Fix figure IK snapping and gate the library on a fail-hard motion checker

Three solver defects made limbs teleport, twist, or windmill: write-back
angles wrapped at ±180 and lerped the long way around; branch flips landed
on configurations the anatomical write-back cannot represent, silently
pulling pinned extremities off their pins; and the degenerate straight-limb
bend plane fell back to the camera axis instead of the anatomical anterior.
solve_limb now verifies each branch reproduces the solved end before
accepting it, resolve unwraps written-back angles toward the pose they
replace, and the degenerate plane comes from the parent's anterior axis.

render.py --check replays every exercise's full tween loop and fails hard
on six invariants (pin fidelity, continuity, wraps, authored-vs-resolved
drift, ground penetration, resolved ROM); --export refuses to ship a
failing exercise. All 66 motions re-authored or retouched to pass: honest
authored angles where pins used to override them silently, grounded feet
on the seated machines, a vertical bench-press bar path, straight-armed
child's pose, a butterfly stretch seated on the mat, and FK arms where
pins forced impossible reaches. MotionSolver.swift mirrors the solver
changes line for line, held by regenerated fixtures.

Claude-Session: https://claude.ai/code/session_01PKptrgbx74peTwHGRxBojv

Exercise Library/Bench Press/visual.svg

@@ -11,8 +11,8 @@
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   <path d="M 144.0 129.0 L 144.0 150.0" stroke="#c5cad4" stroke-width="4" stroke-linecap="round" stroke-linejoin="round"/>
   <g id="arm_l">
-    <path d="M 70.9 116.1 L 97.4 129.9" stroke="#86cfc5" stroke-width="5" stroke-linecap="round"/>
-    <path d="M 97.4 129.9 L 97.0 100.3" stroke="#86cfc5" stroke-width="5" stroke-linecap="round"/>
+    <path d="M 70.9 116.1 L 100.9 116.2" stroke="#86cfc5" stroke-width="5" stroke-linecap="round"/>
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@@ -28,12 +28,12 @@
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   </g>
   <g id="arm_r">
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-    <path d="M 91.6 131.7 L 93.0 102.2" stroke="#0d9488" stroke-width="6" stroke-linecap="round"/>
+    <path d="M 65.0 117.9 L 94.9 120.4" stroke="#0d9488" stroke-width="6" stroke-linecap="round"/>
+    <path d="M 94.9 120.4 L 73.0 100.2" stroke="#0d9488" stroke-width="6" stroke-linecap="round"/>
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