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

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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:
rzen
2026-07-12 00:37:23 -04:00
parent 400601283e
commit 79e75a9127
303 changed files with 3114 additions and 2272 deletions
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Exercise Library/Meditation/motion.json
+13 -15
View File
@@ -7,24 +7,22 @@
{
"hold": 1.2, "tween": 2.6,
"root": {"pos": [160, 143], "pitch": 2},
"spine": [6, 2],
"neck": 4, "head": -8,
"shoulder_r": {"flexion": 30, "abduction": 8, "rotation": -25}, "elbow_r": 100,
"shoulder_l": {"flexion": 30, "abduction": 8, "rotation": -25}, "elbow_l": 100,
"hip_r": {"flexion": 88, "abduction": 45, "rotation": 50}, "knee_r": 146, "ankle_r": 0,
"hip_l": {"flexion": 88, "abduction": 45, "rotation": 50}, "knee_l": 146, "ankle_l": 0,
"pins": {"hand_r": [174, 95], "hand_l": [176, 96]}
"spine": [6, 4],
"neck": 5, "head": -9,
"shoulder_r": {"flexion": 5, "abduction": 0, "rotation": 0}, "elbow_r": 48,
"shoulder_l": {"flexion": 8, "abduction": -15, "rotation": -20}, "elbow_l": 39,
"hip_r": {"flexion": 118, "abduction": 38, "rotation": 48}, "knee_r": 130, "ankle_r": 0,
"hip_l": {"flexion": 118, "abduction": 38, "rotation": 48}, "knee_l": 130, "ankle_l": 0
},
{
"hold": 0.8, "tween": 2.8,
"root": {"pos": [160, 142], "pitch": 1},
"spine": [3, -2],
"neck": 2, "head": -6,
"shoulder_r": {"flexion": 33, "abduction": 8, "rotation": -25}, "elbow_r": 96,
"shoulder_l": {"flexion": 33, "abduction": 8, "rotation": -25}, "elbow_l": 96,
"hip_r": {"flexion": 88, "abduction": 45, "rotation": 50}, "knee_r": 146, "ankle_r": 0,
"hip_l": {"flexion": 88, "abduction": 45, "rotation": 50}, "knee_l": 146, "ankle_l": 0,
"pins": {"hand_r": [174, 93], "hand_l": [176, 94]}
"root": {"pos": [160, 143], "pitch": 2},
"spine": [3, 1],
"neck": 3, "head": -7,
"shoulder_r": {"flexion": 5, "abduction": 0, "rotation": 0}, "elbow_r": 48,
"shoulder_l": {"flexion": 8, "abduction": -15, "rotation": -20}, "elbow_l": 39,
"hip_r": {"flexion": 118, "abduction": 38, "rotation": 48}, "knee_r": 130, "ankle_r": 0,
"hip_l": {"flexion": 118, "abduction": 38, "rotation": 48}, "knee_l": 130, "ankle_l": 0
}
]
}