There seems to be a lot of potential in the subject matter here, though I have a little difficulty connecting the "gypsy" of the title to the poem itself - not because I'm dense (which is always a possibility) but because I think it needs to be strengthened. Besides that, here are my other thoughts, which you can take or leave as you wish:
1. "ursan" is an odd choice of word. Did you intend "ursine", or was this purposeful?
2. "origami folds" is interesting but seems out of character for the subject matter of the poem, even with the "paper thin" and "sides of the fold" references that it matches up with. As that descriptive metaphor seems to fade after the seventh line, I'd either seek a more fitting metaphor or expand this one (because it IS interesting) to encompass the whole poem. Perhaps even unfold the origami as you unfold the poem.
3. the dance metaphor has the most obvious potential (and perhaps connects to "gypsy") but again feels like it could be more fully developed, maybe finding a way to make it "dance" with the afformentioned origami metaphor. Or better yet: focus on one or the other but not both.
4. Following on the dance metaphor, strategic use of dactyls within the cadence of the poem might be effective, especially with the waltz reference (at least if you're still playing with vocabulary choices).
5. Personally, I'd favor dropping the comma at the end of the second to the last line.
6. I can't seem to formulate my thoughts today except in list fashion. Weird, huh?