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-leg_r-2" gradientUnits="userSpaceOnUse" x1="174.7" y1="150.6" x2="182.4" y2="150.4"><stop offset="0" stop-color="#5a5f6b"/><stop offset="1" stop-color="#595e6a"/></linearGradient>
|
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</defs>
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<path d="M 132.3 157.5 L 214.4 157.5 L 214.4 150.2 L 132.3 150.2 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
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<path d="M 129.2 157.5 L 230.2 157.5 L 230.2 150.2 L 129.2 150.2 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
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<g id="leg_l">
|
||||
<path d="M 164.1 93.7 L 152.0 123.1" stroke="url(#grad-leg_l-0)" stroke-width="3.74595" stroke-linecap="round"/>
|
||||
<path d="M 152.0 123.1 L 140.7 148.3" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 140.7 148.3 L 148.2 149.9" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 164.1 95.8 L 151.5 125.0" stroke="url(#grad-leg_l-0)" stroke-width="3.74705" stroke-linecap="round"/>
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<path d="M 151.5 125.0 L 137.6 148.9" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 137.6 148.9 L 145.0 150.9" stroke="#86cfc5" stroke-width="3.5" stroke-linecap="round"/>
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</g>
|
||||
<g id="arm_l">
|
||||
<path d="M 193.8 42.5 L 190.9 63.0" stroke="url(#grad-arm_l-0)" stroke-width="3.52253" stroke-linecap="round"/>
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<path d="M 190.9 63.0 L 188.5 83.6" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 207.2 55.1 L 196.7 73.2" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 196.7 73.2 L 214.6 81.6" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
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||||
</g>
|
||||
<g id="leg_r">
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||||
<path d="M 160.0 94.1 L 174.0 122.6" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 174.0 122.6 L 185.4 147.8" stroke="url(#grad-leg_r-1)" stroke-width="4.10627" stroke-linecap="round"/>
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<path d="M 185.4 147.8 L 191.9 143.8" stroke="url(#grad-leg_r-2)" stroke-width="4.05538" stroke-linecap="round"/>
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||||
<path d="M 160.0 96.2 L 176.9 123.1" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 176.9 123.1 L 174.7 150.6" stroke="url(#grad-leg_r-1)" stroke-width="4.09997" stroke-linecap="round"/>
|
||||
<path d="M 174.7 150.6 L 182.4 150.4" stroke="url(#grad-leg_r-2)" stroke-width="4.00195" stroke-linecap="round"/>
|
||||
</g>
|
||||
<path id="girdle" d="M 193.8 42.5 L 189.7 42.5 L 189.7 43.8" stroke="#3a3f4b" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
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||||
<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"/>
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||||
<path id="spine" d="M 160.0 93.2 Q 172.5 65.7 189.7 42.5" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
<path id="girdle" d="M 207.2 55.1 L 203.0 55.0 L 203.0 56.3" stroke="#3a3f4b" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
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||||
<path id="pelvisBar" d="M 164.1 95.8 L 160.0 95.3 L 160.0 96.2" stroke="#3a3f4b" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
<path id="spine" d="M 160.0 95.3 Q 179.5 72.1 203.0 55.0" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
<g id="arm_r">
|
||||
<path d="M 189.7 43.8 L 187.1 64.4" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 187.1 64.4 L 185.0 84.9" stroke="url(#grad-arm_r-1)" stroke-width="4.17707" stroke-linecap="round"/>
|
||||
<path d="M 203.0 56.3 L 193.6 74.8" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 193.6 74.8 L 213.2 81.5" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round"/>
|
||||
</g>
|
||||
<circle id="head" cx="199.0" cy="32.3" r="7.0" fill="white" stroke="#3a3f4b" stroke-width="4.2"/>
|
||||
<line id="nose" x1="205.4" y1="35.2" x2="209.8" y2="37.2" stroke="#3a3f4b" stroke-width="2.8" stroke-linecap="round"/>
|
||||
<circle id="head" cx="214.8" cy="47.5" r="7.0" fill="white" stroke="#3a3f4b" stroke-width="4.2"/>
|
||||
<line id="nose" x1="219.9" y1="52.3" x2="223.4" y2="55.7" stroke="#3a3f4b" stroke-width="2.8" stroke-linecap="round"/>
|
||||
<g font-family="-apple-system, Helvetica, sans-serif" font-size="11" fill="#6b7180">
|
||||
<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: 3.5 KiB After Width: | Height: | Size: 3.0 KiB |
Reference in New Issue
Block a user