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
32 lines
1.0 KiB
JSON
32 lines
1.0 KiB
JSON
{
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"name": "Standing Forward Fold",
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"primary": 2,
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"camera": {"zoom": 0.7},
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"working": ["leg_r", "leg_l", "spine"],
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"frames": [
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{
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"hold": 0.5, "tween": 1.8,
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"root": {"pos": [160, 64], "pitch": 5},
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"spine": [0, 0],
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"neck": 2, "head": -6,
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"shoulder_r": 5, "elbow_r": 5,
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"shoulder_l": 5, "elbow_l": 5,
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"hip_r": 5, "knee_r": 6, "ankle_r": 0,
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"hip_l": 5, "knee_l": 6, "ankle_l": 0,
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"pins": {"foot_r": [158, 148], "foot_l": [162, 150]}
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},
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{
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"hold": 0.7, "tween": 1.8,
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"root": {"pos": [148, 62], "pitch": 80},
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"spine": [44, 52],
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"neck": 32, "head": 0,
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"shoulder_r": {"flexion": 74, "abduction": 9, "rotation": 0}, "elbow_r": 122,
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"shoulder_l": {"flexion": 71, "abduction": 9, "rotation": 0}, "elbow_l": 121,
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"hip_r": 87, "knee_r": 4, "ankle_r": 6,
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"hip_l": 87, "knee_l": 4, "ankle_l": 6,
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"pins": {"foot_r": [158, 148], "foot_l": [162, 150],
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"hand_r": [168, 150], "hand_l": [172, 151]}
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}
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]
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}
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