rzen
79e75a9127
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
40 lines
1.3 KiB
JSON
40 lines
1.3 KiB
JSON
{
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"name": "Bench Press",
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"primary": 1,
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"working": ["arm_r", "arm_l"],
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"props": [
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{"type": "scene", "shapes": [
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{"kind": "line", "pts": [[58, 124], [162, 124]], "w": 9, "depth": 8},
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{"kind": "line", "pts": [[78, 129], [78, 150]], "w": 4},
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{"kind": "line", "pts": [[144, 129], [144, 150]], "w": 4}
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]},
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{"type": "bar", "axis": "z", "at": ["hand_r", "hand_l"], "halfLen": 26, "plateR": 12}
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],
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"frames": [
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{
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"hold": 0.4, "tween": 0.9,
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"root": {"pos": [150, 116], "pitch": -90},
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"spine": [0, 0],
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"neck": 8, "head": 0,
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"shoulder_r": 15, "elbow_r": 100,
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"shoulder_l": 15, "elbow_l": 100,
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"hip_r": 10, "knee_r": 99, "ankle_r": 5,
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"hip_l": 10, "knee_l": 102, "ankle_l": 5,
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"pins": {"foot_r": [196, 148], "foot_l": [200, 150],
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"hand_r": [73, 98], "hand_l": [77, 100]}
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},
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{
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"hold": 0.4, "tween": 1.2,
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"root": {"pos": [150, 116], "pitch": -90},
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"spine": [0, 0],
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"neck": 8, "head": 0,
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"shoulder_r": 90, "elbow_r": 5,
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"shoulder_l": {"flexion": 90, "rotation": -90}, "elbow_l": 5,
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"hip_r": 10, "knee_r": 99, "ankle_r": 5,
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"hip_l": 10, "knee_l": 102, "ankle_l": 5,
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"pins": {"foot_r": [196, 148], "foot_l": [200, 150],
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"hand_r": [67, 57], "hand_l": [71, 59]}
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}
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]
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}
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