ugly-app 0.1.967 → 0.1.969

package/README.md

@@ -23,7 +23,7 @@ npm run dev
 |-------------|----------|
 | `ugly-app` | Server: `createApp`, `TypedDB`, auth, AI clients, storage, NATS, workers. |
 | `ugly-app/shared` | Cross-tier: `defineRequests`, `defineCollections`, `definePage`, `defineWorkers`, Zod, experiments. |
-| `ugly-app/client` | React: `bootstrapApp`, `createRouter`, `lazyPage`, `AppProvider`, components, animations, audio, AI helpers. |
+| `ugly-app/client` | React: `bootstrapApp`, `createRouter`, `lazyPage` / `lazyPageLoader`, `AppProvider` / `useApp` / `useAppOptional`, `SimpleScrollView`, animations, audio, AI helpers. |
 | `ugly-app/server/adapter/workers` | Cloudflare Workers entry (Hono router + Durable Objects + Neon HTTP driver + R2). |
 | `ugly-app/server/ssr` | SSR renderer used by the Workers adapter. |
 | `ugly-app/playwright` | E2E test utilities. |
@@ -68,11 +68,12 @@ const app = createApp(
   (configurator: AppConfigurator) => {
     configurator.setPages({ pages });
     configurator.setExperiments(experiments);
+    const tables: Record<string, Record<string, string>> = { en, es };
     configurator.setStrings({
       defaultLang: stringsDef.defaultLang,
       langs: stringsDef.langs,
       criticalKeys: stringsDef.criticalKeys,
-      getTable: (lang) => (lang === 'es' ? es : en),
+      getTable: (lang) => tables[lang] ?? tables[stringsDef.defaultLang]!,
     });
     configurator.setWorkers(cronTasks, cronHandlers);
     configurator.setOnEmail(async (inbound: InboundEmail) => { /* … */ });
@@ -337,7 +338,7 @@ export const {
 
 **Returns:**
 
-- **`RouterProvider`** — props: `children`, `fallback?`, `isAuthenticated?: () => boolean`, `initialUrl?: { pathname, search }` (required for SSR + hydration). Manages route state, browser history, and the popup layer. Runs the per-route auth check synchronously — apps cannot override the login fallback.
+- **`RouterProvider`** — props: `children`, `fallback?: ReactNode` (rendered before the initial route resolves), `isAuthenticated?: () => boolean`, `initialUrl?: { pathname, search }` (required for SSR; used during client hydration so the first render matches the server output). Manages route state, browser history, and the popup layer. Runs the per-route auth check synchronously — apps cannot override the login fallback.
 - **`RouterView`** — renders the active page with animated transitions. Props: `durationMs?`, `easing?: EasingFunction`, `transitionComponent?: React.ComponentType<RouterTransitionProps>` (replaces the default `ViewFlipper`), `renderPage?(state: RouterStateRaw) => ReactElement` (sync alternative to `allPages` loaders).
 - **`useRouter()`** — returns `RouterContextValue<Pages>` (typed navigation + popup API). Throws if used outside `<RouterProvider>`.
 - **`Link`** — typed SPA link bound to this router. Renders a real `<a>` (right-click / cmd-click / SEO keep working) but intercepts a plain left-click and routes through `push` / `replace`. Props: `to`, `params` (both type-checked against `pages`), `replace?`, `children`, plus common anchor attrs (`className`, `style`, `target`, `aria-label`, `data-id`, `onClick`).
@@ -759,15 +760,14 @@ const textGen = createTextGen(userId);
 const text = await textGen.generate(messages, { model: 'gemini_2_5_flash' });
 ```
 
-Or call the framework `textGen` request directly:
+Or invoke the framework `textGen` request through the RPC pipeline — its schema is intentionally minimal (`{ model, messages }` in, `{ text }` out). Reach for `createTextGen(...).generate(messages, options)` when you need `maxTokens`, `temperature`, `thinking`, tool calls, or streaming.
 
 ```ts
-import { uglyBotRequest } from 'ugly-app';
-const { message } = await uglyBotRequest<{ message: { content: string } }>('textGen', {
+import { dispatch } from 'ugly-app'; // or app.dispatch(...)
+const { text } = await app.dispatch('textGen', {
   model: 'gemini_2_5_flash',
   messages: [{ role: 'user', content: 'Hello!' }],
-  options: { maxTokens: 512 },
-});
+}, userId) as { text: string };
 ```
 
 Available models are exposed via `textGenModels` / `textGenModelData` from

package/dist/character/shared/lib/retarget.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"retarget.d.ts","sourceRoot":"","sources":["../../../../src/character/shared/lib/retarget.ts"],"names":[],"mappings":"AA+DA,OAAO,EAAqB,KAAK,IAAI,EAAE,KAAK,IAAI,EAAE,MAAM,eAAe,CAAC;AAExE,sEAAsE;AACtE,MAAM,WAAW,OAAO;IACtB,KAAK,EAAE,SAAS,MAAM,EAAE,CAAC;IACzB,4CAA4C;IAC5C,OAAO,EAAE,SAAS,CAAC,MAAM,CAAC,CAAC;IAC3B,0CAA0C;IAC1C,KAAK,EAAE,SAAS,CAAC,MAAM,CAAC,CAAC;IACzB,+FAA+F;IAC/F,KAAK,EAAE,SAAS,CAAC,MAAM,CAAC,CAAC;CAC1B;AAED,0FAA0F;AAC1F,MAAM,WAAW,QAAQ;IACvB,wFAAwF;IACxF,MAAM,EAAE,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,IAAI,CAAC,CAAC;IACnC,oEAAoE;IACpE,SAAS,EAAE,GAAG,CAAC,MAAM,EAAE,IAAI,CAAC,CAAC;IAC7B,kEAAkE;IAClE,OAAO,EAAE,GAAG,CAAC,MAAM,EAAE,IAAI,CAAC,CAAC;CAC5B;AAED,8DAA8D;AAC9D,MAAM,WAAW,UAAU;IACzB,KAAK,EAAE,YAAY,CAAC;IACpB,MAAM,EAAE,YAAY,CAAC;CACtB;AAwFD,mEAAmE;AACnE,wBAAgB,WAAW,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,IAAI,CAkBlD;AAOD,8FAA8F;AAC9F,wBAAgB,aAAa,CAC3B,IAAI,EAAE,QAAQ,GACb,GAAG,CAAC,MAAM,EAAE;IAAE,CAAC,EAAE,IAAI,CAAC;IAAC,CAAC,EAAE,IAAI,CAAA;CAAE,CAAC,CA0BnC;AAED;;;;;GAKG;AACH,wBAAgB,SAAS,CACvB,GAAG,EAAE,OAAO,EACZ,IAAI,EAAE,QAAQ,EACd,SAAS,EAAE,GAAG,CAAC,MAAM,EAAE;IAAE,CAAC,EAAE,IAAI,CAAC;IAAC,CAAC,EAAE,IAAI,CAAA;CAAE,CAAC,GAC3C,CAAC,IAAI,GAAG,IAAI,CAAC,EAAE,CAmHjB;AAED,kGAAkG;AAClG,wBAAgB,UAAU,CAAC,EAAE,EAAE,UAAU,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI,CA8B1D;AAED;;;;;;;;;;GAUG;AACH,wBAAgB,SAAS,CACvB,GAAG,EAAE,OAAO,EACZ,CAAC,EAAE,CAAC,IAAI,GAAG,IAAI,CAAC,EAAE,EAClB,IAAI,EAAE,QAAQ,EACd,MAAM,EAAE,GAAG,CAAC,MAAM,EAAE,UAAU,CAAC,EAC/B,IAAI,EAAE,MAAM,GACX,YAAY,CA0Ed"}

package/dist/character/shared/lib/retarget.js

@@ -82,30 +82,60 @@ const TIP = /(?:_End|Hand(?:Thumb|Index|Middle|Ring|Pinky)4)$/;
  */
 const FOOT_CHAIN = /^(?:Left|Right)(?:Foot|ToeBase|Toe_End)$/;
 /**
- * The HEAD takes the bind-relative delta too, for the same reason and by the same rule.
+ * How far a container's own bind may depart from bilateral symmetry before it is not a bind.
+ *
+ * ⚠️ THE GAP IS ENORMOUS, WHICH IS WHY ONE CONSTANT CAN SERVE. Measured over the shipped
+ * catalogue: Mixamo FBX 0.2°, 1.4°; animation-only GLBs 32.5°, 60.3°, 60.3°. Anything between 5°
+ * and 25° would separate them identically, so this is a threshold with nothing balanced on it.
+ * See the trust test in `calibrate`.
+ */
+const MIRROR_TOLERANCE_DEG = 10;
+/**
+ * The NECK AND HEAD take the bind-relative delta too, for the same reason and by the same rule.
  *
  * `Head` has three children in our rig — `HeadTop_End`, `LeftEye`, `RightEye` — so it is never
  * swung on its own account (the swing needs exactly one non-tip child). What it does instead is
- * INHERIT the neck's swing, and the neck IS aimed: it is rotated until it points at our `Head`
+ * INHERIT the neck's swing, and the neck used to BE aimed: rotated until it points at our `Head`
  * pivot the way the clip's neck points at its own. Those two pivots are not the same landmark.
  * Ours is derived from the SKULL BASE (`862079f`: MakeHuman's `head` helper sits 37.1% up the
- * skull against the reference's 12.6%, so the derived pivot lands at ~19%), and inheriting a swing
- * computed to satisfy that placement difference tips the whole skull.
+ * skull against the reference's 12.6%, so the derived pivot lands at ~19%), and a swing computed
+ * to satisfy that placement difference tips the whole skull.
  *
  * Measured on the real assets: the `T-Pose` clip left the face 8.5° chin-up against our own bind
  * and `Walking` 4.2°, while `Male Standing Pose` tilted 11.6° DOWN — the asymmetry that gives an
- * aim problem away. Under this rule the static T-pose reproduces our bind exactly (0.00°) and the
- * arm calibration is untouched at 0.00°.
+ * aim problem away.
+ *
+ * ⚠️ THE NECK WAS ADDED SECOND, AND THE FIRST ROUND'S NOTE HERE WAS WRONG. It said "`Head`, NOT
+ * `Neck` — overriding the neck as well changes nothing (measured: still 8.52°)". That measurement
+ * was the GAZE AXIS, `Head→LeftEye`, and with `Head` already bind-relative its world orientation
+ * no longer depends on the neck at all — so the gaze was the one quantity guaranteed not to move.
+ * It said nothing about the neck's own angle, which moves a great deal.
+ *
+ * What the neck's aim actually did, in the SAGITTAL plane (lean off vertical, + forward; elevation
+ * is blind to this, being the same 85° whether a bone leans forward or back):
+ *
+ *     Neck→Head       our bind 21.1°     aimed 12.1°  (T-Pose)  13.7° (Walking)  21.4° (MSP)
  *
- * ⚠️ `Head`, NOT `Neck`. Overriding the neck as well changes nothing (measured: still 8.52°), and
- * the neck's aim is a genuine, asserted property — all-mine-sky's `fbxCalibrate.test.ts` checks it
- * at <1° and must keep passing. `Head` is the one bone in the chain that test does not aim-check,
- * precisely because it has no single aim child.
+ * A cervical spine leans forward; ours does, by 21°, and Mixamo's by 12°. Aiming ours at theirs
+ * straightened it backward by 9° — while the head, already bind-relative, held the orientation it
+ * was authored with for a 21° neck. Neck back, head forward, a kink at the joint: reported as
+ * "the neck is angled backward and then the head is tilted forward, like a Z", and that is exactly
+ * what it was. The 54%-longer neck span (`upperBodyProbe.test.ts` in ugly-bot) carries the head
+ * further for the same 9°, which is why it reads so strongly.
+ *
+ * Under this rule the static T-pose reproduces our bind exactly (21.1°) and the clip's own motion
+ * of the neck survives — +1.6° in `Walking`, +9.8° in `Male Standing Pose`. The gaze axis is
+ * unchanged, as the note above should have predicted, and the arm calibration is untouched at
+ * 0.00°.
+ *
+ * ⚠️ THIS RETIRES AN ASSERTED PROPERTY. all-mine-sky's `fbxCalibrate.test.ts` checked the neck's
+ * aim at <1°; a bone on this list has no aim to check, so it joins the foot chain in that test's
+ * exclusion list. Do not "fix" that test by putting the aim back.
  */
-const HEAD_CHAIN = /^(?:Head|HeadTop_End)$/;
+const NECK_HEAD_CHAIN = /^(?:Neck|Head|HeadTop_End)$/;
 /** Bones whose clip-side direction is a PLACEMENT CONVENTION rather than a pose, and which
  *  therefore hold our own bind and replay only the clip's motion deltas. */
-const bindRelative = (name) => FOOT_CHAIN.test(name) || HEAD_CHAIN.test(name);
+const bindRelative = (name) => FOOT_CHAIN.test(name) || NECK_HEAD_CHAIN.test(name);
 const vNorm = (v) => {
     const l = Math.hypot(v[0], v[1], v[2]) || 1;
     return [v[0] / l, v[1] / l, v[2] / l];
@@ -233,12 +263,52 @@ export function calibrate(rig, bind, clipWorld) {
         calibrated[i] = C;
         return { S, C };
     };
+    // ⚠️ IS THIS CONTAINER'S STORED REST ACTUALLY A BIND? The two rules answer to
+    // the clip's bind very differently, and it decides which one is safe:
+    //
+    //   AIM is INDEPENDENT of it. `ours(t)` points where `clip(t)` points at every
+    //   frame by construction, whatever the bind was.
+    //   BIND-RELATIVE is ENTIRELY BUILT ON IT — it replays `clip`'s delta FROM its
+    //   bind — so a rest that is not a bind becomes a constant rotation error that
+    //   no frame of animation put there and none takes away.
+    //
+    // A humanoid bind is bilaterally symmetric. Reflect the left foot's bind
+    // direction across the sagittal plane and it must land on the right's. Measured
+    // over the real catalogue: Mixamo FBX downloads disagree by 0.2°–1.4°, while
+    // several animation-only GLBs disagree by 32°–60°. Those GLBs carry no skin,
+    // therefore no `inverseBindMatrices`, therefore no bind at all — glTF never
+    // promised the node TRS was one, and for those files it plainly is not.
+    // Measured in ugly-bot's `upperBodyProbe.test.ts`, where it showed up as a foot
+    // rotated 59° out of true for an entire clip whose own animation was symmetric.
+    //
+    // Where the test fails the foot chain falls back to AIM, which cannot be
+    // poisoned by a bind it does not read. The cost is Mixamo's toes-on-the-ground
+    // convention on those clips — the very thing FOOT_CHAIN exists to avoid — so
+    // this is the lesser of two known defects, not a fix for the container. A GLB
+    // that fails this wants re-exporting.
+    const footDir = (side) => {
+        const a = clipWorld.get(`${side}Foot`);
+        const b = clipWorld.get(`${side}ToeBase`);
+        if (!a || !b)
+            return null;
+        return vNorm([b.p[0] - a.p[0], b.p[1] - a.p[1], b.p[2] - a.p[2]]);
+    };
+    const l = footDir('Left');
+    const r = footDir('Right');
+    let footBindTrusted = true;
+    if (l && r) {
+        // Mirror is a negated X: the sagittal plane is x = 0 in both rigs.
+        const dot = Math.max(-1, Math.min(1, -l[0] * r[0] + l[1] * r[1] + l[2] * r[2]));
+        footBindTrusted = (Math.acos(dot) * 180) / Math.PI <= MIRROR_TOLERANCE_DEG;
+    }
     const K = Array.from({ length: n }, () => null);
     for (let i = 0; i < n; i++) {
-        const cw = clipWorld.get(rig.names[i]);
+        const name = rig.names[i];
+        const cw = clipWorld.get(name);
         if (!cw)
             continue;
-        K[i] = bindRelative(rig.names[i])
+        const useBindRelative = bindRelative(name) && (footBindTrusted || !FOOT_CHAIN.test(name));
+        K[i] = useBindRelative
             ? qMul(qConj(cw.q), worldRest(i))
             : qMul(qConj(cw.q), pose(i).C);
     }

package/dist/character/shared/lib/retarget.js.map

@@ -1 +1 @@
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package/dist/cli/version.d.ts

@@ -1,2 +1,2 @@
-export declare const CLI_VERSION = "0.1.967";
+export declare const CLI_VERSION = "0.1.968";
 //# sourceMappingURL=version.d.ts.map

package/dist/cli/version.js

@@ -1,3 +1,3 @@
 // Auto-generated by prebuild — do not edit manually
-export const CLI_VERSION = "0.1.967";
+export const CLI_VERSION = "0.1.968";
 //# sourceMappingURL=version.js.map

package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "ugly-app",
   "packageManager": "pnpm@10.34.5",
-  "version": "0.1.967",
+  "version": "0.1.969",
   "type": "module",
   "comment:files": "Allowlist what ships to npm. dist = runtime; src = sourcemap targets (dist/*.js.map reference ../../src/); templates = CLI scaffold. Everything else at repo root (.pgdata local Postgres, coverage, assets/icons sources, test/, test-results/) is excluded by omission. The !negations strip the scaffold's installed deps + cruft (templates/node_modules is 200MB+ and must never ship). package.json/README/LICENSE ship automatically.",
   "files": [

package/src/character/shared/lib/retarget.ts

@@ -113,32 +113,63 @@ const TIP = /(?:_End|Hand(?:Thumb|Index|Middle|Ring|Pinky)4)$/;
 const FOOT_CHAIN = /^(?:Left|Right)(?:Foot|ToeBase|Toe_End)$/;
 
 /**
- * The HEAD takes the bind-relative delta too, for the same reason and by the same rule.
+ * How far a container's own bind may depart from bilateral symmetry before it is not a bind.
+ *
+ * ⚠️ THE GAP IS ENORMOUS, WHICH IS WHY ONE CONSTANT CAN SERVE. Measured over the shipped
+ * catalogue: Mixamo FBX 0.2°, 1.4°; animation-only GLBs 32.5°, 60.3°, 60.3°. Anything between 5°
+ * and 25° would separate them identically, so this is a threshold with nothing balanced on it.
+ * See the trust test in `calibrate`.
+ */
+const MIRROR_TOLERANCE_DEG = 10;
+
+/**
+ * The NECK AND HEAD take the bind-relative delta too, for the same reason and by the same rule.
  *
  * `Head` has three children in our rig — `HeadTop_End`, `LeftEye`, `RightEye` — so it is never
  * swung on its own account (the swing needs exactly one non-tip child). What it does instead is
- * INHERIT the neck's swing, and the neck IS aimed: it is rotated until it points at our `Head`
+ * INHERIT the neck's swing, and the neck used to BE aimed: rotated until it points at our `Head`
  * pivot the way the clip's neck points at its own. Those two pivots are not the same landmark.
  * Ours is derived from the SKULL BASE (`862079f`: MakeHuman's `head` helper sits 37.1% up the
- * skull against the reference's 12.6%, so the derived pivot lands at ~19%), and inheriting a swing
- * computed to satisfy that placement difference tips the whole skull.
+ * skull against the reference's 12.6%, so the derived pivot lands at ~19%), and a swing computed
+ * to satisfy that placement difference tips the whole skull.
  *
  * Measured on the real assets: the `T-Pose` clip left the face 8.5° chin-up against our own bind
  * and `Walking` 4.2°, while `Male Standing Pose` tilted 11.6° DOWN — the asymmetry that gives an
- * aim problem away. Under this rule the static T-pose reproduces our bind exactly (0.00°) and the
- * arm calibration is untouched at 0.00°.
+ * aim problem away.
+ *
+ * ⚠️ THE NECK WAS ADDED SECOND, AND THE FIRST ROUND'S NOTE HERE WAS WRONG. It said "`Head`, NOT
+ * `Neck` — overriding the neck as well changes nothing (measured: still 8.52°)". That measurement
+ * was the GAZE AXIS, `Head→LeftEye`, and with `Head` already bind-relative its world orientation
+ * no longer depends on the neck at all — so the gaze was the one quantity guaranteed not to move.
+ * It said nothing about the neck's own angle, which moves a great deal.
+ *
+ * What the neck's aim actually did, in the SAGITTAL plane (lean off vertical, + forward; elevation
+ * is blind to this, being the same 85° whether a bone leans forward or back):
+ *
+ *     Neck→Head       our bind 21.1°     aimed 12.1°  (T-Pose)  13.7° (Walking)  21.4° (MSP)
+ *
+ * A cervical spine leans forward; ours does, by 21°, and Mixamo's by 12°. Aiming ours at theirs
+ * straightened it backward by 9° — while the head, already bind-relative, held the orientation it
+ * was authored with for a 21° neck. Neck back, head forward, a kink at the joint: reported as
+ * "the neck is angled backward and then the head is tilted forward, like a Z", and that is exactly
+ * what it was. The 54%-longer neck span (`upperBodyProbe.test.ts` in ugly-bot) carries the head
+ * further for the same 9°, which is why it reads so strongly.
  *
- * ⚠️ `Head`, NOT `Neck`. Overriding the neck as well changes nothing (measured: still 8.52°), and
- * the neck's aim is a genuine, asserted property — all-mine-sky's `fbxCalibrate.test.ts` checks it
- * at <1° and must keep passing. `Head` is the one bone in the chain that test does not aim-check,
- * precisely because it has no single aim child.
+ * Under this rule the static T-pose reproduces our bind exactly (21.1°) and the clip's own motion
+ * of the neck survives — +1.6° in `Walking`, +9.8° in `Male Standing Pose`. The gaze axis is
+ * unchanged, as the note above should have predicted, and the arm calibration is untouched at
+ * 0.00°.
+ *
+ * ⚠️ THIS RETIRES AN ASSERTED PROPERTY. all-mine-sky's `fbxCalibrate.test.ts` checked the neck's
+ * aim at <1°; a bone on this list has no aim to check, so it joins the foot chain in that test's
+ * exclusion list. Do not "fix" that test by putting the aim back.
  */
-const HEAD_CHAIN = /^(?:Head|HeadTop_End)$/;
+const NECK_HEAD_CHAIN = /^(?:Neck|Head|HeadTop_End)$/;
 
 /** Bones whose clip-side direction is a PLACEMENT CONVENTION rather than a pose, and which
  *  therefore hold our own bind and replay only the clip's motion deltas. */
 const bindRelative = (name: string): boolean =>
-  FOOT_CHAIN.test(name) || HEAD_CHAIN.test(name);
+  FOOT_CHAIN.test(name) || NECK_HEAD_CHAIN.test(name);
 
 const vNorm = (v: Vec3): Vec3 => {
   const l = Math.hypot(v[0], v[1], v[2]) || 1;
@@ -277,11 +308,55 @@ export function calibrate(
     return { S, C };
   };
 
+  // ⚠️ IS THIS CONTAINER'S STORED REST ACTUALLY A BIND? The two rules answer to
+  // the clip's bind very differently, and it decides which one is safe:
+  //
+  //   AIM is INDEPENDENT of it. `ours(t)` points where `clip(t)` points at every
+  //   frame by construction, whatever the bind was.
+  //   BIND-RELATIVE is ENTIRELY BUILT ON IT — it replays `clip`'s delta FROM its
+  //   bind — so a rest that is not a bind becomes a constant rotation error that
+  //   no frame of animation put there and none takes away.
+  //
+  // A humanoid bind is bilaterally symmetric. Reflect the left foot's bind
+  // direction across the sagittal plane and it must land on the right's. Measured
+  // over the real catalogue: Mixamo FBX downloads disagree by 0.2°–1.4°, while
+  // several animation-only GLBs disagree by 32°–60°. Those GLBs carry no skin,
+  // therefore no `inverseBindMatrices`, therefore no bind at all — glTF never
+  // promised the node TRS was one, and for those files it plainly is not.
+  // Measured in ugly-bot's `upperBodyProbe.test.ts`, where it showed up as a foot
+  // rotated 59° out of true for an entire clip whose own animation was symmetric.
+  //
+  // Where the test fails the foot chain falls back to AIM, which cannot be
+  // poisoned by a bind it does not read. The cost is Mixamo's toes-on-the-ground
+  // convention on those clips — the very thing FOOT_CHAIN exists to avoid — so
+  // this is the lesser of two known defects, not a fix for the container. A GLB
+  // that fails this wants re-exporting.
+  const footDir = (side: 'Left' | 'Right'): Vec3 | null => {
+    const a = clipWorld.get(`${side}Foot`);
+    const b = clipWorld.get(`${side}ToeBase`);
+    if (!a || !b) return null;
+    return vNorm([b.p[0] - a.p[0], b.p[1] - a.p[1], b.p[2] - a.p[2]]);
+  };
+  const l = footDir('Left');
+  const r = footDir('Right');
+  let footBindTrusted = true;
+  if (l && r) {
+    // Mirror is a negated X: the sagittal plane is x = 0 in both rigs.
+    const dot = Math.max(
+      -1,
+      Math.min(1, -l[0] * r[0] + l[1] * r[1] + l[2] * r[2]),
+    );
+    footBindTrusted = (Math.acos(dot) * 180) / Math.PI <= MIRROR_TOLERANCE_DEG;
+  }
+
   const K: (Quat | null)[] = Array.from({ length: n }, () => null);
   for (let i = 0; i < n; i++) {
-    const cw = clipWorld.get(rig.names[i]!);
+    const name = rig.names[i]!;
+    const cw = clipWorld.get(name);
     if (!cw) continue;
-    K[i] = bindRelative(rig.names[i]!)
+    const useBindRelative =
+      bindRelative(name) && (footBindTrusted || !FOOT_CHAIN.test(name));
+    K[i] = useBindRelative
       ? qMul(qConj(cw.q), worldRest(i))
       : qMul(qConj(cw.q), pose(i).C);
   }

package/src/cli/version.ts

@@ -1,2 +1,2 @@
 // Auto-generated by prebuild — do not edit manually
-export const CLI_VERSION = "0.1.967";
+export const CLI_VERSION = "0.1.968";