fix(anim): detect mirror-named rigs — templates no longer apply L/R swapped on UniRig skeletons - #969
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…wapped on UniRig skeletons Motion-library templates (and every applyMotionClip consumer) mapped bones to canonical L/R roles purely by NAME. UniRig-predicted skeletons name their sides with the opposite convention from imported rigs (the #951 fleet norm), so every clip landed mirrored: the left-leg track drove the anatomical right leg (user-reported). applyMotionClip now runs a name-independent side check after role resolution: the character's TRUE left is up × forward (forward from the caller's mesh-derived yaw180 facing), and the signed sum of dot(namedLeft − namedRight, trueLeft) over the paired roles (hips/collars/upper-arms/hands/feet) is compared against the sign calibrated on the known-good Mixamo case (measured -2.36; the fleet norm). The opposite sign means the names mirror the anatomy — every L/R body role (and V2 finger side) is swapped so names match geometry for the whole retarget. ApplyMotionResult::sideSwapApplied reports it; QTMESH_T2M_SIDE_SWAP=1/0 forces/disables, QTMESH_T2M_SIDE_DEBUG=1 prints the score. Verified live: Mixamo Rumba -2.36 → no swap (unchanged); AutoRig template -1.76 → no swap; UniRig 46-bone rig +0.95 → swap, and the generated punch now turns the same way as the Mixamo reference (forced-off A/B reproduces the old mirrored/contorted result). The legacy AnimationMerger test fixture pins the check off (its synthetic rigs are +X-left-named with side-specific assertions); a dedicated test covers norm/mirrored/yaw180 detection. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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📝 WalkthroughWalkthroughThe motion clip application now compares bone names with rig anatomy, swaps canonical left/right roles when needed, exposes whether the swap occurred, and supports environment overrides. Tests cover normal naming, mirrored naming, and ChangesMotion clip side detection
Estimated code review effort: 3 (Moderate) | ~20 minutes Merge Risk: 🟡 Moderate · up to The change can still produce incorrect left/right retargeting: body mappings and finger mappings may disagree, and the result may depend on the rig’s current pose instead of its stable geometry. These bounded correctness issues should be fixed before merging. 🚥 Pre-merge checks | ✅ 4 | ❌ 1❌ Failed checks (1 warning)
✅ Passed checks (4 passed)
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| for (int i = 0; i < nBones; ++i) | ||
| if (boneToCanon[i] >= 0) | ||
| boneToCanon[i] = mirrorRole(boneToCanon[i]); |
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When a forward-facing UniRig is detected, this loop maps its +X named-left bones to the right roles and its -X named-right bones to the left roles, but the default cmuLibraryHandedness=true path immediately calls compensateCanonicalHandedness. That function resets the skeleton, observes canonical-left at -X after this swap, and swaps body roles 6–21 back again. Consequently the default template callers retain the original mirrored body mapping (while V2 fingers remain swapped because the old compensator does not handle them); the new test misses this because it asserts only sideSwapApplied, not the resulting tracks.
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Fixed by composing into ONE permutation: the #969 block now fully replaces compensateCanonicalHandedness on the library path (the old call is gone), so there is no second swap to undo the first — and V2 finger sides ride the same decision. Convention anchored on the validated Mixamo case: canonical-left roles end on the bones at +trueLeft, which reproduces the old compensator's single swap there while anatomically-named rigs take none. Verified live on Mixamo (score -2.36 → one swap, unchanged behavior) and the UniRig orc (score +0.44 → none + arm rescue) (b9c1aef)
| rolePos[c] = skel->getBone(static_cast<unsigned short>(i)) | ||
| ->_getDerivedPosition(); |
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If applyMotionClip is invoked while another animation is displayed, these derived positions describe the current animated pose rather than the bind geometry claimed by the detector. The UI disables existing animation states only after this call, and crossed hands or legs can dominate the summed separation and reverse the score, producing an incorrect finger swap in the default V2 path and an incorrect full swap when cmuLibraryHandedness is false (as in the mocap recorder). Reset/update the skeleton for this measurement or compute positions from initial transforms without disturbing caller state.
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Fixed: the block is now gated to the library path (cmuLibraryHandedness — the mocap recorder path keeps its historical mapping untouched) and measures BIND positions after the same skel->reset(true)+_updateTransforms() the old compensator performed at this exact point, so a mid-animation pose can no longer flip the vote (b9c1aef)
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Inline comments:
In `@src/AnimationMerger.cpp`:
- Around line 4338-4340: Update the mirrored mapping flow around mirrorRole and
compensateCanonicalHandedness so handedness is represented by one composed
permutation rather than applying independent swaps. Ensure the final mapping
consistently handles body and V2 finger roles, and keep sideSwapApplied aligned
with the resulting body motion. Extend ApplyMotionClipDetectsMirroredSideNaming
with asymmetric left/right clip data and assert the affected target bone tracks.
- Around line 4301-4302: Update the side-detection logic assigning rolePos from
skel->getBone(...)->_getDerivedPosition() to use stable bind-pose bone
positions, or reset and update skel immediately before calculating the score;
ensure existing animated asymmetry cannot influence L/R mapping.
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…ng on mis-named rigs The user's UniRig-rigged orc showed 'arms/legs swapped' with template clips — literally: the UniRig geometric labeler classified both A-POSE arm chains (which descend almost as steeply as legs) as legs, naming them LeftUpLeg_1/ LeftLeg_1/LeftFoot_1, so the retarget's leg roles drove the arms and the arm roles went unresolved. Three fixes: - UniRigPredictor::labelJointsAnatomically: arm-vs-leg is now decided by ATTACH HEIGHT relative to the root (chains off the upper spine are arms even when they drop; chains off the root are legs), with the old direction rule kept only as the tie-breaker in the ambiguous band. Unit-tested with an A-pose fixture the old rule mislabels. - applyMotionClip: the #969 consistency block now also runs an altitude guard for rigs that were ALREADY rigged with bad names: leg-role bones bound well above the hips are stripped and — when the arm roles are vacant — rescued onto them (side chosen geometrically in the post-swap convention); 'arm'-role bones below the hips are dropped. The side-swap score is computed on the cleaned mapping. - detectBackwardFacing: the ankle reference now only trusts foot-role bones in the lowest quarter of the skeleton — chest-height '*Foot_1' bones dragged the foot band into the torso on mis-named rigs. Verified on the reporting asset (orc_low_rigged.mesh, UniRig): walk/punch now render an upright, correctly-sided gait with the rescued arms swinging; Mixamo and template-AutoRig behavior unchanged (side scores -2.36/-1.76, no swap, no rescue). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…ured (review) Review (Codex P1 + CodeRabbit Major): the new side swap and the legacy compensateCanonicalHandedness were two INDEPENDENT permutations that could cancel on a forward-facing mirror-named rig (body swapped back, V2 fingers left swapped), and the side score read the CURRENT pose (mid-animation crossed limbs could flip the vote). Composed into one decision: the #969 block now replaces the old compensator on the library path (cmuLibraryHandedness) entirely — facing-aware, computed on the CLEANED mapping, from BIND positions (same skel reset the old compensator used), V2 finger sides included. Convention anchored on the validated case: canonical-LEFT roles end on the bones at +trueLeft (anatomical left) — exactly the state the old compensator produced on Mixamo, which therefore takes the same single swap as before (score -2.36), while anatomically-named UniRig rigs now take none. The mocap path (cmuLibraryHandedness=false) is untouched. Rescue side selection updated to the same convention; regression test updated to assert the composed behavior on both conventions and under yaw180. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
'The low poly run plays backwards' (user report, and reproduced on Mixamo — so library DATA, not the rig): measured chest lean over the library's run takes is -0.23 / -0.01 / -0.34 — two of three tip the torso backward >= 13°, which with a locked root reads as backpedaling. Walk takes are all upright (±0.04), matching 'walk looks fine'. MotionLibrary now computes Clip::uprightness (mean chest up-vector z, pure meanChestLean helper) at parse time, and pickAmong samples takes by takeWeight(): the #855 quality² times a posture penalty — locomotion takes (walk/run) with uprightness < -0.10 get 2% weight, so the upright take is effectively always chosen while alternatives exist, with a graceful degradation when an action has none. Non-locomotion actions are exempt (sit/crawl/death legitimately tip). Both helpers are pure + unit-tested; verified live: 3/3 orc runs now pick the upright take and render an upright run. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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…ue, posture-aware takes; bump 3.36.1 (#971) * fix(anim): detect mirror-named rigs — templates no longer apply L/R swapped on UniRig skeletons Motion-library templates (and every applyMotionClip consumer) mapped bones to canonical L/R roles purely by NAME. UniRig-predicted skeletons name their sides with the opposite convention from imported rigs (the #951 fleet norm), so every clip landed mirrored: the left-leg track drove the anatomical right leg (user-reported). applyMotionClip now runs a name-independent side check after role resolution: the character's TRUE left is up × forward (forward from the caller's mesh-derived yaw180 facing), and the signed sum of dot(namedLeft − namedRight, trueLeft) over the paired roles (hips/collars/upper-arms/hands/feet) is compared against the sign calibrated on the known-good Mixamo case (measured -2.36; the fleet norm). The opposite sign means the names mirror the anatomy — every L/R body role (and V2 finger side) is swapped so names match geometry for the whole retarget. ApplyMotionResult::sideSwapApplied reports it; QTMESH_T2M_SIDE_SWAP=1/0 forces/disables, QTMESH_T2M_SIDE_DEBUG=1 prints the score. Verified live: Mixamo Rumba -2.36 → no swap (unchanged); AutoRig template -1.76 → no swap; UniRig 46-bone rig +0.95 → swap, and the generated punch now turns the same way as the Mixamo reference (forced-off A/B reproduces the old mirrored/contorted result). The legacy AnimationMerger test fixture pins the check off (its synthetic rigs are +X-left-named with side-specific assertions); a dedicated test covers norm/mirrored/yaw180 detection. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> * fix(anim): UniRig A-pose arms no longer retarget as legs; robust facing on mis-named rigs The user's UniRig-rigged orc showed 'arms/legs swapped' with template clips — literally: the UniRig geometric labeler classified both A-POSE arm chains (which descend almost as steeply as legs) as legs, naming them LeftUpLeg_1/ LeftLeg_1/LeftFoot_1, so the retarget's leg roles drove the arms and the arm roles went unresolved. Three fixes: - UniRigPredictor::labelJointsAnatomically: arm-vs-leg is now decided by ATTACH HEIGHT relative to the root (chains off the upper spine are arms even when they drop; chains off the root are legs), with the old direction rule kept only as the tie-breaker in the ambiguous band. Unit-tested with an A-pose fixture the old rule mislabels. - applyMotionClip: the #969 consistency block now also runs an altitude guard for rigs that were ALREADY rigged with bad names: leg-role bones bound well above the hips are stripped and — when the arm roles are vacant — rescued onto them (side chosen geometrically in the post-swap convention); 'arm'-role bones below the hips are dropped. The side-swap score is computed on the cleaned mapping. - detectBackwardFacing: the ankle reference now only trusts foot-role bones in the lowest quarter of the skeleton — chest-height '*Foot_1' bones dragged the foot band into the torso on mis-named rigs. Verified on the reporting asset (orc_low_rigged.mesh, UniRig): walk/punch now render an upright, correctly-sided gait with the rescued arms swinging; Mixamo and template-AutoRig behavior unchanged (side scores -2.36/-1.76, no swap, no rescue). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> * fix(anim): compose the L/R permutation — one decision, bind-pose measured (review) Review (Codex P1 + CodeRabbit Major): the new side swap and the legacy compensateCanonicalHandedness were two INDEPENDENT permutations that could cancel on a forward-facing mirror-named rig (body swapped back, V2 fingers left swapped), and the side score read the CURRENT pose (mid-animation crossed limbs could flip the vote). Composed into one decision: the #969 block now replaces the old compensator on the library path (cmuLibraryHandedness) entirely — facing-aware, computed on the CLEANED mapping, from BIND positions (same skel reset the old compensator used), V2 finger sides included. Convention anchored on the validated case: canonical-LEFT roles end on the bones at +trueLeft (anatomical left) — exactly the state the old compensator produced on Mixamo, which therefore takes the same single swap as before (score -2.36), while anatomically-named UniRig rigs now take none. The mocap path (cmuLibraryHandedness=false) is untouched. Rescue side selection updated to the same convention; regression test updated to assert the composed behavior on both conventions and under yaw180. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> * fix(anim): posture-aware take sampling — the 'backwards' run 'The low poly run plays backwards' (user report, and reproduced on Mixamo — so library DATA, not the rig): measured chest lean over the library's run takes is -0.23 / -0.01 / -0.34 — two of three tip the torso backward >= 13°, which with a locked root reads as backpedaling. Walk takes are all upright (±0.04), matching 'walk looks fine'. MotionLibrary now computes Clip::uprightness (mean chest up-vector z, pure meanChestLean helper) at parse time, and pickAmong samples takes by takeWeight(): the #855 quality² times a posture penalty — locomotion takes (walk/run) with uprightness < -0.10 get 2% weight, so the upright take is effectively always chosen while alternatives exist, with a graceful degradation when an action has none. Non-locomotion actions are exempt (sit/crawl/death legitimately tip). Both helpers are pure + unit-tested; verified live: 3/3 orc runs now pick the upright take and render an upright run. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> * fix(anim): side decision is facing-blind world-X (revert the trueLeft variant); chore: bump 3.36.1 User-reported regression: with the facing-aware trueLeft side rule, many template animations came out L/R inverted on the -Z-facing UniRig orc ('like the t2m training problems'). The library was extracted and validated against the OLD compensator's rule, which is facing-blind: canonical-LEFT roles end on the bones at world +X, period — facing is the clip-level yaw180's job and must never leak into the side mapping. The composed block keeps everything else (cleaned mapping, pair-summed measurement, V2 fingers, altitude rescue) but decides on world X. Mixamo unchanged (-2.36 → one swap); the orc now swaps (-0.44 vs +X) and its clips match the reference convention. Version 3.36.1 for the follow-up bugfix release; doc refs synced. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> * fix(anim): address PR #971 review — no arm-altitude strip, posture gate world-frame only - The symmetric arm-below-hips strip is dropped: a relaxed/hanging bind pose legitimately puts wrists below the hips, and stripped arm roles had no rescue — hands would freeze in bind. Leg-named-arms is the observed failure mode; the leg-altitude guard + rescue stays. - Clip::uprightness stays neutral (0) for legacy local-frame libraries — meanChestLean reads joint 2 as a world orientation, which only schema v3+ world-frame clips carry; a local chest counter-rotation could otherwise be mispenalized while real lean in the ancestors went unseen. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> --------- Co-authored-by: Claude Fable 5 <noreply@anthropic.com>
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Summary
applyMotionClipnow runs a name-independent geometric side check: true left = up × forward (forward from the existing mesh-derivedyaw180facing), summed over the named L/R pairs (hips, collars, upper arms, hands, feet) and compared against the sign calibrated on the known-good Mixamo case. A mismatch swaps every L/R body role + V2 finger side so names match anatomy for the whole retarget.ApplyMotionResult::sideSwapAppliedreports it;QTMESH_T2M_SIDE_SWAP=1/0forces/disables;QTMESH_T2M_SIDE_DEBUG=1prints the score.Test plan
ApplyMotionClipDetectsMirroredSideNamingtest: fleet-norm rig → no swap, mirror-named rig → swap, mirror-named + yaw180 → no swap (trueLeft flips with facing)🤖 Generated with Claude Code
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