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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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Workouts/Resources/ExerciseMotions/Cobra Stretch.motion.json
+14 -14
View File
@@ -8,24 +8,24 @@
"root": {"pos": [188, 147], "yaw": 180, "pitch": 76},
"spine": [0, 6],
"neck": 6, "head": -46,
"shoulder_r": 92, "elbow_r": 100,
"shoulder_l": 92, "elbow_l": 100,
"hip_r": 0, "knee_r": 0, "ankle_r": -50,
"hip_l": 0, "knee_l": 0, "ankle_l": -50,
"pins": {"hand_r": [104, 150], "hand_l": [108, 151],
"foot_r": [270, 150], "foot_l": [274, 151]}
"shoulder_r": 129, "elbow_r": 52,
"shoulder_l": 126, "elbow_l": 52,
"hip_r": 0, "knee_r": 0, "ankle_r": -65,
"hip_l": 0, "knee_l": 0, "ankle_l": -65,
"pins": {"hand_r": [59.2, 149], "hand_l": [53.9, 149],
"foot_r": [281, 148], "foot_l": [274, 149]}
},
{
"hold": 1.3, "tween": 1.1,
"root": {"pos": [188, 147], "yaw": 180, "pitch": 68},
"spine": [-13, -16],
"root": {"pos": [188, 147], "yaw": 180, "pitch": 76},
"spine": [-2, -2],
"neck": -10, "head": -18,
"shoulder_r": 95, "elbow_r": 14,
"shoulder_l": 95, "elbow_l": 14,
"hip_r": 0, "knee_r": 0, "ankle_r": -50,
"hip_l": 0, "knee_l": 0, "ankle_l": -50,
"pins": {"hand_r": [104, 150], "hand_l": [108, 151],
"foot_r": [270, 150], "foot_l": [274, 151]}
"shoulder_r": 127, "elbow_r": 21,
"shoulder_l": 126, "elbow_l": 18,
"hip_r": 0, "knee_r": 0, "ankle_r": -65,
"hip_l": 0, "knee_l": 0, "ankle_l": -65,
"pins": {"hand_r": [59.2, 149], "hand_l": [53.9, 149],
"foot_r": [281, 148], "foot_l": [274, 149]}
}
]
}