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
33 lines
1.1 KiB
JSON
33 lines
1.1 KiB
JSON
{
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"name": "Standing Calf Stretch",
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"primary": 2,
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"camera": {"zoom": 0.7},
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"working": ["leg_l"],
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"frames": [
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{
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"hold": 2.2, "tween": 1.8,
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"root": {"pos": [158, 70], "pitch": 30},
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"spine": [6, 6],
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"neck": 6, "head": -12,
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"shoulder_r": {"flexion": 39, "abduction": 5, "rotation": 6}, "elbow_r": 64,
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"shoulder_l": {"flexion": 36, "abduction": 4, "rotation": 6}, "elbow_l": 58,
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"hip_r": 30, "knee_r": 34, "ankle_r": 6,
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"hip_l": 5, "knee_l": 2, "ankle_l": 12,
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"pins": {"foot_r": [178, 150], "foot_l": [128, 150],
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"hand_r": [236, 48], "hand_l": [238, 54]}
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},
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{
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"hold": 2.4, "tween": 1.8,
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"root": {"pos": [160, 71], "pitch": 36},
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"spine": [7, 7],
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"neck": 7, "head": -13,
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"shoulder_r": {"flexion": 23, "abduction": -1, "rotation": 13}, "elbow_r": 100,
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"shoulder_l": {"flexion": 20, "abduction": -4, "rotation": 15}, "elbow_l": 93,
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"hip_r": 38, "knee_r": 40, "ankle_r": 6,
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"hip_l": 5, "knee_l": 2, "ankle_l": 15,
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"pins": {"foot_r": [181, 150], "foot_l": [128, 150],
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"hand_r": [236, 48], "hand_l": [238, 54]}
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}
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]
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}
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