips: ["hip_left", "hip_right"],
     "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",
@@ -106,3 +115,5 @@ "foot_right",
     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"],
@@ -112,2 +123,6 @@ };
 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"];
 /**
@@ -162,4 +177,12 @@ * Contacts accepted by `ground-lock:`. Ground locking has historically
     "rotate-out": { axis: "y", sign: -1 },
-    supinate: { axis: "y", sign: 1 },
-    pronate: { 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 },
+    // From the palm-forward driver rest, pronation turns each palm toward its
+    // own thigh. The left-side mirror in clamp.ts supplies the opposite sign.
+    supinate: { axis: "y", sign: -1 },
+    pronate: { axis: "y", sign: 1 },
     // The foot points FORWARD (+Z): lifting the toes toward the shin
@@ -166,0 +189,0 @@ // (dorsiflexion) is a -X rotation, pointing them is +X.

dist/joints.js.map

@@ -1,1 +0,1 @@
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dist/parser.js

@@ -11,3 +11,5 @@ /**
 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(GROUND_LOCK_EFFECTOR_NAMES);
+const TOP_LEVEL_HEADS = new Set(["rig", "prop", "clip", "pose", "repeat", "step"]);
 function word(tok) {
@@ -34,3 +36,7 @@ return tok && tok.type === "word" ? tok.value : null;
     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 {
@@ -46,2 +52,11 @@ ast: null,
     }
+    if (!isMovementKind(ht[1].value)) {
+        return {
+            ast: null,
+            errors: [{
+                    line: header.line,
+                    message: `unknown movement kind "${ht[1].value}"; expected one of ${MOVEMENT_KINDS.join(", ")}`,
+                }],
+        };
+    }
     const doc = {
@@ -57,2 +72,5 @@ kind: ht[1].value,
     let invalidStepIndent = null;
+    let topLevelIndent = null;
+    let currentStepIndent = null;
+    let currentChildIndent = null;
     for (let i = 1; i < lines.length; i++) {
@@ -70,7 +88,64 @@ const ln = lines[i];
         const t = ln.tokens;
+        // Indentation is syntax, not presentation. All document declarations share
+        // one indentation level beneath the header, and all children of a step
+        // share one deeper level. Without this gate an unindented joint silently
+        // attached to the preceding step, while an indented `repeat` or `rig`
+        // mutated the whole document from inside that step.
+        if (head && TOP_LEVEL_HEADS.has(head)) {
+            if (ln.indent <= header.indent) {
+                errors.push({ line: ln.line, message: `top-level \`${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 ${RIG_NAMES.join(", ")}`,
+                    });
+                }
                 else
@@ -81,6 +156,13 @@ doc.rig = r;
             case "prop": {
-                // `prop <type>`: a scene object (chair | wall | bar), repeatable.
+                // `prop <type>`: a built-in scene object, repeatable.
                 const p = word(t[1]);
-                if (!p)
-                    errors.push({ line: ln.line, message: "prop requires a type" });
+                if (t.length !== 2 || !p) {
+                    errors.push({ line: ln.line, message: "expected `prop <type>`" });
+                }
+                else if (!isPropType(p)) {
+                    errors.push({
+                        line: ln.line,
+                        message: `unknown prop "${p}"; expected one of ${PROP_TYPES.join(", ")}`,
+                    });
+                }
                 else
@@ -93,3 +175,3 @@ doc.props.push(p);
                 // (retargeted) instead of / blended with the procedural phases.
-                if (t[1]?.type === "str")
+                if (t.length === 2 && t[1]?.type === "str")
                     doc.clip = t[1].value;
@@ -102,5 +184,12 @@ else
                 // `pose start = <name>`
-                const name = t.length > 0 ? t[t.length - 1] : undefined;
-                if (word(t[1]) === "start" && name && name.type === "word") {
-                    doc.startPose = name.value;
+                const name = word(t[3]);
+                if (t.length === 4 && word(t[1]) === "start" && t[2]?.type === "eq" && name) {
+                    if (!isStartPoseName(name)) {
+                        errors.push({
+                            line: ln.line,
+                            message: `unknown start pose "${name}"; expected one of ${START_POSE_NAMES.join(", ")}`,
+                        });
+                        break;
+                    }
+                    doc.startPose = name;
                 }
@@ -113,6 +202,7 @@ else {
             case "repeat": {
-                if (t[1]?.type === "num")
-                    doc.repeat = Math.max(1, Math.round(Number(t[1].value)));
+                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 count" });
+                    errors.push({ line: ln.line, message: "repeat requires a positive integer count" });
                 break;
@@ -132,3 +222,4 @@ }
                     resolved.mode === null ||
-                    colon?.type !== "colon") {
+                    colon?.type !== "colon" ||
+                    t.length !== 5) {
                     errors.push({
@@ -141,2 +232,4 @@ line: ln.line,
                     current = null;
+                    currentStepIndent = null;
+                    currentChildIndent = null;
                     invalidStepIndent = ln.indent;
@@ -157,2 +250,4 @@ break;
                 doc.steps.push(current);
+                currentStepIndent = ln.indent;
+                currentChildIndent = null;
                 break;
@@ -179,4 +274,5 @@ }
             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;
@@ -191,2 +287,5 @@ return null;
         }
+        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);
@@ -199,3 +298,3 @@ const effectors = [];
             const next = words[i + 1];
-            if ((value === "left" || value === "right") && next) {
+            if (value === "left" || value === "right") {
                 const base = next === "hand" ? "hand" : next === "foot" ? "foot" :
@@ -208,2 +307,3 @@ next === "forearm" || next === "elbow" ? "elbow" : null;
                 }
+                return { line: ln.line, message: `unknown ground-lock effector: "${value}${next ? ` ${next}` : ""}"` };
             }
@@ -228,3 +328,3 @@ if (!GROUND_LOCK_EFFECTORS.has(value)) {
         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>`" };
@@ -241,3 +341,3 @@ }
         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>`" };
@@ -256,3 +356,3 @@ }
         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>`" };
@@ -268,3 +368,3 @@ }
             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>`" };
@@ -280,3 +380,6 @@ }
             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>`" };
@@ -287,3 +390,3 @@ }
     }
-    // Joint target: `<joint>: <action> [<degrees>]`
+    // Joint target: `<joint>: <action> <degrees>` or `<joint>: hold neutral`.
     if (!current) {
@@ -293,9 +396,23 @@ 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,
@@ -302,0 +419,0 @@ });

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@@ -1,1 +0,1 @@
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dist/rom.d.ts

 /**
- * 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.
  *
@@ -19,2 +20,12 @@ * `min` is the floor of the achievable angle for that action direction (0 for
 export declare function romFor(boneId: string, action: string): RomLimit | null;
+/** True when an anatomical action is defined for this concrete bone. */
+export declare function isActionAllowed(boneId: string, action: string): boolean;
+/**
+ * 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 declare function actionsForJoint(joint: string): string[];
+/** True for the accepted-but-deprecated ambiguous axial rotation spelling. */
+export declare function isLegacyAxialAction(boneId: string, action: string): boolean;
 /** Signed per-axis rotation range, degrees, in a bone's LOCAL Euler frame. */
@@ -28,4 +39,4 @@ export type EulerRom = Record<Axis, RomLimit>;
  * `{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.
  *
@@ -32,0 +43,0 @@ * Returns null for bones without ROM data (e.g. `head`).

dist/rom.js

 /**
- * 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.
  *
@@ -32,2 +33,5 @@ * `min` is the floor of the achievable angle for that action direction (0 for
         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 },
     },
@@ -66,2 +70,4 @@ // --- Lower extremity (research Table 2) ---
         "rotate-out": { min: 0, max: 45 },
+        "twist-left": { min: 0, max: 45 },
+        "twist-right": { min: 0, max: 45 },
     },
@@ -73,2 +79,4 @@ chest: {
         "rotate-out": { min: 0, max: 35 },
+        "twist-left": { min: 0, max: 35 },
+        "twist-right": { min: 0, max: 35 },
     },
@@ -82,3 +90,18 @@ neck: {
         "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) ---
@@ -96,3 +119,3 @@ index: { flex: { min: 0, max: 100 }, extend: { min: 0, max: 20 } },
 };
-import { actionAxis, boneType, flexionSign, isLeft } from "./joints.js";
+import { ACTION_NAMES, actionAxis, boneType, expandJoint, flexionSign, isLeft, } from "./joints.js";
 /** Look up the ROM limit for a bone + action, or null if undefined. */
@@ -105,3 +128,26 @@ export function romFor(boneId, action) {
 }
+/** True when an anatomical action is defined for this concrete bone. */
+export function isActionAllowed(boneId, action) {
+    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) {
+    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, action) {
+    return AXIAL_TYPES.has(boneType(boneId)) &&
+        (action === "rotate-in" || action === "rotate-out");
+}
+/**
  * The full ROM of a bone expressed as a signed Euler box in the renderer's
@@ -112,4 +158,4 @@ * local frame: the same frame `clamp.ts` resolves authored actions into
  * `{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.
  *
@@ -116,0 +162,0 @@ * Returns null for bones without ROM data (e.g. `head`).

dist/rom.js.map

@@ -1,1 +0,1 @@
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dist/schema.js

@@ -10,2 +10,3 @@ /**
 import { z } from "zod";
+import { MOVEMENT_KINDS, PROP_TYPES, RIG_NAMES, START_POSE_NAMES, } from "./protocol.js";
 export const MODES = ["flow", "settle", "drive", "snap", "linear"];
@@ -64,9 +65,9 @@ /** Deprecated easing names → canonical mode. Kept so existing docs never break. */
 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"),
 });
@@ -73,0 +74,0 @@ /**

dist/schema.js.map

@@ -1,1 +0,1 @@
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dist/types.d.ts

@@ -25,2 +25,8 @@ /**
     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[];
 }
@@ -38,5 +44,6 @@ /**
  * A contact pin: translate the whole figure so `effector` sits on a fixed
- * `anchor` (a prop anchor, a landmark, or `floor`). Unlike a reach (which moves
- * the limb to a target) a pin moves the BODY, so the figure can hang from a bar,
- * rise onto a box, or lower into a dip while the contact stays put.
+ * world `anchor` (a declared prop anchor or `floor`). Unlike a reach (which
+ * moves the limb to a target) a pin moves the BODY, so a body landmark cannot
+ * serve as its anchor: that landmark would move with the same root. Pins let the
+ * figure hang from a bar, rise onto a box, or keep one floor support fixed.
  */
@@ -43,0 +50,0 @@ export interface PinTarget {

package.json

 {
   "name": "posecode-parser",
-  "version": "0.2.2",
+  "version": "0.3.0",
   "description": "Parse the .posecode kinematic motion DSL into a validated, ROM-clamped intermediate representation.",
@@ -45,3 +45,5 @@ "license": "Apache-2.0",
     "dist",
-    "README.md"
+    "README.md",
+    "LICENSE",
+    "NOTICE"
   ],
@@ -48,0 +50,0 @@ "publishConfig": {

README.md

@@ -59,5 +59,6 @@ # posecode-parser
 `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.
 
@@ -64,0 +65,0 @@ ## License

New alerts

Unidentified License

License

Something that seems like a license was found, but its contents could not be matched with a known license.

Improved metrics

Total package byte prevSize

155335

40.09%

Number of package files

34

13.33%

Lines of code

2044

37.46%

Number of lines in readme file

67

1.52%

Worsened metrics

Number of low license alerts

1

Infinity%

License quality

80

-20%

No dependency changes