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
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<linearGradient id="grad-arm_l-0" gradientUnits="userSpaceOnUse" x1="169.0" y1="85.3" x2="168.8" y2="106.0"><stop offset="0" stop-color="#a2a7b3"/><stop offset="1" stop-color="#a9afba"/></linearGradient>
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<linearGradient id="grad-leg_r-1" gradientUnits="userSpaceOnUse" x1="135.7" y1="131.1" x2="156.7" y2="149.4"><stop offset="0" stop-color="#0d9488"/><stop offset="1" stop-color="#1e9c91"/></linearGradient>
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<linearGradient id="grad-leg_r-2" gradientUnits="userSpaceOnUse" x1="156.7" y1="149.4" x2="160.5" y2="142.8"><stop offset="0" stop-color="#1e9c91"/><stop offset="1" stop-color="#0d9488"/></linearGradient>
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<linearGradient id="grad-arm_r-1" gradientUnits="userSpaceOnUse" x1="165.3" y1="107.3" x2="166.4" y2="128.0"><stop offset="0" stop-color="#3a3f4b"/><stop offset="1" stop-color="#414652"/></linearGradient>
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<linearGradient id="grad-leg_l-0" gradientUnits="userSpaceOnUse" x1="122.1" y1="104.9" x2="148.4" y2="123.3"><stop offset="0" stop-color="#50b5aa"/><stop offset="1" stop-color="#86cfc5"/></linearGradient>
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<linearGradient id="grad-arm_l-0" gradientUnits="userSpaceOnUse" x1="176.8" y1="81.6" x2="166.7" y2="99.7"><stop offset="0" stop-color="#a6acb7"/><stop offset="1" stop-color="#a9afba"/></linearGradient>
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<linearGradient id="grad-leg_r-1" gradientUnits="userSpaceOnUse" x1="142.4" y1="126.0" x2="157.2" y2="149.4"><stop offset="0" stop-color="#0d9488"/><stop offset="1" stop-color="#29a296"/></linearGradient>
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<linearGradient id="grad-leg_r-2" gradientUnits="userSpaceOnUse" x1="157.2" y1="149.4" x2="162.7" y2="144.1"><stop offset="0" stop-color="#29a296"/><stop offset="1" stop-color="#16988c"/></linearGradient>
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<linearGradient id="grad-arm_r-1" gradientUnits="userSpaceOnUse" x1="162.5" y1="101.0" x2="155.0" y2="120.3"><stop offset="0" stop-color="#3a3f4b"/><stop offset="1" stop-color="#3e434f"/></linearGradient>
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</defs>
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<path d="M 102.6 157.8 L 197.9 157.8 L 197.9 150.5 L 102.6 150.5 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
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<path d="M 109.6 157.7 L 201.2 157.7 L 201.2 150.4 L 109.6 150.4 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
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<g id="leg_l">
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<path d="M 115.1 110.5 L 139.6 131.2" stroke="url(#grad-leg_l-0)" stroke-width="3.62756" stroke-linecap="round"/>
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<path d="M 139.6 131.2 L 160.3 149.7" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 160.3 149.7 L 164.2 143.2" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 122.1 104.9 L 148.4 123.3" stroke="url(#grad-leg_l-0)" stroke-width="3.65571" stroke-linecap="round"/>
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<path d="M 148.4 123.3 L 160.0 148.4" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 160.0 148.4 L 166.2 143.9" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
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</g>
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<g id="arm_l">
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<path d="M 169.0 85.3 L 168.8 106.0" stroke="url(#grad-arm_l-0)" stroke-width="3.52354" stroke-linecap="round"/>
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<path d="M 168.8 106.0 L 169.3 126.7" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 176.8 81.6 L 166.7 99.7" stroke="url(#grad-arm_l-0)" stroke-width="3.50876" stroke-linecap="round"/>
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<path d="M 166.7 99.7 L 159.1 119.0" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
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</g>
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<g id="leg_r">
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<path d="M 111.0 110.9 L 135.7 131.1" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
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<path d="M 135.7 131.1 L 156.7 149.4" stroke="url(#grad-leg_r-1)" stroke-width="4.14992" stroke-linecap="round"/>
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<path d="M 156.7 149.4 L 160.5 142.8" stroke="url(#grad-leg_r-2)" stroke-width="4.14992" stroke-linecap="round"/>
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<path d="M 118.0 105.3 L 142.4 126.0" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round"/>
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<path d="M 142.4 126.0 L 157.2 149.4" stroke="url(#grad-leg_r-1)" stroke-width="4.11884" stroke-linecap="round"/>
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<path d="M 157.2 149.4 L 162.7 144.1" stroke="url(#grad-leg_r-2)" stroke-width="4.09381" stroke-linecap="round"/>
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</g>
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<path id="girdle" d="M 169.0 85.3 L 164.9 85.3 L 164.9 86.6" stroke="#0d9488" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
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<path id="pelvisBar" d="M 115.1 110.5 L 111.0 110.0 L 111.0 110.9" stroke="#0d9488" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
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<path id="spine" d="M 111.0 110.0 Q 139.9 100.1 164.9 85.3" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round" stroke-linejoin="round"/>
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<path id="girdle" d="M 176.8 81.6 L 172.7 81.6 L 172.7 82.9" stroke="#0d9488" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
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<path id="pelvisBar" d="M 122.1 104.9 L 118.0 104.4 L 118.0 105.3" stroke="#0d9488" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
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<path id="spine" d="M 118.0 104.4 Q 147.2 95.5 172.7 81.6" stroke="#0d9488" stroke-width="4.2" stroke-linecap="round" stroke-linejoin="round"/>
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<g id="arm_r">
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<path d="M 164.9 86.6 L 165.3 107.3" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 165.3 107.3 L 166.4 128.0" stroke="url(#grad-arm_r-1)" stroke-width="4.17658" stroke-linecap="round"/>
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<path d="M 172.7 82.9 L 162.5 101.0" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round"/>
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<path d="M 162.5 101.0 L 155.0 120.3" stroke="url(#grad-arm_r-1)" stroke-width="4.18848" stroke-linecap="round"/>
|
||||
</g>
|
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<path d="M 167.8 124.2 L 167.8 130.5" stroke="#6b7180" stroke-width="2.8" stroke-linecap="round" stroke-linejoin="round"/>
|
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<circle cx="167.8" cy="124.2" r="9.1" fill="#6b7180"/>
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<circle cx="167.8" cy="130.5" r="9.1" fill="#6b7180"/>
|
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<circle id="head" cx="177.8" cy="79.9" r="7.0" fill="white" stroke="#3a3f4b" stroke-width="4.2"/>
|
||||
<line id="nose" x1="184.7" y1="80.5" x2="189.6" y2="80.9" stroke="#3a3f4b" stroke-width="2.8" stroke-linecap="round"/>
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<path d="M 157.1 116.5 L 157.1 122.8" stroke="#6b7180" stroke-width="2.8" stroke-linecap="round" stroke-linejoin="round"/>
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<circle cx="157.1" cy="116.5" r="9.1" fill="#6b7180"/>
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<circle cx="157.1" cy="122.8" r="9.1" fill="#6b7180"/>
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<circle id="head" cx="185.8" cy="76.6" r="7.0" fill="white" stroke="#3a3f4b" stroke-width="4.2"/>
|
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<line id="nose" x1="192.8" y1="77.0" x2="197.7" y2="77.2" stroke="#3a3f4b" stroke-width="2.8" stroke-linecap="round"/>
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<g font-family="-apple-system, Helvetica, sans-serif" font-size="11" fill="#6b7180">
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<line x1="224" y1="16" x2="238" y2="16" stroke="#3a3f4b" stroke-width="4" stroke-linecap="round"/>
|
||||
<text x="243" y="20">near</text>
|
||||
|
||||
|
Before Width: | Height: | Size: 3.7 KiB After Width: | Height: | Size: 3.7 KiB |
Reference in New Issue
Block a user