diff --git a/assets/locales/de.json b/assets/locales/de.json
index e3263f9d..5e2ec39d 100644
--- a/assets/locales/de.json
+++ b/assets/locales/de.json
@@ -430,6 +430,7 @@
   "ui.command_done": "{command} fertig",
   "drive.stopped_by_loop": "Angehalten bei {value}: die Schleife über {joint} lässt sich nicht weiter schließen",
   "drive.stopped_by_contact": "Angehalten bei {value}: {a} würde {b} durchdringen",
+  "drive.unconnected": "Bewegt nichts: {part} ist mit nichts Festgesetztem verbunden",
   "cmd.appearance_assign": "Erscheinungsbild",
   "cmd.appearance_library": "Erscheinungsbild-Bibliothek",
   "cmd.appearance_list": "Erscheinungsbilder auflisten",
diff --git a/assets/locales/en.json b/assets/locales/en.json
index 6fec997c..ae2dba76 100644
--- a/assets/locales/en.json
+++ b/assets/locales/en.json
@@ -986,6 +986,7 @@
   "ui.command_done": "{command} done",
   "drive.stopped_by_loop": "Stopped at {value}: the loop through {joint} can't close any further",
   "drive.stopped_by_contact": "Stopped at {value}: {a} would pass through {b}",
+  "drive.unconnected": "Moves nothing: {part} is not connected to anything grounded",
   "timeline.group": "New Feature Folder",
   "timeline.ungroup": "Remove Feature Folders",
   "timeline.rename_group": "Rename Feature Folder",
diff --git a/assets/locales/fr.json b/assets/locales/fr.json
index cb1e6f09..0471c86d 100644
--- a/assets/locales/fr.json
+++ b/assets/locales/fr.json
@@ -1028,5 +1028,6 @@
   "update.dmg_opened": "L'image disque est ouverte et vérifiée : faites glisser SolidCraft dans Applications en remplaçant l'ancienne copie, puis redémarrez SolidCraft.",
   "update.install_failed": "La mise à jour ne s'est pas installée : {error}. Rien n'a été modifié ; Télécharger récupère plutôt le paquet.",
   "cmd.render_settings_get": "Réglages de rendu",
-  "cmd.render_settings_set": "Enregistrer les réglages de rendu"
+  "cmd.render_settings_set": "Enregistrer les réglages de rendu",
+  "drive.unconnected": "Rien ne bouge : {part} n'est relié à rien de fixé"
 }
diff --git a/assets/locales/ja.json b/assets/locales/ja.json
index 74b6efda..3953cb1b 100644
--- a/assets/locales/ja.json
+++ b/assets/locales/ja.json
@@ -986,6 +986,7 @@
   "ui.command_done": "{command} 完了",
   "drive.stopped_by_loop": "{value} で停止: {joint} を通るループはこれ以上閉じられません",
   "drive.stopped_by_contact": "{value} で停止: {a} が {b} を通り抜けてしまいます",
+  "drive.unconnected": "何も動きません: {part} は空間固定されたものに接続されていません",
   "timeline.group": "フィーチャーフォルダを新規作成",
   "timeline.ungroup": "フィーチャーフォルダを削除",
   "timeline.rename_group": "フィーチャーフォルダの名前を変更",
diff --git a/assets/locales/ko.json b/assets/locales/ko.json
index 33f28d53..e9551e55 100644
--- a/assets/locales/ko.json
+++ b/assets/locales/ko.json
@@ -430,6 +430,7 @@
   "ui.command_done": "{command} 완료",
   "drive.stopped_by_loop": "{value}에서 멈춤: {joint}을(를) 지나는 루프를 더 이상 닫을 수 없습니다",
   "drive.stopped_by_contact": "{value}에서 멈춤: {a}이(가) {b}을(를) 통과하게 됩니다",
+  "drive.unconnected": "아무것도 움직이지 않습니다: {part}이(가) 고정된 것에 연결되어 있지 않습니다",
   "cmd.appearance_assign": "외관",
   "cmd.appearance_library": "외관 라이브러리",
   "cmd.appearance_list": "외관 목록",
diff --git a/assets/locales/ru.json b/assets/locales/ru.json
index 5a9fc907..abbccf40 100644
--- a/assets/locales/ru.json
+++ b/assets/locales/ru.json
@@ -965,6 +965,7 @@
   "ui.command_done": "{command} — готово",
   "drive.stopped_by_loop": "Остановлено на {value}: контур через {joint} дальше не замыкается",
   "drive.stopped_by_contact": "Остановлено на {value}: {a} прошёл бы сквозь {b}",
+  "drive.unconnected": "Ничего не движется: {part} не соединён ни с чем закреплённым",
   "timeline.group": "Новая папка операций",
   "timeline.ungroup": "Убрать папки операций",
   "timeline.rename_group": "Переименовать папку операций",
diff --git a/assets/locales/uk.json b/assets/locales/uk.json
index ff222635..2eef5844 100644
--- a/assets/locales/uk.json
+++ b/assets/locales/uk.json
@@ -1011,5 +1011,6 @@
   "update.restart_later": "Пізніше",
   "update.installer_started": "Інсталятор запуститься, коли SolidCraft закриється.",
   "update.dmg_opened": "Образ диска відкрито й перевірено: перетягніть SolidCraft до Applications, замінивши стару копію, а потім перезапустіть SolidCraft.",
-  "update.install_failed": "Оновлення не встановлено: {error}. Нічого не змінено; натомість «Завантажити» отримає пакет."
+  "update.install_failed": "Оновлення не встановлено: {error}. Нічого не змінено; натомість «Завантажити» отримає пакет.",
+  "drive.unconnected": "Нічого не рухається: {part} не з'єднано ні з чим закріпленим"
 }
diff --git a/assets/locales/zh.json b/assets/locales/zh.json
index 088ae73f..c1ba0886 100644
--- a/assets/locales/zh.json
+++ b/assets/locales/zh.json
@@ -984,6 +984,7 @@
   "ui.command_done": "{command} 完成",
   "drive.stopped_by_loop": "停在 {value}：经过 {joint} 的环路无法再闭合",
   "drive.stopped_by_contact": "停在 {value}：{a} 会穿过 {b}",
+  "drive.unconnected": "没有任何移动：{part} 未连接到任何固定的零部件",
   "timeline.group": "新建特征文件夹",
   "timeline.ungroup": "移除特征文件夹",
   "timeline.rename_group": "重命名特征文件夹",
diff --git a/crates/engine/src/cmd/joints.rs b/crates/engine/src/cmd/joints.rs
index a638e5b0..2477e87e 100644
--- a/crates/engine/src/cmd/joints.rs
+++ b/crates/engine/src/cmd/joints.rs
@@ -3,7 +3,7 @@
 //! joint graph and moves the occurrences it places; the session re-solves after any edit too,
 //! so joints follow the geometry their origins snap to.
 
-use std::collections::BTreeMap;
+use std::collections::{BTreeMap, BTreeSet};
 
 use serde_json::{Value, json};
 use solidcraft_doc::expr::Kind;
@@ -20,15 +20,21 @@ pub static COMMANDS: &[CommandSpec] = &[
     ),
     CommandSpec::new("joint.create", "Joint", joint).at("SOLID", "ASSEMBLE").icon("joint").key("J").params(
         "type: rigid|revolute|slider|cylindrical|pin_slot|planar|ball; a, b: joint origins ({occurrence, face|circle|point: [x,y,z] in world} | origin name); \
-         values?: [angles in deg or expressions, distances]; limits?: [[min, max] | null…]; flip?: bool; offset?; angle?; name?",
+         values?: [angles in deg or expressions, distances]; limits?: [[min, max] | null…]; flip?: bool (default false: the origins are mated, \
+         b's z against a's as two faces meet; true: b's z along a's, so two origins given at one point with the same z stay as they are); \
+         offset?; angle?; name?; quiet?: bool (leave out dof and fixed)",
     ),
     CommandSpec::new("joint.as_built", "As-Built Joint", as_built).at("SOLID", "ASSEMBLE").icon("as_built").params(
-        "type, a: occurrence, b: occurrence (stay where they are); at?: joint origin (default: b's origin) — the joint's frame",
+        "type, a: occurrence, b: occurrence (stay where they are); at?: joint origin (default: b's origin) — the joint's frame; \
+         name?; limits?: [[min, max] | null…]; quiet?: bool",
     ),
     CommandSpec::new("joint.rigid_group", "Rigid Group", rigid_group).at("SOLID", "ASSEMBLE").icon("rigid_group").params("occurrences: [ids or names] (move together, as they are)"),
     CommandSpec::new("joint.drive", "Drive Joints", drive).at("SOLID", "ASSEMBLE").icon("drive").params(
-        "joint: id|name; value | values: [angles in deg or expressions, distances] (clamped to the limits; the other joints of a \
-         closed loop follow, and the motion stops where the loop can no longer close → stopped_by_loop)",
+        "joint: id|name; value | values: [angles in deg or expressions, distances] (values not given keep theirs; clamped to the limits; the other joints of a \
+         closed loop follow, and the motion stops where the loop can no longer close → stopped_by_loop); quiet?: bool (leave out dof \
+         and fixed) → values: [{name, value, unit: deg|mm, limits}] as joint.list gives them; moved: whether any occurrence moved; \
+         reason: why the joint can move nothing (suppressed, its origins lost, or its chain joined to nothing grounded → unconnected: \
+         the occurrence named)",
     ),
     CommandSpec::new("joint.motion_link", "Motion Link", motion_link)
         .at("SOLID", "ASSEMBLE")
@@ -37,7 +43,10 @@ pub static COMMANDS: &[CommandSpec] = &[
     CommandSpec::new("joint.limits", "Joint Limits", limits).params("joint; index?: value index (default 0); min?, max? (omit both to clear)"),
     CommandSpec::new("joint.edit", "Edit Joint", edit).params("joint; type?, flip?, offset?, angle?, suppressed?, name?"),
     CommandSpec::new("joint.delete", "Delete Joint", delete).params("joint: id|name (or origin: name, link: index)"),
-    CommandSpec::new("joint.list", "List Joints", list).noundo().params("→ joints (type, occurrences, values, limits), origins, links, degrees of freedom, conflicts"),
+    CommandSpec::new("joint.list", "List Joints", list).noundo().params(
+        "→ joints (type, occurrences, values, limits), origins, links, degrees of freedom, conflicts, floating: [{occurrences, joints}] \
+         (joint chains joined to nothing grounded: the solver places none of them, so driving them moves nothing)",
+    ),
     CommandSpec::new("joint.solve", "Solve Joints", solve_cmd).params("re-place the occurrences from the joints → conflicts, errors, dof"),
     CommandSpec::new("inspect.interference", "Interference", interference).at("SOLID", "INSPECT").icon("interference").noundo().params(
         "bodies?: [names] (default: all, in world placement) → interferences: pairs that overlap with the overlap volume, area, bounding box and centre; unchecked: pairs that could not be checked, with the reason. Bodies are pruned by bounding box first, so any number of bodies is fine; at most 20000 pairs whose boxes overlap are intersected per call (truncated: true and skipped_pairs: n say when more were left out)",
@@ -64,13 +73,93 @@ pub fn resolve_holding(s: &mut Session, held: &joints::Held) -> joints::Solution
     sol
 }
 
-fn sol_json(sol: &joints::Solution) -> Value {
-    json!({
+/// A solve's answer; `quiet: true` in the command's params leaves out the per-occurrence lists.
+fn sol_json(sol: &joints::Solution, p: &Value) -> Value {
+    let mut out = json!({
         "conflicts": sol.conflicts.iter().map(|(id, n, w)| json!({"joint": id, "name": n, "why": w})).collect::<Vec<_>>(),
         "errors": sol.errors.iter().map(|(id, n, w)| json!({"joint": id, "name": n, "why": w})).collect::<Vec<_>>(),
-        "dof": sol.dof.iter().map(|(o, d)| json!({"occurrence": o, "dof": d})).collect::<Vec<_>>(),
-        "fixed": sol.fixed,
-    })
+    });
+    if !bool_(p, "quiet").unwrap_or(false) {
+        out["dof"] = sol.dof.iter().map(|(o, d)| json!({"occurrence": o, "dof": d})).collect();
+        out["fixed"] = json!(sol.fixed);
+    }
+    out
+}
+
+/// A joint's values as `joint.list` gives them: degrees for angles, mm for distances, each with
+/// its name and limits.
+pub(crate) fn named_values(j: &Joint, q: &[f64]) -> Vec<Value> {
+    j.kind
+        .dofs()
+        .iter()
+        .enumerate()
+        .map(|(i, n)| {
+            let (v, angle) = (q.get(i).copied().unwrap_or(0.0), j.kind.is_angle(i));
+            json!({"name": n, "value": if angle { v.to_degrees() } else { v }, "unit": if angle { "deg" } else { "mm" },
+                "limits": j.limits.get(i).copied().flatten().map(|(a, b)| if angle { [a.to_degrees(), b.to_degrees()] } else { [a, b] })})
+        })
+        .collect()
+}
+
+fn occurrence_name(s: &Session, id: u64) -> String {
+    s.doc.occurrences.iter().find(|o| o.id == id).map(|o| o.name.clone()).unwrap_or_else(|| id.to_string())
+}
+
+/// Why driving joint `id` moves nothing whatever its values (`None`: it places what it joins),
+/// with the occurrence that is joined to nothing grounded when that is the reason.
+pub(crate) fn cannot_move(s: &Session, sol: &joints::Solution, id: u64) -> Option<(String, Option<String>)> {
+    let j = s.doc.assembly.joints.iter().find(|j| j.id == id)?;
+    // Its value carries through motion links to joints that may move (a suppressed dial too).
+    if s.doc.assembly.links.iter().any(|l| l.a == id || l.b == id) {
+        return None;
+    }
+    if j.suppressed {
+        return Some((format!("{} is suppressed", j.name), None));
+    }
+    if let Some((_, _, why)) = sol.errors.iter().find(|e| e.0 == id) {
+        return Some((why.clone(), None));
+    }
+    // The solver places what it reaches from the root and grounded occurrences.
+    let placed = |o: u64| o == 0 || sol.world.contains_key(&o);
+    if placed(j.a.occurrence) || placed(j.b.occurrence) {
+        return None;
+    }
+    let name = occurrence_name(s, j.a.occurrence);
+    Some((format!("{name} is not connected to anything grounded (ground it, or join it to a grounded part)"), Some(name)))
+}
+
+/// Joint chains joined to nothing grounded, which the solver places none of: each chain's
+/// occurrences and joints, by name.
+fn floating_chains(s: &Session, sol: &joints::Solution) -> Vec<Value> {
+    let placed = |o: u64| o == 0 || sol.world.contains_key(&o);
+    let errors: BTreeSet<u64> = sol.errors.iter().map(|e| e.0).collect();
+    let mut next: BTreeMap<u64, Vec<(u64, &Joint)>> = BTreeMap::new();
+    for j in s.doc.assembly.joints.iter().filter(|j| !j.suppressed && !errors.contains(&j.id)) {
+        if !placed(j.a.occurrence) && !placed(j.b.occurrence) {
+            next.entry(j.a.occurrence).or_default().push((j.b.occurrence, j));
+            next.entry(j.b.occurrence).or_default().push((j.a.occurrence, j));
+        }
+    }
+    let mut seen = BTreeSet::new();
+    let mut out = Vec::new();
+    for &start in next.keys() {
+        if !seen.insert(start) {
+            continue;
+        }
+        let (mut occs, mut js, mut todo) = (vec![start], BTreeSet::new(), vec![start]);
+        while let Some(o) = todo.pop() {
+            for (other, j) in next.get(&o).into_iter().flatten() {
+                js.insert((j.id, j.name.as_str()));
+                if seen.insert(*other) {
+                    occs.push(*other);
+                    todo.push(*other);
+                }
+            }
+        }
+        out.push(json!({"occurrences": occs.iter().map(|o| occurrence_name(s, *o)).collect::<Vec<_>>(),
+            "joints": js.iter().map(|(_, n)| *n).collect::<Vec<_>>()}));
+    }
+    out
 }
 
 pub(crate) fn occurrence_id(s: &Session, v: Option<&Value>, cmd: &str) -> Result<u64> {
@@ -225,7 +314,7 @@ fn next_joint_id(s: &Session) -> u64 {
     s.doc.assembly.joints.iter().map(|j| j.id).max().unwrap_or(0) + 1
 }
 
-fn add_joint(s: &mut Session, j: Joint) -> Result<Value> {
+fn add_joint(s: &mut Session, j: Joint, p: &Value) -> Result<Value> {
     if s.doc.assembly.joints.len() >= 10_000 {
         return Err(EngineError::Other("too many joints".into()));
     }
@@ -238,7 +327,7 @@ fn add_joint(s: &mut Session, j: Joint) -> Result<Value> {
     s.visibility.hidden_joints.retain(|h| *h != id);
     s.doc_mut().assembly.joints.push(j);
     let sol = resolve(s);
-    let mut out = sol_json(&sol);
+    let mut out = sol_json(&sol, p);
     out["joint"] = json!(id);
     out["name"] = json!(name);
     Ok(out)
@@ -292,7 +381,7 @@ fn joint(s: &mut Session, p: &Value) -> Result<Value> {
         angle,
         suppressed: false,
     };
-    add_joint(s, j)
+    add_joint(s, j, p)
 }
 
 fn as_built(s: &mut Session, p: &Value) -> Result<Value> {
@@ -325,7 +414,7 @@ fn as_built(s: &mut Session, p: &Value) -> Result<Value> {
         angle: 0.0,
         suppressed: false,
     };
-    add_joint(s, j)
+    add_joint(s, j, p)
 }
 
 fn rigid_group(s: &mut Session, p: &Value) -> Result<Value> {
@@ -357,26 +446,32 @@ fn drive(s: &mut Session, p: &Value) -> Result<Value> {
     }
     let doc = s.doc_mut();
     let Some(j) = doc.assembly.joints.iter_mut().find(|j| j.id == id) else { return Err(bad(cmd, "joint")) };
-    // Values not given keep theirs.
-    if let Some(Value::Array(a)) = p.get("values") {
-        for (i, v) in q.iter_mut().enumerate().skip(a.len()) {
-            *v = j.values.get(i).copied().unwrap_or(*v);
-        }
-    }
-    joints::clamp(j, &mut q);
-    // Moved as far toward `q` as contact sets and closed loops allow. Values left out of
-    // `values` are not driven: in a closed loop they follow.
+    // Values not given (after `value`'s first, or past the end of `values`) keep theirs.
     let given = match p.get("values") {
         Some(Value::Array(a)) => a.len(),
         _ => 1,
     };
+    for (i, v) in q.iter_mut().enumerate().skip(given) {
+        *v = j.values.get(i).copied().unwrap_or(*v);
+    }
+    joints::clamp(j, &mut q);
+    // Moved as far toward `q` as contact sets and closed loops allow. Values left out of
+    // `values` are not driven: in a closed loop they follow.
+    let before = super::motion::positions(s);
     let r = super::motion::drive_joint(s, id, q, given)?;
     let sol = joints::solve(&s.doc, &s.model.state());
-    let mut out = sol_json(&sol);
+    let mut out = sol_json(&sol, p);
     out["joint"] = json!(id);
-    out["values"] = json!(s.doc.assembly.joints.iter().find(|j| j.id == id).map(|j| j.values.clone()));
+    out["values"] = json!(s.doc.assembly.joints.iter().find(|j| j.id == id).map(|j| named_values(j, &j.values)));
     out["stopped_by_contact"] = r["stopped_by_contact"].clone();
     out["stopped_by_loop"] = r["stopped_by_loop"].clone();
+    out["moved"] = json!(super::motion::moved(&before, &super::motion::positions(s)).next().is_some());
+    if let Some((why, unconnected)) = cannot_move(s, &sol, id) {
+        out["reason"] = json!(why);
+        if let Some(o) = unconnected {
+            out["unconnected"] = json!(o);
+        }
+    }
     Ok(out)
 }
 
@@ -395,7 +490,7 @@ fn motion_link(s: &mut Session, p: &Value) -> Result<Value> {
     let offset = num(p, "offset").unwrap_or(0.0);
     s.doc_mut().assembly.links.push(MotionLink { a, ia, b, ib, ratio, offset });
     let sol = resolve(s);
-    Ok(sol_json(&sol))
+    Ok(sol_json(&sol, p))
 }
 
 fn limits(s: &mut Session, p: &Value) -> Result<Value> {
@@ -422,7 +517,7 @@ fn limits(s: &mut Session, p: &Value) -> Result<Value> {
     joints::clamp(j, &mut q);
     j.values = q;
     let sol = resolve(s);
-    Ok(sol_json(&sol))
+    Ok(sol_json(&sol, p))
 }
 
 fn edit(s: &mut Session, p: &Value) -> Result<Value> {
@@ -463,7 +558,7 @@ fn edit(s: &mut Session, p: &Value) -> Result<Value> {
         j.name = n.to_string();
     }
     let sol = resolve(s);
-    Ok(sol_json(&sol))
+    Ok(sol_json(&sol, p))
 }
 
 fn delete(s: &mut Session, p: &Value) -> Result<Value> {
@@ -492,12 +587,12 @@ fn delete(s: &mut Session, p: &Value) -> Result<Value> {
     doc.assembly.joints.retain(|j| j.id != id);
     doc.assembly.links.retain(|l| l.a != id && l.b != id);
     let sol = resolve(s);
-    let mut out = sol_json(&sol);
+    let mut out = sol_json(&sol, p);
     out["deleted"] = json!(id);
     Ok(out)
 }
 
-fn list(s: &mut Session, _p: &Value) -> Result<Value> {
+fn list(s: &mut Session, p: &Value) -> Result<Value> {
     let st = s.model.state();
     let sol = joints::solve(&s.doc, &st);
     let vals = joints::joint_values(&s.doc.assembly);
@@ -507,18 +602,7 @@ fn list(s: &mut Session, _p: &Value) -> Result<Value> {
         .joints
         .iter()
         .map(|j| {
-            let q = vals.get(&j.id).cloned().unwrap_or_default();
-            let named: Vec<Value> = j
-                .kind
-                .dofs()
-                .iter()
-                .enumerate()
-                .map(|(i, n)| {
-                    let v = q.get(i).copied().unwrap_or(0.0);
-                    json!({"name": n, "value": if j.kind.is_angle(i) { v.to_degrees() } else { v }, "unit": if j.kind.is_angle(i) { "deg" } else { "mm" },
-                        "limits": j.limits.get(i).copied().flatten().map(|(a, b)| if j.kind.is_angle(i) { [a.to_degrees(), b.to_degrees()] } else { [a, b] })})
-                })
-                .collect();
+            let named = named_values(j, vals.get(&j.id).map(Vec::as_slice).unwrap_or_default());
             let world = |o: &JointOrigin| s.doc.origin_world(&st, o).ok().map(|m| json!({"origin": [m[3][0], m[3][1], m[3][2]], "z": [m[2][0], m[2][1], m[2][2]]}));
             json!({"id": j.id, "name": j.name, "type": j.kind, "a": j.a.occurrence, "b": j.b.occurrence, "values": named,
                 "flip": j.flip, "offset": j.offset, "suppressed": j.suppressed, "visible": s.joint_visible(j.id), "frame_a": world(&j.a), "frame_b": world(&j.b)})
@@ -527,16 +611,17 @@ fn list(s: &mut Session, _p: &Value) -> Result<Value> {
     let links: Vec<Value> =
         s.doc.assembly.links.iter().map(|l| json!({"a": l.a, "ia": l.ia, "b": l.b, "ib": l.ib, "ratio": l.ratio, "offset": l.offset})).collect();
     let origins: Vec<Value> = s.doc.assembly.origins.iter().map(|o| json!({"name": o.name, "occurrence": o.origin.occurrence})).collect();
-    let mut out = sol_json(&sol);
+    let mut out = sol_json(&sol, p);
     out["joints"] = json!(js);
     out["links"] = json!(links);
     out["origins"] = json!(origins);
+    out["floating"] = json!(floating_chains(s, &sol));
     Ok(out)
 }
 
-fn solve_cmd(s: &mut Session, _p: &Value) -> Result<Value> {
+fn solve_cmd(s: &mut Session, p: &Value) -> Result<Value> {
     let sol = resolve(s);
-    Ok(sol_json(&sol))
+    Ok(sol_json(&sol, p))
 }
 
 fn interference(s: &mut Session, p: &Value) -> Result<Value> {
diff --git a/crates/engine/src/cmd/joints_tests.rs b/crates/engine/src/cmd/joints_tests.rs
index 857b5c0d..00c4dc53 100644
--- a/crates/engine/src/cmd/joints_tests.rs
+++ b/crates/engine/src/cmd/joints_tests.rs
@@ -95,7 +95,7 @@ fn slider_limits_clamp() {
     // B now sits on A.
     assert!(near(place(&s, "B", Vec3::new(25.0, 5.0, 0.0)), Vec3::new(5.0, 5.0, 10.0)), "{:?}", place(&s, "B", Vec3::new(25.0, 5.0, 0.0)));
     let r = run(&mut s, "joint.drive", json!({"joint": "Rail", "value": 25}));
-    assert_eq!(r["values"], json!([10.0]), "{r}");
+    assert_eq!((&r["values"][0]["value"], &r["values"][0]["unit"]), (&json!(10.0), &json!("mm")), "{r}");
     assert!(near(place(&s, "B", Vec3::new(25.0, 5.0, 0.0)), Vec3::new(5.0, 5.0, 20.0)));
     run(&mut s, "joint.drive", json!({"joint": "Rail", "value": -5}));
     assert!(near(place(&s, "B", Vec3::new(25.0, 5.0, 0.0)), Vec3::new(5.0, 5.0, 10.0)));
@@ -361,8 +361,8 @@ fn four_bar_follows_its_crank() {
         let r = run(&mut s, "joint.drive", json!({"joint": "Crank", "value": v}));
         assert_eq!(r["conflicts"].as_array().map(Vec::len), Some(0), "{v}°: {r}");
         assert!(r["stopped_by_loop"].is_null(), "{v}°: {r}");
-        // The driven joint keeps exactly the value asked for.
-        assert!((r["values"][0].as_f64().unwrap_or(f64::NAN) - v.to_radians()).abs() < 1e-12, "{r}");
+        // The driven joint keeps exactly the value asked for, answered in degrees as asked.
+        assert!((r["values"][0]["value"].as_f64().unwrap_or(f64::NAN) - v).abs() < 1e-9 && r["values"][0]["unit"] == "deg", "{r}");
         q = rocker_pin(v - 30.0, v, q);
         let th = (90.0 + v).to_radians();
         let p = Vec3::new(20.0 * th.cos(), 20.0 * th.sin(), 0.0);
@@ -399,7 +399,7 @@ fn four_bar_rocker_stops_where_the_loop_cannot_close() {
     let r = run(&mut s, "joint.drive", json!({"joint": "Rocker", "value": 100}));
     assert!(r["stopped_by_loop"].is_object(), "{r}");
     assert_eq!(r["conflicts"].as_array().map(Vec::len), Some(0), "{r}");
-    let reached = r["values"][0].as_f64().unwrap_or(f64::NAN).to_degrees();
+    let reached = r["values"][0]["value"].as_f64().unwrap_or(f64::NAN);
     // |Q|² = 45² + 40² + 2·45·40·cos φ = 30².
     let limit = ((900.0f64 - 3625.0) / 3600.0).acos().to_degrees() - start;
     assert!(reached > limit - 5.0 && reached <= limit, "stopped at {reached}°, the limit is {limit}°");
@@ -413,7 +413,7 @@ fn four_bar_rocker_stops_where_the_loop_cannot_close() {
     let (mut s, _, _) = four_bar();
     let r = run(&mut s, "joint.drive", json!({"joint": "Rocker", "value": 360}));
     assert!(r["stopped_by_loop"].is_object(), "{r}");
-    assert!(r["values"][0].as_f64().unwrap_or(f64::NAN).to_degrees() <= limit, "{r}");
+    assert!(r["values"][0]["value"].as_f64().unwrap_or(f64::NAN) <= limit, "{r}");
 }
 
 /// A loop value a motion link sets follows through the start of its link chain: a dial outside
@@ -550,7 +550,7 @@ fn a_locked_loop_does_not_move() {
     run(&mut s, "joint.as_built", json!({"type": "rigid", "a": "Ground", "b": "Rocker", "name": "Lock"}));
     let r = run(&mut s, "joint.drive", json!({"joint": "Crank", "value": 360}));
     assert!(r["stopped_by_loop"].is_object(), "{r}");
-    assert!(r["values"][0].as_f64().unwrap_or(f64::NAN).abs() < 1e-3, "{r}");
+    assert!(r["values"][0]["value"].as_f64().unwrap_or(f64::NAN).to_radians().abs() < 1e-3, "{r}");
 }
 
 /// A link that turns the rocker 100 times as far as its dial: a small turn of the dial is a full
@@ -576,7 +576,7 @@ fn a_full_turn_stops_from_a_suppressed_dial_or_a_missing_value() {
     run(&mut s, "joint.motion_link", json!({"a": "Dial", "b": "Rocker", "ratio": 0.5}));
     run(&mut s, "joint.edit", json!({"joint": "Dial", "suppressed": true}));
     let r = run(&mut s, "joint.drive", json!({"joint": "Dial", "value": 720}));
-    assert!(r["stopped_by_loop"].is_object(), "{r}");
+    assert!(r["stopped_by_loop"].is_object() && r["moved"] == true && r.get("reason").is_none(), "{r}");
     // Undriven, the suppressed dial still follows the rocker when the crank turns.
     run(&mut s, "joint.drive", json!({"joint": "Dial", "value": 0}));
     let r = run(&mut s, "joint.drive", json!({"joint": "Crank", "value": 60}));
@@ -955,3 +955,86 @@ fn a_link_chain_stored_backwards_drives_a_loop() {
         assert!(near(place(&s, "Rocker", q0), rocker_pin(0.0, v, q0)), "{v}: {:?}", place(&s, "Rocker", q0));
     }
 }
+
+/// A turret on a pedestal joined to nothing grounded (Rover v7's turret): the solver places
+/// neither, so driving the turret moves nothing. The drive, a motion study and joint.list say
+/// so, naming the pedestal, instead of answering as if it worked.
+#[test]
+fn a_turret_on_a_floating_pedestal_says_it_moves_nothing() {
+    let mut s = Session::default();
+    for (name, corner) in [("Chassis", [0.0, 0.0, 0.0]), ("Arm", [10.0, 0.0, 0.0]), ("Pedestal", [50.0, 0.0, 0.0]), ("Turret", [50.0, 0.0, 2.0])] {
+        part(&mut s, name, corner);
+    }
+    let g = occ(&s, "Chassis");
+    run(&mut s, "occurrence.ground", json!({"occurrence": g, "grounded": true}));
+    pin(&mut s, "revolute", "Shoulder", "Chassis", "Arm", Vec3::new(10.0, 1.0, 1.0), Vec3::Y);
+    pin(&mut s, "revolute", "Azimuth", "Pedestal", "Turret", Vec3::new(51.0, 1.0, 2.0), Vec3::Z);
+    let corner = Vec3::new(52.0, 0.0, 2.0);
+    let start = place(&s, "Turret", corner);
+    let r = run(&mut s, "joint.drive", json!({"joint": "Azimuth", "value": 30, "quiet": true}));
+    assert_eq!((&r["moved"], &r["unconnected"]), (&json!(false), &json!("Pedestal:1")), "{r}");
+    assert!(r["reason"].as_str().is_some_and(|w| w.starts_with("Pedestal:1 is not connected to anything grounded")), "{r}");
+    assert!(r.get("dof").is_none() && r.get("fixed").is_none(), "quiet: {r}");
+    // The value is set and answered in degrees, as asked; the turret stays where it was.
+    assert!((r["values"][0]["value"].as_f64().unwrap_or(f64::NAN) - 30.0).abs() < 1e-9 && r["values"][0]["unit"] == "deg", "{r}");
+    assert!(near(place(&s, "Turret", corner), start));
+    let l = run(&mut s, "joint.list", json!({}));
+    assert_eq!(l["floating"], json!([{"occurrences": ["Pedestal:1", "Turret:1"], "joints": ["Azimuth"]}]), "{l}");
+    // A study keying both joints moves the arm and says the turret can't move.
+    let keys = json!([{"joint": "Azimuth", "points": [[0, 0], [10, 90]]}, {"joint": "Shoulder", "points": [[0, 0], [10, 45]]}]);
+    run(&mut s, "motion.study", json!({"name": "Scan", "steps": 10, "keys": keys}));
+    let r = run(&mut s, "motion.play", json!({"study": "Scan", "step": 10, "quiet": true}));
+    assert_eq!(r["moved"], true, "{r}");
+    let unmoved = r["unmoved"].as_array().cloned().unwrap_or_default();
+    assert!(unmoved.len() == 1 && unmoved[0]["name"] == "Azimuth" && unmoved[0]["reason"].as_str().is_some_and(|w| w.contains("Pedestal:1")), "{r}");
+    // Quiet: only the arm, which moved, has its pose in the answer.
+    assert_eq!(r["positions"].as_array().map(|p| p.iter().map(|x| x["occurrence"].clone()).collect::<Vec<_>>()), Some(vec![json!("Arm:1")]), "{r}");
+    // Fixed to the chassis, the pedestal is placed and the turret turns.
+    run(&mut s, "joint.as_built", json!({"type": "rigid", "a": "Chassis", "b": "Pedestal", "name": "Mount"}));
+    let r = run(&mut s, "joint.drive", json!({"joint": "Azimuth", "value": 60}));
+    assert!(r["moved"] == true && r.get("reason").is_none() && r.get("unconnected").is_none() && r["dof"].is_array(), "{r}");
+    assert!(!near(place(&s, "Turret", corner), start));
+    assert_eq!(run(&mut s, "joint.list", json!({}))["floating"], json!([]));
+}
+
+/// `quiet: true` leaves the per-occurrence lists out of joint answers, and `moved` says whether
+/// a drive moved anything: driving a joint to where it is moves nothing, with no reason given.
+#[test]
+fn quiet_joint_answers_and_a_drive_to_where_it_is() {
+    let mut s = two_cubes();
+    let r =
+        run(&mut s, "joint.create", json!({"type": "slider", "a": {"face": [5, 5, 10]}, "b": {"face": [25, 5, 0]}, "name": "Rail", "quiet": true}));
+    assert!(r.get("dof").is_none() && r.get("fixed").is_none() && r["conflicts"].is_array(), "{r}");
+    let r = run(&mut s, "joint.drive", json!({"joint": "Rail", "value": 5, "quiet": true}));
+    assert!(r.get("dof").is_none() && r["moved"] == true, "{r}");
+    let r = run(&mut s, "joint.drive", json!({"joint": "Rail", "value": 5}));
+    assert!(r["dof"].is_array() && r["moved"] == false && r.get("reason").is_none(), "{r}");
+    // A suppressed joint with no motion link moves nothing, and says why.
+    run(&mut s, "joint.edit", json!({"joint": "Rail", "suppressed": true}));
+    let r = run(&mut s, "joint.drive", json!({"joint": "Rail", "value": 8}));
+    assert!(r["moved"] == false && r["reason"] == "Rail is suppressed" && r.get("unconnected").is_none(), "{r}");
+}
+
+/// An as-built joint takes a name and limits like any other joint.
+#[test]
+fn as_built_takes_a_name_and_limits() {
+    let mut s = two_cubes();
+    let r = run(&mut s, "joint.as_built", json!({"type": "slider", "a": "A", "b": "B", "name": "Rail", "limits": [[0, 5]]}));
+    assert_eq!(r["name"], "Rail", "{r}");
+    let r = run(&mut s, "joint.drive", json!({"joint": "Rail", "value": 20}));
+    assert_eq!((&r["values"][0]["value"], &r["values"][0]["limits"]), (&json!(5.0), &json!([0.0, 5.0])), "{r}");
+    assert!(near(place(&s, "B", Vec3::new(20.0, 0.0, 0.0)), Vec3::new(20.0, 0.0, 5.0)), "{:?}", place(&s, "B", Vec3::new(20.0, 0.0, 0.0)));
+}
+
+/// `value` drives a joint's first value only: the others keep theirs, as with a shorter `values`.
+#[test]
+fn a_single_value_keeps_the_joints_other_values() {
+    let mut s = two_cubes();
+    run(&mut s, "joint.as_built", json!({"type": "cylindrical", "a": "A", "b": "B", "name": "Spindle"}));
+    run(&mut s, "joint.drive", json!({"joint": "Spindle", "values": [30, 5]}));
+    let at = |r: &Value| [0, 1].map(|i| r["values"][i]["value"].as_f64().unwrap_or(f64::NAN));
+    let r = run(&mut s, "joint.drive", json!({"joint": "Spindle", "value": 45}));
+    assert!((at(&r)[0] - 45.0).abs() < 1e-9 && (at(&r)[1] - 5.0).abs() < 1e-9, "{r}");
+    let r = run(&mut s, "joint.drive", json!({"joint": "Spindle", "values": [60]}));
+    assert!((at(&r)[0] - 60.0).abs() < 1e-9 && (at(&r)[1] - 5.0).abs() < 1e-9, "{r}");
+}
diff --git a/crates/engine/src/cmd/motion.rs b/crates/engine/src/cmd/motion.rs
index 6865a562..de82075e 100644
--- a/crates/engine/src/cmd/motion.rs
+++ b/crates/engine/src/cmd/motion.rs
@@ -10,7 +10,7 @@ use solidcraft_geom::Vec3;
 use solidcraft_kernel::Body;
 
 use super::CommandSpec;
-use super::joints::{joint_id, occurrence_id, resolve_holding, value};
+use super::joints::{cannot_move, joint_id, named_values, occurrence_id, resolve_holding, value};
 use crate::params::{bad, bool_, str_, vec3};
 use crate::{EngineError, Result, Session};
 
@@ -37,8 +37,12 @@ pub static COMMANDS: &[CommandSpec] = &[
         "name?; study? (edit an existing one); steps? (timeline length, default 100); keys: [{joint, index?, points: [[step, value], …]}] \
          (values: degrees for angles, mm for distances, or expressions)",
     ),
-    CommandSpec::new("motion.play", "Play Motion Study", play)
-        .params("study: id|name; step (0…steps) — sets the joints to the study's values there (contact sets stop them) → positions"),
+    CommandSpec::new("motion.play", "Play Motion Study", play).params(
+        "study: id|name; step (0…steps) — sets the joints to the study's values there (contact sets stop them); quiet?: bool \
+         (positions of only the occurrences that moved) → values: [{joint, values: [{name, value, unit}]}], positions, moved: whether \
+         any occurrence moved, unmoved: [{joint, name, reason}] (keyed joints that can move nothing, such as a chain joined to \
+         nothing grounded)",
+    ),
     CommandSpec::new("motion.export", "Export Motion Study", export)
         .noundo()
         .params("study; samples? (default steps + 1); path? (.json or .csv) → occurrence positions per step (the design is not changed)"),
@@ -258,8 +262,9 @@ fn closest(p: Vec3, a: Vec3, b: Vec3, c: Vec3) -> Vec3 {
 
 /// Set joint values, stopping short where contact sets would collide or a closed loop could no
 /// longer close: the values are moved from where they are toward `want` as far as they go. The
-/// `given` values (joint, index) are driven; in a closed loop the others follow.
-fn drive_with_contact(s: &mut Session, want: &[(u64, Vec<f64>)], given: &BTreeSet<(u64, usize)>) -> Result<Value> {
+/// `given` values (joint, index) are driven; in a closed loop the others follow. Returns the
+/// answer and the last solve.
+fn drive_with_contact(s: &mut Session, want: &[(u64, Vec<f64>)], given: &BTreeSet<(u64, usize)>) -> Result<(Value, joints::Solution)> {
     let baseline = s.doc.clone();
     let start: Vec<(u64, Vec<f64>)> =
         want.iter().map(|(id, _)| (*id, s.doc.assembly.joints.iter().find(|j| j.id == *id).map(|j| j.values.clone()).unwrap_or_default())).collect();
@@ -347,15 +352,16 @@ fn drive_with_contact(s: &mut Session, want: &[(u64, Vec<f64>)], given: &BTreeSe
     }
     let values: Vec<Value> = want
         .iter()
-        .map(|(id, _)| json!({"joint": id, "values": s.doc.assembly.joints.iter().find(|j| j.id == *id).map(|j| j.values.clone())}))
+        .map(|(id, _)| json!({"joint": id, "values": s.doc.assembly.joints.iter().find(|j| j.id == *id).map(|j| named_values(j, &j.values))}))
         .collect();
-    Ok(json!({"values": values, "stopped_by_contact": stopped, "stopped_by_loop": stopped_by_loop, "conflicts": sol.conflicts.len()}))
+    let out = json!({"values": values, "stopped_by_contact": stopped, "stopped_by_loop": stopped_by_loop, "conflicts": sol.conflicts.len()});
+    Ok((out, sol))
 }
 
 /// Drive one joint (joint.drive), honouring contact sets.
 pub fn drive_joint(s: &mut Session, id: u64, q: Vec<f64>, given: usize) -> Result<Value> {
     let given = (0..given.min(q.len())).map(|i| (id, i)).collect();
-    drive_with_contact(s, &[(id, q)], &given)
+    Ok(drive_with_contact(s, &[(id, q)], &given)?.0)
 }
 
 fn enable_sets(s: &mut Session, p: &Value) -> Result<Value> {
@@ -556,10 +562,16 @@ fn keyed(m: &MotionStudy) -> BTreeSet<(u64, usize)> {
 }
 
 /// Where each occurrence is: (name, world transform).
-fn positions(s: &Session) -> Vec<(String, Mat)> {
+pub(super) fn positions(s: &Session) -> Vec<(String, Mat)> {
     s.doc.occurrences.iter().map(|o| (o.name.clone(), joints::occurrence_world(&s.doc, o.id))).collect()
 }
 
+/// The occurrences placed differently `after` than `before` ([`positions`] of one design, so in
+/// the same order even where two share a name).
+pub(super) fn moved<'a>(before: &'a [(String, Mat)], after: &'a [(String, Mat)]) -> impl Iterator<Item = &'a (String, Mat)> {
+    after.iter().zip(before).filter(|((_, a), (_, b))| a.iter().flatten().zip(b.iter().flatten()).any(|(x, y)| (x - y).abs() > 1e-9)).map(|(a, _)| a)
+}
+
 fn pose_json(m: &Mat) -> Value {
     json!({"origin": [m[3][0], m[3][1], m[3][2]], "x": [m[0][0], m[0][1], m[0][2]], "y": [m[1][0], m[1][1], m[1][2]], "z": [m[2][0], m[2][1], m[2][2]]})
 }
@@ -570,8 +582,22 @@ fn play(s: &mut Session, p: &Value) -> Result<Value> {
     let m = s.doc.assembly.studies.get(i).cloned().ok_or_else(|| bad(cmd, "study"))?;
     let step = p.get("step").and_then(Value::as_f64).filter(|x| x.is_finite()).ok_or_else(|| bad(cmd, "`step` must be a number"))?;
     let want = values_at(s, &m, step.clamp(0.0, f64::from(m.steps)));
-    let mut out = drive_with_contact(s, &want, &keyed(&m))?;
-    out["positions"] = positions(s).iter().map(|(n, t)| json!({"occurrence": n, "pose": pose_json(t)})).collect();
+    let before = positions(s);
+    let (mut out, sol) = drive_with_contact(s, &want, &keyed(&m))?;
+    let after = positions(s);
+    let moved: Vec<&(String, Mat)> = moved(&before, &after).collect();
+    out["moved"] = json!(!moved.is_empty());
+    let shown: Vec<&(String, Mat)> = if bool_(p, "quiet").unwrap_or(false) { moved } else { after.iter().collect() };
+    out["positions"] = shown.iter().map(|(n, t)| json!({"occurrence": n, "pose": pose_json(t)})).collect();
+    let joints: BTreeSet<u64> = m.keys.iter().map(|k| k.joint).collect();
+    out["unmoved"] = joints
+        .iter()
+        .filter_map(|id| {
+            let (why, _) = cannot_move(s, &sol, *id)?;
+            let name = s.doc.assembly.joints.iter().find(|j| j.id == *id).map(|j| j.name.clone());
+            Some(json!({"joint": id, "name": name, "reason": why}))
+        })
+        .collect();
     Ok(out)
 }
 
@@ -589,7 +615,7 @@ fn export(s: &mut Session, p: &Value) -> Result<Value> {
     for k in 0..samples {
         let step = f64::from(m.steps) * k as f64 / (samples - 1) as f64;
         let want = values_at(&t, &m, step);
-        let r = drive_with_contact(&mut t, &want, &keyed(&m))?;
+        let (r, _) = drive_with_contact(&mut t, &want, &keyed(&m))?;
         rows.push(json!({
             "step": step,
             "stopped_by_contact": r["stopped_by_contact"],
diff --git a/crates/ui-egui/src/dialogs.rs b/crates/ui-egui/src/dialogs.rs
index d9665f2b..c42d44ff 100644
--- a/crates/ui-egui/src/dialogs.rs
+++ b/crates/ui-egui/src/dialogs.rs
@@ -3181,7 +3181,7 @@ pub(crate) fn run_dialog(app: &mut SolveApp, d: &Dialog) -> Result<(), String> {
             Ok(reply) => {
                 // A drive that stopped short says where, and why.
                 if cmd == "joint.drive"
-                    && let Some(why) = crate::dialogs_assembly::drive_stop(&app.session, &reply)
+                    && let Some(why) = crate::dialogs_assembly::drive_stop(&reply)
                 {
                     app.set_status(why, false);
                 }
diff --git a/crates/ui-egui/src/dialogs_assembly.rs b/crates/ui-egui/src/dialogs_assembly.rs
index 60fbf3a3..2504a0c0 100644
--- a/crates/ui-egui/src/dialogs_assembly.rs
+++ b/crates/ui-egui/src/dialogs_assembly.rs
@@ -550,7 +550,7 @@ pub fn rows(app: &mut SolveApp, ui: &mut egui::Ui, k: &mut Asm, inputs: &mut [Se
             }
             // The preview drove the joint: where it stopped short, and why (a closed loop or a
             // contact set), so the values asked for are not taken for where it is.
-            if let Some(why) = app.preview.stopped.as_ref().and_then(|r| drive_stop(&app.session, r)) {
+            if let Some(why) = app.preview.stopped.as_ref().and_then(drive_stop) {
                 row_label(ui, "");
                 ui.label(RichText::new(why).color(t.warning));
                 ui.end_row();
@@ -844,7 +844,9 @@ pub fn world_preview(s: &Session, cmds: &[(String, Value)], colors: Colors) -> O
     let stopped = cmds
         .iter()
         .zip(&preview.replies)
-        .find(|((c, _), r)| c == "joint.drive" && (r["stopped_by_loop"].is_object() || r["stopped_by_contact"].is_object()))
+        .find(|((c, _), r)| {
+            c == "joint.drive" && (r["stopped_by_loop"].is_object() || r["stopped_by_contact"].is_object() || r["unconnected"].is_string())
+        })
         .map(|(_, r)| r.clone());
     let (before, after) = (preview.before, preview.after);
     // A moved component looks like itself (no new surface), with its old place as the ghost.
@@ -861,18 +863,20 @@ pub fn world_preview(s: &Session, cmds: &[(String, Value)], colors: Colors) -> O
 }
 
 /// What a drive that stopped short of the asked values says: where the joint got to and why
-/// (`None`: it went all the way). `reply` is `joint.drive`'s result.
-pub fn drive_stop(s: &Session, reply: &Value) -> Option<String> {
-    let id = reply.get("joint").and_then(Value::as_u64)?;
-    let j = s.doc.assembly.joints.iter().find(|j| j.id == id)?;
+/// (`None`: it went all the way). `reply` is `joint.drive`'s result. A drive whose joint is
+/// joined to nothing grounded moves nothing, and says which part that is.
+pub fn drive_stop(reply: &Value) -> Option<String> {
+    if let Some(part) = reply.get("unconnected").and_then(Value::as_str) {
+        return Some(crate::i18n::format("drive.unconnected", &[("part", part)]));
+    }
+    // The values come as joint.list gives them: degrees and millimetres.
     let at: Vec<String> = reply
         .get("values")
         .and_then(Value::as_array)
         .into_iter()
         .flatten()
-        .enumerate()
-        .filter_map(|(i, v)| v.as_f64().map(|v| (i, v)))
-        .map(|(i, v)| if j.kind.is_angle(i) { num((v.to_degrees() * 10.0).round() / 10.0, "deg") } else { num((v * 100.0).round() / 100.0, "mm") })
+        .filter_map(|v| Some((v.get("value")?.as_f64()?, v.get("unit")?.as_str()?)))
+        .map(|(v, unit)| if unit == "deg" { num((v * 10.0).round() / 10.0, "deg") } else { num((v * 100.0).round() / 100.0, "mm") })
         .collect();
     let at = at.join(", ");
     let name = |v: &Value| v.as_str().unwrap_or_default().to_string();
diff --git a/crates/ui-egui/src/dialogs_assembly_tests.rs b/crates/ui-egui/src/dialogs_assembly_tests.rs
index 2a27c25f..e61981ba 100644
--- a/crates/ui-egui/src/dialogs_assembly_tests.rs
+++ b/crates/ui-egui/src/dialogs_assembly_tests.rs
@@ -415,7 +415,7 @@ fn drive_says_where_a_loop_stopped_it() {
     // Past its toggle position (about +50.4° from where it stands).
     ask(&mut d, "100 deg");
     let b = world_preview(&app.session, &apply_commands(&app, &d).unwrap(), colors).unwrap().unwrap();
-    let why = b.stopped.as_ref().and_then(|r| drive_stop(&app.session, r)).unwrap();
+    let why = b.stopped.as_ref().and_then(drive_stop).unwrap();
     assert!(why.starts_with("Stopped at 50.") && why.contains("can't close any further"), "{why}");
     // OK drives it there and says so.
     crate::dialogs::run_dialog(&mut app, &d).unwrap();
@@ -431,6 +431,32 @@ fn drive_says_which_parts_a_contact_set_stopped() {
     app.run("joint.create", json!({"type": "slider", "a": at("A"), "b": at("B"), "flip": true, "name": "Rail"})).unwrap();
     app.run("contact.create", json!({"occurrences": ["A:1", "B:1"]})).unwrap();
     let r = app.run("joint.drive", json!({"joint": "Rail", "value": -20})).unwrap();
-    let why = drive_stop(&app.session, &r).unwrap();
+    let why = drive_stop(&r).unwrap();
     assert!(why.starts_with("Stopped at -1") && why.contains("A:1") && why.contains("B:1") && why.contains("would pass through"), "{why}");
 }
+
+/// A drive whose joint is joined to nothing grounded moves nothing: the preview row and the
+/// status line name the part that floats.
+#[test]
+fn drive_says_when_its_joint_is_joined_to_nothing_grounded() {
+    let mut app = two_boxes();
+    for (name, x) in [("C", 100), ("D", 130)] {
+        app.run("component.activate", json!({"component": "root"})).unwrap();
+        app.run("component.create", json!({ "name": name })).unwrap();
+        app.run("solid.box", json!({"length": 20, "width": 20, "height": 10, "corner": [x, 0, 0]})).unwrap();
+    }
+    let at = |o: &str, x: f64| json!({"occurrence": o, "point": [x, 10, 5], "z": [1, 0, 0]});
+    app.run("joint.create", json!({"type": "slider", "a": at("A", 30.0), "b": at("B", 30.0), "flip": true, "name": "Rail"})).unwrap();
+    app.run("joint.create", json!({"type": "revolute", "a": at("C", 130.0), "b": at("D", 130.0), "flip": true, "name": "Turn"})).unwrap();
+    let turn = app.session.doc.assembly.joints.iter().find(|j| j.name == "Turn").unwrap().id;
+    let mut d = drive_joint(&app, turn).unwrap();
+    if let Kind::Assembly(Asm::Drive { values, .. }) = &mut d.kind {
+        values[0] = "45 deg".into();
+    }
+    let colors = crate::preview::Colors { body: [1, 1, 1, 255], added: [2, 2, 2, 255], removed: [3, 3, 3, 100], edge: [0, 0, 0, 255] };
+    let b = world_preview(&app.session, &apply_commands(&app, &d).unwrap(), colors).unwrap().unwrap();
+    let why = b.stopped.as_ref().and_then(drive_stop).unwrap();
+    assert!(why.starts_with("Moves nothing") && why.contains("C:1"), "{why}");
+    crate::dialogs::run_dialog(&mut app, &d).unwrap();
+    assert_eq!(app.status.clone().map(|(status, _, error)| (status, error)), Some((why, false)));
+}
diff --git a/docs/book/src/guide/assemblies.md b/docs/book/src/guide/assemblies.md
index 5bd6ae8f..2c7d93a9 100644
--- a/docs/book/src/guide/assemblies.md
+++ b/docs/book/src/guide/assemblies.md
@@ -41,6 +41,21 @@ why. While it previews, a row under the values gives the value the joint reached
 (the loop that can't close further, or the two parts a contact set keeps apart), and after OK the
 status line repeats it. The value box keeps what you typed.
 
+The solver places what it reaches from the root and from grounded components. A chain of joints
+that is joined to nothing grounded is never placed, so driving one of its joints moves nothing.
+The drive says so: `joint.drive` answers `moved: false` with a `reason` and the `unconnected`
+part ("Pedestal:1 is not connected to anything grounded"), the Drive Joints dialog shows the same
+row, `motion.play` lists such joints under `unmoved`, and `joint.list` names every such chain under
+`floating`. Ground a part of the chain, or join it to a grounded part (a rigid as-built joint keeps
+it where it is), and it moves.
+
+`joint.drive` answers the joint's values as `joint.list` gives them, in degrees and millimetres
+with their units and limits, and `moved` says whether any part moved. A joint's origins are mated
+by default: B's z axis is turned against A's, as two faces meet. `flip: true` lines them up
+instead, so two origins given at one point with the same z stay as they are. For scripts that
+drive many steps, `quiet: true` leaves the per-part degrees of freedom out of joint answers, and
+`motion.play` with `quiet: true` gives the poses of only the parts that moved.
+
 **Insert Design** (`component.insert_design {path, translate?}`) adds a component linked to
 another saved design, so each part can live in its own document. The part's solid bodies come
 in as they sit in that design, and they are kept in the assembly, so it opens even without the