ARKit Body Detection in Squats

From my tests, one of the major limitations of body detection is a lack of environmental awareness. For example, body detection has no relationship to the scene detection, like floor plane, so a detected figure can move in unnatural ways like sliding backwards, and even through the ground plane, to solve for the detected position.

This is particularly true when a user squats, which causes the root joint to move down in space and child joints to move up relative to the root. During a real squat, the root moves backward and down in space, but the body detection often moves the root backward one or more meters, and rotates the upper leg joints outward to match up what it sees causing the knees and feet to widen even though the feet are not moving in reality.

I have tried many techniques to correct for this, from feeding motion data through a SceneKit IK robot to trying to use geometry to correct for the root's backward movement, but have not been able to convincingly correct for ARKit's body detection anomalies.

Is there any way to put limits on ARKit's body detection (don't move the feet) or maybe some other technique for correcting it after the fact that anyone has devised?