Verified 2026-06-05: Pipeline description matches Gestalt skills (gestalt-animation, gestalt-animation-pipeline, bvh-animation-calibration). Gestalt BVH→VRM retargeting on CT112 (.96) confirmed via SSH config. Motion debug at ollama:8000/static/motion_debug.html. Benchmark-driven iteration model still accurate. Torso twist drift (~12°) and PD gain tuning still open issues.

Gestalt BVH Animation Pipeline

Motion capture and animation retargeting pipeline for the Gestalt embodiment system.

Pipeline

BVH capture → raw passthrough → upright calibration → IK solve → VRM retarget

Calibration

  • Raw BVH passthrough with upright calibration active
  • Motion debug visualization at ollama:8000/static/motion_debug.html
  • Benchmark-driven: run bench → review data → tune → repeat

Known Issues

  • Torso twist drift at ~12 degrees — needs IK solver recalibration
  • PD gain tuning needed on upper body chain for smoother motion

Development Flow

  1. Run motion benchmark
  2. Review debug data (visual at debug URL)
  3. Identify drift/discrepancies
  4. Tune IK parameters
  5. Re-run benchmark
  6. If good → commit; if not → iterate

Testing

  • Mobile tests via Tailscale (iPhone, 44px touch targets)
  • Panels should be minimizable, not cascading
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