diff --git a/init.lua b/init.lua
index 118f497..36499dc 100644
--- a/init.lua
+++ b/init.lua
@@ -154,9 +154,17 @@ function M.init(ctx)
     puppet.play(state.player, "idle",       { loop = true })
     puppet.play(state.player, "idle_lower", { loop = true })
 
-    -- Procedural lower_control: applies the per-frame wedge rotation (set by update_lower_anim).
-    puppet.set_procedural(state.player, "lower_control", function(handle, dt)
-        puppet.write_bone(handle, "lower_control", { rot = state.lower_control_rot_deg })
+    -- Procedural leg-orientation: hips are body-relative (legs.parent=body, so
+    -- cascade-position follows body); the leg ROTATION is overridden each
+    -- frame to align with walk-direction (independent of body rotation).
+    -- leg.local.rot = walk_dir_world - body.world.rot → leg.world.rot = walk_dir.
+    -- write_bone allowed on leg.rot because walk_fwd_lower only writes leg.scl
+    -- (per-channel guard v0.4.2).
+    puppet.set_procedural(state.player, "leg_orientation", function(handle, dt)
+        local _, _, body_rot = puppet.bone_world_transform(handle, "body")
+        local leg_local_deg = state.lower_control_rot_deg - math.deg(body_rot)
+        puppet.write_bone(handle, "leg_l", { rot = leg_local_deg })
+        puppet.write_bone(handle, "leg_r", { rot = leg_local_deg })
     end)
 
     -- Furniture textures.
diff --git a/manifest.module b/manifest.module
index a5fd30e..792031f 100644
--- a/manifest.module
+++ b/manifest.module
@@ -15,7 +15,7 @@
         {"id": "lib-core.camera",                 "version": "0.3.0"},
         {"id": "lib-core.render",                 "version": "0.1.0"},
         {"id": "lib-core.maps",                   "version": "0.1.2"},
-        {"id": "lib-core.puppet", "version": "0.4.1"},
+        {"id": "lib-core.puppet", "version": "0.4.2"},
         {"id": "lib-asset.prototype-subterrain",  "version": "0.1.1"}
     ]
 }
diff --git a/rigs/humanoid.rig.json b/rigs/humanoid.rig.json
index e3ecbd0..198ba19 100644
--- a/rigs/humanoid.rig.json
+++ b/rigs/humanoid.rig.json
@@ -3,7 +3,6 @@
   "asset_pack": "player",
   "bones": [
     { "id": "root",          "parent": null,              "rest": {"x":   0, "y":   0, "rot": 0},                   "z_order": -1 },
-    { "id": "lower_control", "parent": "root",            "rest": {"x":   0, "y":   0, "rot": 0},                   "virtual": true },
     { "id": "body",          "parent": "root",            "rest": {"x":   0, "y":   0, "rot": 0},                   "z_order":  2, "texture": "body_001", "look_at": "soft", "look_at_slerp": 6 },
     { "id": "head",          "parent": "body",            "rest": {"x":   0, "y":  -3, "rot": 0, "rot_min": -60, "rot_max": 60}, "z_order":  6, "texture": "head_001", "look_at": "aim" },
     { "id": "shoulders",     "parent": "body",            "rest": {"x":   0, "y":   0, "rot": 0},                   "z_order":  5, "texture": "shoulder_001" },
@@ -11,8 +10,8 @@
     { "id": "upper_arm_r",   "parent": "shoulders",       "rest": {"x":  20, "y":  -4, "rot": 0},                   "z_order":  3, "texture": "upper_arm_001" },
     { "id": "lower_arm_l",   "parent": "upper_arm_l",     "rest": {"x":  14, "y": -18, "rot": 0},                   "z_order":  2, "texture": "lower_arm_001" },
     { "id": "lower_arm_r",   "parent": "upper_arm_r",     "rest": {"x":  13, "y": -17, "rot": 0},                   "z_order":  2, "texture": "lower_arm_001" },
-    { "id": "leg_l",         "parent": "lower_control",   "rest": {"x":  -9, "y":   1, "rot": 0, "scl": [-1, -1]}, "z_order":  1, "texture": "leg_001" },
-    { "id": "leg_r",         "parent": "lower_control",   "rest": {"x":   9, "y":   1, "rot": 0, "scl": [ 1, -1]}, "z_order":  1, "texture": "leg_001" },
+    { "id": "leg_l",         "parent": "body",            "rest": {"x":  -9, "y":   1, "rot": 0, "scl": [-1, -1]}, "z_order":  1, "texture": "leg_001" },
+    { "id": "leg_r",         "parent": "body",            "rest": {"x":   9, "y":   1, "rot": 0, "scl": [ 1, -1]}, "z_order":  1, "texture": "leg_001" },
     { "id": "foot_l",        "parent": "leg_l",           "rest": {"x":   0, "y":  25, "rot": 0, "scl": [ 1, -1]}, "z_order":  0, "texture": "foot_001" },
     { "id": "foot_r",        "parent": "leg_r",           "rest": {"x":   0, "y":  26, "rot": 0, "scl": [ 1, -1]}, "z_order":  0, "texture": "foot_001" }
   ],