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
30 lines
762 B
JSON
30 lines
762 B
JSON
{
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"name": "Side Plank",
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"primary": 2,
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"working": ["spine"],
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"frames": [
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{
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"hold": 0.4, "tween": 0.8,
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"root": {"pos": [174, 150], "yaw": 180, "pitch": 72},
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"spine": [0, 0],
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"neck": 0, "head": -77,
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"shoulder_r": 2, "elbow_r": -5,
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"shoulder_l": 72, "elbow_l": 90,
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"hip_r": -17, "knee_r": 17,
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"hip_l": -17, "knee_l": 17,
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"pins": {"hand_l": [60, 152]}
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},
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{
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"hold": 1.8, "tween": 0.8,
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"root": {"pos": [174, 137], "yaw": 180, "pitch": 80},
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"spine": [0, 0],
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"neck": 0, "head": -80,
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"shoulder_r": -70, "elbow_r": 0,
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"shoulder_l": 80, "elbow_l": 90,
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"hip_r": 0, "knee_r": 19,
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"hip_l": 0, "knee_l": 19,
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"pins": {"hand_l": [60, 152]}
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}
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]
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}
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