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
120 lines
1.9 KiB
JSON
120 lines
1.9 KiB
JSON
{
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"name": "Butterfly Stretch",
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"primary": 2,
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"camera": {
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"yaw": 52
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},
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"working": [
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"leg_r",
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"leg_l"
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],
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"frames": [
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{
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"hold": 2.2,
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"tween": 1.8,
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"root": {
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"pos": [
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160,
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143
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],
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"pitch": 5
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},
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"spine": [
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24,
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18
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],
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"neck": 6,
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"head": -8,
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"shoulder_r": {
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"flexion": 45.5,
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"abduction": 25.1,
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"rotation": 0.0
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},
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"elbow_r": 2.0,
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"shoulder_l": {
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"flexion": 31.0,
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"abduction": 40.4,
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"rotation": -67.7
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},
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"elbow_l": 63.5,
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"hip_r": {
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"flexion": 120,
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"abduction": 35,
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"rotation": 50
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},
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"knee_r": 128,
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"ankle_r": 0,
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"hip_l": {
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"flexion": 120,
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"abduction": 35,
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"rotation": 50
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},
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"knee_l": 128,
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"ankle_l": 0,
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"pins": {
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"hand_r": [
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162,
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134
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],
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"hand_l": [
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209,
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128
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]
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}
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},
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{
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"hold": 2.4,
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"tween": 1.8,
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"root": {
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"pos": [
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160,
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143
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],
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"pitch": 5
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},
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"spine": [
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28,
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21
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],
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"neck": 8,
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"head": -10,
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"shoulder_r": {
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"flexion": 40.4,
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"abduction": 33.1,
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"rotation": -24.7
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},
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"elbow_r": 18.7,
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"shoulder_l": {
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"flexion": 32.1,
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"abduction": 48.3,
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"rotation": -70.7
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},
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"elbow_l": 80.6,
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"hip_r": {
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"flexion": 120,
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"abduction": 35,
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"rotation": 50
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},
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"knee_r": 128,
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"ankle_r": 0,
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"hip_l": {
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"flexion": 120,
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"abduction": 35,
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"rotation": 50
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},
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"knee_l": 128,
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"ankle_l": 0,
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"pins": {
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"hand_r": [
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162,
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134
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],
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"hand_l": [
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209,
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128
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]
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}
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}
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]
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}
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