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
This commit is contained in:
@@ -1,27 +1,27 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 320 180" fill="none">
|
||||
<title>Lunge</title>
|
||||
<defs>
|
||||
<linearGradient id="grad-leg_l-0" gradientUnits="userSpaceOnUse" x1="164.1" y1="93.7" x2="149.2" y2="121.8"><stop offset="0" stop-color="#32a69b"/><stop offset="1" stop-color="#86cfc5"/></linearGradient>
|
||||
<linearGradient id="grad-leg_l-0" gradientUnits="userSpaceOnUse" x1="164.1" y1="93.7" x2="158.5" y2="125.0"><stop offset="0" stop-color="#34a79c"/><stop offset="1" stop-color="#86cfc5"/></linearGradient>
|
||||
<linearGradient id="grad-leg_r-1" gradientUnits="userSpaceOnUse" x1="173.3" y1="122.9" x2="184.1" y2="148.4"><stop offset="0" stop-color="#0d9488"/><stop offset="1" stop-color="#32a69b"/></linearGradient>
|
||||
<linearGradient id="grad-leg_r-2" gradientUnits="userSpaceOnUse" x1="184.1" y1="148.4" x2="191.0" y2="144.8"><stop offset="0" stop-color="#32a69b"/><stop offset="1" stop-color="#25a094"/></linearGradient>
|
||||
<linearGradient id="grad-arm_l-0" gradientUnits="userSpaceOnUse" x1="170.4" y1="35.0" x2="170.0" y2="55.6"><stop offset="0" stop-color="#a2a8b3"/><stop offset="1" stop-color="#a9afba"/></linearGradient>
|
||||
<linearGradient id="grad-leg_r-1" gradientUnits="userSpaceOnUse" x1="173.6" y1="122.8" x2="184.7" y2="148.1"><stop offset="0" stop-color="#0d9488"/><stop offset="1" stop-color="#2fa599"/></linearGradient>
|
||||
<linearGradient id="grad-leg_r-2" gradientUnits="userSpaceOnUse" x1="184.7" y1="148.1" x2="191.5" y2="144.5"><stop offset="0" stop-color="#2fa599"/><stop offset="1" stop-color="#229e93"/></linearGradient>
|
||||
<linearGradient id="grad-arm_r-1" gradientUnits="userSpaceOnUse" x1="165.9" y1="56.9" x2="168.4" y2="77.5"><stop offset="0" stop-color="#3a3f4b"/><stop offset="1" stop-color="#414652"/></linearGradient>
|
||||
</defs>
|
||||
<path d="M 120.3 157.5 L 201.3 157.5 L 201.3 150.2 L 120.3 150.2 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
|
||||
<path d="M 120.8 157.5 L 200.6 157.5 L 200.6 150.2 L 120.8 150.2 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
|
||||
<g id="leg_l">
|
||||
<path d="M 164.1 93.7 L 149.2 121.8" stroke="url(#grad-leg_l-0)" stroke-width="3.74366" stroke-linecap="round"/>
|
||||
<path d="M 149.2 121.8 L 135.4 145.8" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
<path d="M 135.4 145.8 L 141.2 150.8" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
<path d="M 164.1 93.7 L 158.5 125.0" stroke="url(#grad-leg_l-0)" stroke-width="3.73766" stroke-linecap="round"/>
|
||||
<path d="M 158.5 125.0 L 135.5 140.6" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
<path d="M 135.5 140.6 L 138.5 147.6" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
</g>
|
||||
<g id="leg_r">
|
||||
<path d="M 160.0 94.1 L 173.3 122.9" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 173.3 122.9 L 184.1 148.4" stroke="url(#grad-leg_r-1)" stroke-width="4.09225" stroke-linecap="round"/>
|
||||
<path d="M 184.1 148.4 L 191.0 144.8" stroke="url(#grad-leg_r-2)" stroke-width="4.0221" stroke-linecap="round"/>
|
||||
</g>
|
||||
<g id="arm_l">
|
||||
<path d="M 170.4 35.0 L 170.0 55.6" stroke="url(#grad-arm_l-0)" stroke-width="3.52323" stroke-linecap="round"/>
|
||||
<path d="M 170.0 55.6 L 172.5 76.2" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
|
||||
</g>
|
||||
<g id="leg_r">
|
||||
<path d="M 160.0 94.1 L 173.6 122.8" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 173.6 122.8 L 184.7 148.1" stroke="url(#grad-leg_r-1)" stroke-width="4.10096" stroke-linecap="round"/>
|
||||
<path d="M 184.7 148.1 L 191.5 144.5" stroke="url(#grad-leg_r-2)" stroke-width="4.04026" stroke-linecap="round"/>
|
||||
</g>
|
||||
<path id="girdle" d="M 170.4 35.0 L 166.2 34.9 L 166.2 36.3" stroke="#3a3f4b" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
<path id="pelvisBar" d="M 164.1 93.7 L 160.0 93.2 L 160.0 94.1" stroke="#3a3f4b" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
<path id="spine" d="M 160.0 93.2 Q 163.2 63.4 166.2 34.9" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
|
||||
|
Before Width: | Height: | Size: 3.5 KiB After Width: | Height: | Size: 3.5 KiB |
@@ -1,24 +1,24 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 320 180" fill="none">
|
||||
<title>Lunge</title>
|
||||
<defs>
|
||||
<linearGradient id="grad-leg_l-0" gradientUnits="userSpaceOnUse" x1="164.1" y1="120.3" x2="162.4" y2="152.0"><stop offset="0" stop-color="#69c1b6"/><stop offset="1" stop-color="#86cfc5"/></linearGradient>
|
||||
<linearGradient id="grad-leg_l-0" gradientUnits="userSpaceOnUse" x1="164.1" y1="120.3" x2="162.8" y2="152.0"><stop offset="0" stop-color="#6ac2b7"/><stop offset="1" stop-color="#86cfc5"/></linearGradient>
|
||||
<linearGradient id="grad-arm_l-0" gradientUnits="userSpaceOnUse" x1="172.4" y1="61.8" x2="171.3" y2="82.5"><stop offset="0" stop-color="#a2a8b3"/><stop offset="1" stop-color="#a9afba"/></linearGradient>
|
||||
<linearGradient id="grad-arm_r-1" gradientUnits="userSpaceOnUse" x1="167.2" y1="83.8" x2="169.0" y2="104.4"><stop offset="0" stop-color="#3a3f4b"/><stop offset="1" stop-color="#414652"/></linearGradient>
|
||||
</defs>
|
||||
<path d="M 120.3 157.9 L 201.3 157.9 L 201.3 150.6 L 120.3 150.6 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
|
||||
<path d="M 120.8 157.9 L 200.6 157.9 L 200.6 150.6 L 120.8 150.6 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
|
||||
<g id="leg_l">
|
||||
<path d="M 164.1 120.3 L 162.4 152.0" stroke="url(#grad-leg_l-0)" stroke-width="3.58343" stroke-linecap="round"/>
|
||||
<path d="M 162.4 152.0 L 134.8 147.2" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
<path d="M 134.8 147.2 L 128.7 151.9" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
<path d="M 164.1 120.3 L 162.8 152.0" stroke="url(#grad-leg_l-0)" stroke-width="3.57986" stroke-linecap="round"/>
|
||||
<path d="M 162.8 152.0 L 135.5 145.9" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
<path d="M 135.5 145.9 L 129.2 150.2" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
</g>
|
||||
<g id="arm_l">
|
||||
<path d="M 172.4 61.8 L 171.3 82.5" stroke="url(#grad-arm_l-0)" stroke-width="3.52329" stroke-linecap="round"/>
|
||||
<path d="M 171.3 82.5 L 173.1 103.1" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
|
||||
</g>
|
||||
<g id="leg_r">
|
||||
<path d="M 160.0 120.7 L 192.1 122.9" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 192.1 122.9 L 185.2 149.6" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 185.2 149.6 L 192.9 149.5" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 160.0 120.7 L 192.1 123.1" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 192.1 123.1 L 184.5 149.6" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 184.5 149.6 L 192.2 149.7" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
</g>
|
||||
<path id="girdle" d="M 172.4 61.8 L 168.3 61.8 L 168.3 63.1" stroke="#3a3f4b" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
<path id="pelvisBar" d="M 164.1 120.3 L 160.0 119.8 L 160.0 120.7" stroke="#3a3f4b" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
|
||||
|
Before Width: | Height: | Size: 3.0 KiB After Width: | Height: | Size: 3.0 KiB |
@@ -13,7 +13,7 @@
|
||||
"shoulder_l": 5, "elbow_l": 8,
|
||||
"hip_r": 25, "knee_r": 10, "ankle_r": 5,
|
||||
"hip_l": -25, "knee_l": 10, "ankle_l": -12,
|
||||
"pins": {"foot_r": [196, 148], "foot_l": [124, 147]}
|
||||
"pins": {"foot_r": [195, 148], "foot_l": [125, 138]}
|
||||
},
|
||||
{
|
||||
"hold": 0.4, "tween": 1.0,
|
||||
@@ -24,7 +24,7 @@
|
||||
"shoulder_l": 5, "elbow_l": 8,
|
||||
"hip_r": 80, "knee_r": 95, "ankle_r": 15,
|
||||
"hip_l": -12, "knee_l": 100, "ankle_l": -42,
|
||||
"pins": {"foot_r": [196, 148], "foot_l": [124, 147]}
|
||||
"pins": {"foot_r": [195, 148], "foot_l": [125, 145]}
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 154 KiB After Width: | Height: | Size: 152 KiB |
@@ -1,24 +1,24 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 320 180" fill="none">
|
||||
<title>Lunge</title>
|
||||
<defs>
|
||||
<linearGradient id="grad-leg_l-0" gradientUnits="userSpaceOnUse" x1="164.1" y1="120.3" x2="162.4" y2="152.0"><stop offset="0" stop-color="#69c1b6"/><stop offset="1" stop-color="#86cfc5"/></linearGradient>
|
||||
<linearGradient id="grad-leg_l-0" gradientUnits="userSpaceOnUse" x1="164.1" y1="120.3" x2="162.8" y2="152.0"><stop offset="0" stop-color="#6ac2b7"/><stop offset="1" stop-color="#86cfc5"/></linearGradient>
|
||||
<linearGradient id="grad-arm_l-0" gradientUnits="userSpaceOnUse" x1="172.4" y1="61.8" x2="171.3" y2="82.5"><stop offset="0" stop-color="#a2a8b3"/><stop offset="1" stop-color="#a9afba"/></linearGradient>
|
||||
<linearGradient id="grad-arm_r-1" gradientUnits="userSpaceOnUse" x1="167.2" y1="83.8" x2="169.0" y2="104.4"><stop offset="0" stop-color="#3a3f4b"/><stop offset="1" stop-color="#414652"/></linearGradient>
|
||||
</defs>
|
||||
<path d="M 120.3 157.9 L 201.3 157.9 L 201.3 150.6 L 120.3 150.6 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
|
||||
<path d="M 120.8 157.9 L 200.6 157.9 L 200.6 150.6 L 120.8 150.6 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
|
||||
<g id="leg_l">
|
||||
<path d="M 164.1 120.3 L 162.4 152.0" stroke="url(#grad-leg_l-0)" stroke-width="3.58343" stroke-linecap="round"/>
|
||||
<path d="M 162.4 152.0 L 134.8 147.2" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
<path d="M 134.8 147.2 L 128.7 151.9" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
<path d="M 164.1 120.3 L 162.8 152.0" stroke="url(#grad-leg_l-0)" stroke-width="3.57986" stroke-linecap="round"/>
|
||||
<path d="M 162.8 152.0 L 135.5 145.9" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
<path d="M 135.5 145.9 L 129.2 150.2" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
|
||||
</g>
|
||||
<g id="arm_l">
|
||||
<path d="M 172.4 61.8 L 171.3 82.5" stroke="url(#grad-arm_l-0)" stroke-width="3.52329" stroke-linecap="round"/>
|
||||
<path d="M 171.3 82.5 L 173.1 103.1" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
|
||||
</g>
|
||||
<g id="leg_r">
|
||||
<path d="M 160.0 120.7 L 192.1 122.9" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 192.1 122.9 L 185.2 149.6" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 185.2 149.6 L 192.9 149.5" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 160.0 120.7 L 192.1 123.1" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 192.1 123.1 L 184.5 149.6" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 184.5 149.6 L 192.2 149.7" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
|
||||
</g>
|
||||
<path id="girdle" d="M 172.4 61.8 L 168.3 61.8 L 168.3 63.1" stroke="#3a3f4b" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
<path id="pelvisBar" d="M 164.1 120.3 L 160.0 119.8 L 160.0 120.7" stroke="#3a3f4b" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
|
||||
|
Before Width: | Height: | Size: 3.0 KiB After Width: | Height: | Size: 3.0 KiB |
Reference in New Issue
Block a user