rzen/workouts
1
0
Fork 0
Code Issues 1 Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
Workouts/Resources/ExerciseMotions/Barbell Squat.motion.json
+6 -8
View File
@@ -12,24 +12,22 @@
"root": {"pos": [160, 64], "pitch": 6},
"spine": [0, 0],
"neck": 2, "head": -6,
"shoulder_r": 28, "elbow_r": 140,
"shoulder_l": 28, "elbow_l": 140,
"shoulder_r": {"flexion": -12, "abduction": 35, "rotation": -45}, "elbow_r": 150,
"shoulder_l": {"flexion": -12, "abduction": 35, "rotation": -45}, "elbow_l": 150,
"hip_r": 5, "knee_r": 4, "ankle_r": 0,
"hip_l": 5, "knee_l": 4, "ankle_l": 0,
"pins": {"foot_r": [160, 148], "foot_l": [164, 150],
"hand_r": [166, -16], "hand_l": [170, -14]}
"pins": {"foot_r": [160, 148], "foot_l": [164, 148]}
},
{
"hold": 0.4, "tween": 1.1,
"root": {"pos": [117, 108], "pitch": 35},
"spine": [0, -4],
"neck": 5, "head": -28,
"shoulder_r": 55, "elbow_r": 140,
"shoulder_l": 55, "elbow_l": 140,
"shoulder_r": {"flexion": -12, "abduction": 35, "rotation": -45}, "elbow_r": 150,
"shoulder_l": {"flexion": -12, "abduction": 35, "rotation": -45}, "elbow_l": 150,
"hip_r": 100, "knee_r": 118, "ankle_r": 22,
"hip_l": 100, "knee_l": 118, "ankle_l": 22,
"pins": {"foot_r": [160, 148], "foot_l": [164, 150],
"hand_r": [163, 30], "hand_l": [167, 32]}
"pins": {"foot_r": [160, 148], "foot_l": [164, 148]}
}
]
}