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
The UX redesign's first landing (spec in UX-REDESIGN.md): ContentView
becomes a Today / Progress / Settings TabView, "Routine" replaces
"Split" in every user-facing string and view name (code-level types
keep their names), and workout starting moves to shared
WorkoutStarter / StartedWorkoutNavigator plumbing.
- New Progress tab: weekly goal streaks, workout trends, per-exercise
weight progression, achievements, and the full history list
(WorkoutLogsView -> WorkoutHistoryView).
- Goals: stable categories workouts roll up to, managed from Settings.
- New Meditation exercise + starter routine; timed sits record to
Apple Health as Mind & Body sessions.
Claude-Session: https://claude.ai/code/session_012qw2itfzKyEJ1HpsFt8Ex4
rzen