General-Tracking-G1 now uses adaptive Z-only anchor and end-effector
termination thresholds, while separating foot XYZ checks into an
explicit termination term. Benchmark video mode also disables the new
foot termination so long clip capture keeps the previous behavior.

Constraint: Low-height reference poses need looser failure thresholds without weakening normal upright tracking
Rejected: Raise all tracking thresholds globally | too permissive for upright motions and hides real failures
Confidence: high
Scope-risk: moderate
Reversibility: clean
Directive: Keep benchmark/video termination overrides in sync whenever new tracking failure terms are added
Tested: pytest tests/test_termination_config.py tests/test_task_registry.py -q
Not-tested: Full training run and benchmark rollout on real motion clips

The training env no longer keeps a separate foot XYZ termination term.

This commit removes that term from the assembled General-Tracking-G1 config and updates the regression test to assert the reduced termination surface directly.

Constraint: Training resets should match the currently intended termination policy without reintroducing premature foot-specific failures
Rejected: Keep foot_pos_xyz configured but unused in tests | leaves the env behavior and regression contract out of sync
Confidence: high
Scope-risk: narrow
Reversibility: clean
Directive: If foot-specific reset logic is reintroduced, update both the env assembly and termination regression test together
Tested: pytest tests/test_termination_config.py tests/test_task_registry.py -q
Not-tested: Full training run or benchmark rollout with real motion clips

Standardize the public dataset spec names to twist2/seed/lafan1, update default motion-file references, and add a seed_filter_preset path that records filtering diagnostics in build reports.

This keeps docs, scripts, and tests aligned with the renamed configs while making SEED curation reproducible and observable.

Constraint: Keep dataset builder behavior fail-fast and avoid adding new dependencies
Rejected: Preserve versioned spec filenames as the primary defaults | keeps user-facing commands and docs inconsistent
Confidence: high
Scope-risk: moderate
Reversibility: clean
Directive: If external automation still depends on the old YAML filenames, add explicit compatibility aliases before changing defaults again
Tested: pytest tests/test_dataset_v2.py tests/test_review_pipeline.py tests/test_train_script.py -q
Not-tested: End-to-end dataset build against real SEED/twist2 assets

Keep the canonical `seed.yaml` spec pointed at the full SEED source while
moving the strict Groot-filtered variant into a dedicated `seed_clean.yaml`
spec. This makes the public config names match their actual coverage and
keeps the curated path explicit for reproducible review or training flows.

Constraint: Keep existing dataset-builder semantics and avoid hidden filtering in the default SEED spec
Rejected: Leave `groot_strict` inside `seed.yaml` | makes the canonical SEED entry point silently exclude source data
Confidence: high
Scope-risk: narrow
Reversibility: clean
Directive: Use `seed_clean.yaml` for strict curated SEED runs; keep `seed.yaml` as the unfiltered baseline unless downstream defaults are updated intentionally
Tested: `pytest tests/test_dataset_v2.py -q`
Not-tested: End-to-end dataset build against real SEED assets

…tion' into merge_train

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