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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
Download Patch File Download Diff File Expand all files Collapse all files
Workouts/Resources/ExerciseMotions/Hip Circles.motion.json
+7 -7
View File
@@ -6,14 +6,14 @@
"frames": [
{
"hold": 0.12, "tween": 0.6,
"root": {"pos": [160, 72]},
"root": {"pos": [160, 61]},
"spine": [{"lateral": 0, "flexion": -2}, {"lateral": 0, "flexion": -2}],
"neck": 0, "head": 0,
"shoulder_r": {"flexion": -8, "abduction": 50}, "elbow_r": 125,
"shoulder_l": {"flexion": -8, "abduction": 50}, "elbow_l": 125,
"hip_r": 3, "knee_r": 5, "ankle_r": 0,
"hip_l": 3, "knee_l": 5, "ankle_l": 0,
"pins": {"foot_r": [154, 150], "foot_l": [166, 150]}
"hip_r": {"flexion": 0, "abduction": 1}, "knee_r": 2, "ankle_r": 0,
"hip_l": {"flexion": 8, "abduction": -2}, "knee_l": 20, "ankle_l": 0,
"pins": {"foot_r": [154, 147], "foot_l": [166, 147]}
},
{
"hold": 0.12, "tween": 0.6,
@@ -24,7 +24,7 @@
"shoulder_l": {"flexion": -8, "abduction": 50}, "elbow_l": 125,
"hip_r": 3, "knee_r": 5, "ankle_r": 0,
"hip_l": 3, "knee_l": 5, "ankle_l": 0,
"pins": {"foot_r": [154, 150], "foot_l": [166, 150]}
"pins": {"foot_r": [154, 147], "foot_l": [166, 147]}
},
{
"hold": 0.12, "tween": 0.6,
@@ -35,7 +35,7 @@
"shoulder_l": {"flexion": -8, "abduction": 50}, "elbow_l": 125,
"hip_r": 3, "knee_r": 5, "ankle_r": 0,
"hip_l": 3, "knee_l": 5, "ankle_l": 0,
"pins": {"foot_r": [154, 150], "foot_l": [166, 150]}
"pins": {"foot_r": [154, 147], "foot_l": [166, 147]}
},
{
"hold": 0.12, "tween": 0.6,
@@ -46,7 +46,7 @@
"shoulder_l": {"flexion": -8, "abduction": 50}, "elbow_l": 125,
"hip_r": 3, "knee_r": 5, "ankle_r": 0,
"hip_l": 3, "knee_l": 5, "ankle_l": 0,
"pins": {"foot_r": [154, 150], "foot_l": [166, 150]}
"pins": {"foot_r": [154, 147], "foot_l": [166, 147]}
}
]
}