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
38 lines
1.2 KiB
JSON
38 lines
1.2 KiB
JSON
{
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"name": "Back Extension",
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"primary": 2,
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"working": ["spine"],
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"props": [
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{"type": "scene", "shapes": [
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{"kind": "line", "pts": [[102, 124], [154, 106]], "w": 9, "depth": 8},
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{"kind": "line", "pts": [[130, 122], [130, 150]], "w": 5},
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{"kind": "line", "pts": [[58, 142], [88, 142]], "w": 5, "depth": 6}
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]},
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{"type": "roller", "at": ["foot_r", "foot_l"], "r": 4.5, "side": 1, "back": 4}
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],
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"frames": [
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{
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"hold": 0.4, "tween": 1.0,
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"root": {"pos": [150, 102], "pitch": 112},
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"spine": [0, 12],
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"neck": 1, "head": -30,
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"shoulder_r": -10, "elbow_r": 114,
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"shoulder_l": -10, "elbow_l": 114,
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"hip_r": 48, "knee_r": 12, "ankle_r": 12,
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"hip_l": 48, "knee_l": 12, "ankle_l": 12,
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"pins": {"foot_r": [72, 136], "foot_l": [76, 138]}
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},
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{
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"hold": 0.6, "tween": 1.1,
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"root": {"pos": [150, 102], "pitch": 65},
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"spine": [0, -6],
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"neck": 5, "head": -55,
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"shoulder_r": 30, "elbow_r": 140,
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"shoulder_l": 30, "elbow_l": 140,
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"hip_r": 2, "knee_r": 12, "ankle_r": 12,
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"hip_l": 2, "knee_l": 12, "ankle_l": 12,
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"pins": {"foot_r": [72, 136], "foot_l": [76, 138]}
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}
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]
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}
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