distark-render 1.1.4 → 1.1.6

package/dist/cli/distark-check.js

@@ -16,20 +16,20 @@ import { runDiff } from './diff.js';
 import { runQuery } from './query.js';
 import { runRecord } from './record.js';
 import { runTest } from './test.js';
-const USAGE = `distark-check - CLI tool for LLM-driven rig testing
-
-Commands:
-  render   <rig.json> [-o out.png] [--width N] [--height N] [--report]
-  verify   <rig.json> [--checks all|bounds,visibility,proportions,zorder]
-  animate  <rig.json> <animation.json> [-o frames/] [--width N] [--height N]
-  diff     <before.png> <after.png> [-o diff.png] [--threshold N]
-  query    <image.png|rig.json> --prompt "..." [-o report.json]
-  test     <rig.json|image|video> --prompt "..." [--tries N] [-o report.json]
-  record   <world.json> [--orc URL] [-o out.mp4] [--timeout 300]
-
-Environment:
-  GEMINI_API_KEY    Required for 'query' and 'test' commands
-  ORC_URL           Orchestrator URL for 'record' command (default: https://orchestrator.distark.com)
+const USAGE = `distark-check - CLI tool for LLM-driven rig testing
+
+Commands:
+  render   <rig.json> [-o out.png] [--width N] [--height N] [--report]
+  verify   <rig.json> [--checks all|bounds,visibility,proportions,zorder]
+  animate  <rig.json> <animation.json> [-o frames/] [--width N] [--height N]
+  diff     <before.png> <after.png> [-o diff.png] [--threshold N]
+  query    <image.png|rig.json> --prompt "..." [-o report.json]
+  test     <rig.json|image|video> --prompt "..." [--tries N] [-o report.json]
+  record   <world.json> [--orc URL] [-o out.mp4] [--timeout 300]
+
+Environment:
+  GEMINI_API_KEY    Required for 'query' and 'test' commands
+  ORC_URL           Orchestrator URL for 'record' command (default: https://orchestrator.distark.com)
 `;
 async function main() {
     const args = process.argv.slice(2);

package/dist/modules/renderRig.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"renderRig.d.ts","sourceRoot":"","sources":["../../modules/renderRig.ts"],"names":[],"mappings":"AAAA;;;GAGG;AAGH,OAAO,EAAE,WAAW,EAAE,MAAM,gBAAgB,CAAC;AAG7C,OAAO,KAAK,EACR,OAAO,EACP,aAAa,EACb,aAAa,EAGb,QAAQ,EACR,aAAa,EAChB,MAAM,aAAa,CAAC;AAErB;;GAEG;AACH,qBAAa,oBAAoB;IAC7B,SAAS,CAAC,WAAW,EAAE,WAAW,CAAC;IAEnC;;;OAGG;gBACS,WAAW,CAAC,EAAE,WAAW;IAIrC;;;OAGG;IACH,cAAc,IAAI,WAAW;IAI7B;;OAEG;IACH,OAAO,CAAC,cAAc;IAYtB;;OAEG;IACH,uBAAuB,CACnB,OAAO,EAAE,OAAO,EAChB,OAAO,GAAE,aAAkB,GAC5B,aAAa;IA+xChB;;;;OAIG;IACH,cAAc,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,GAAE,OAAO,CAAC,aAAa,CAAM,EAAE,OAAO,SAAK,GAAG,aAAa;IA6DnG;;;;;;;;;;;;;;;;;OAiBG;IACG,MAAM,CACR,MAAM,EAAE,iBAAiB,EACzB,OAAO,EAAE,OAAO,EAChB,YAAY,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,gBAAgB,GAAG,iBAAiB,CAAC,EACnE,YAAY,GAAE,QAAyB,EACvC,eAAe,GAAE,OAAc,EAC/B,OAAO,CAAC,EAAE;QAAE,OAAO,CAAC,EAAE,OAAO,CAAA;KAAE,GAChC,OAAO,CAAC,IAAI,CAAC;CA8FnB;AAGD,eAAO,MAAM,eAAe,sBAA6B,CAAC;AAG1D,wBAAsB,kBAAkB,CACpC,MAAM,EAAE,iBAAiB,EACzB,OAAO,EAAE,OAAO,EAChB,YAAY,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,gBAAgB,GAAG,iBAAiB,CAAC,EACnE,YAAY,GAAE,QAAyB,EACvC,eAAe,GAAE,OAAe,EAChC,OAAO,CAAC,EAAE;IAAE,OAAO,CAAC,EAAE,OAAO,CAAA;CAAE,GAChC,OAAO,CAAC,IAAI,CAAC,CAEf;AAGD,wBAAgB,uBAAuB,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,GAAE,aAAkB,GAAG,aAAa,CAEpG"}

package/dist/modules/renderRig.js

@@ -72,6 +72,19 @@ export class CharacterRigRenderer {
             scaleX: flipX ? -1 : 1,
             scaleY: 1
         };
+        // Torso pivot transform: allows the torso (and all children) to rotate/offset
+        // around a configurable pivot point (e.g. hip/waist area).
+        // root_torso defines where in root-local space the pivot lives.
+        // rotationValues["torso"] is the rotation angle applied around that pivot.
+        const root_torso = pivotPoints['root_torso'] || { x: 0, y: 0 };
+        const torsoPivotRot = rotations["torso"] || 0;
+        const torsoTransform = this.applyTransform(rootTransform, {
+            x: root_torso.x || 0,
+            y: root_torso.y || 0,
+            rotation: torsoPivotRot,
+            scaleX: 1,
+            scaleY: 1
+        });
         // Torso
         if (visibility.torso !== false) {
             const torsoWidth = dimensions.torso?.width || 60;
@@ -80,20 +93,30 @@ export class CharacterRigRenderer {
             // CRITICAL FIX: Look up image by ACTUAL PATH from rigData, not semantic key!
             const torsoImagePath = rigData.imagePaths?.torso;
             const torsoImage = torsoImagePath ? loadedImages[torsoImagePath] : undefined;
+            // The torso image bottom-center is anchored at torsoTransform (= root_torso
+            // world position).  Moving root_torso moves the torso image; rotating
+            // rotationValues["torso"] rotates the torso around that anchor point.
+            const torsoJointOffset = jointOffset['root_torso'] || { x: 0, y: 0 };
+            const torsoImageTransform = this.applyTransform(torsoTransform, {
+                x: torsoJointOffset.x || 0,
+                y: torsoJointOffset.y || 0,
+                rotation: selfRot,
+                scaleX: 1,
+                scaleY: 1
+            });
             allObjects.push({
                 name: 'torso',
                 type: 'limb',
                 zIndex: zIndexValues['torso'] || 1,
                 width: torsoWidth * imageScale,
                 height: torsoHeight * imageScale,
-                x: rootTransform.x,
-                y: rootTransform.y,
-                rotation: rootTransform.rotation + selfRot,
-                scaleX: rootTransform.scaleX,
-                scaleY: rootTransform.scaleY,
-                // Anchor point (where the image is drawn from - top center for torso)
+                x: torsoImageTransform.x,
+                y: torsoImageTransform.y,
+                rotation: torsoImageTransform.rotation,
+                scaleX: torsoImageTransform.scaleX,
+                scaleY: torsoImageTransform.scaleY,
                 anchorX: 0.5,
-                anchorY: 1,
+                anchorY: 1, // bottom-center sits at root_torso world position
                 imageKey: 'imagePaths.torso',
                 imageData: torsoImage,
                 selfRotation: selfRot
@@ -108,10 +131,10 @@ export class CharacterRigRenderer {
             const headHeight = dimensions.head?.height || 80;
             const headRot = rotations["head"] || 0;
             const selfRot = selfRotations["head"] || 0;
-            // Calculate head transform
-            const headParentTransform = this.applyTransform(rootTransform, {
-                x: pivotPoint.x || 0,
-                y: pivotPoint.y || 0,
+            // Calculate head transform — pivot is expressed in root space; convert to torso-local.
+            const headParentTransform = this.applyTransform(torsoTransform, {
+                x: (pivotPoint.x || 0) - (root_torso.x || 0),
+                y: (pivotPoint.y || 0) - (root_torso.y || 0),
                 rotation: headRot,
                 scaleX: flipHead ? -1 : 1,
                 scaleY: 1
@@ -182,9 +205,9 @@ export class CharacterRigRenderer {
             // Calculate final dimensions with size scaling
             const finalMouthWidth = baseMouthWidth * mouthSizeScale;
             const finalMouthHeight = baseMouthHeight * mouthSizeScale;
-            const headBaseTransform = this.applyTransform(rootTransform, {
-                x: headPivot.x || 0,
-                y: headPivot.y || 0,
+            const headBaseTransform = this.applyTransform(torsoTransform, {
+                x: (headPivot.x || 0) - (root_torso.x || 0),
+                y: (headPivot.y || 0) - (root_torso.y || 0),
                 rotation: headRot,
                 scaleX: flipHead ? -1 : 1,
                 scaleY: 1
@@ -239,9 +262,9 @@ export class CharacterRigRenderer {
         if (visibility.leftEye !== false && leftEyeImage && eyes) {
             const headPivot = pivotPoints['torso_head'] || { x: 0, y: 0 };
             const headRot = rotations["head"] || 0;
-            const headBaseTransform = this.applyTransform(rootTransform, {
-                x: headPivot.x || 0,
-                y: headPivot.y || 0,
+            const headBaseTransform = this.applyTransform(torsoTransform, {
+                x: (headPivot.x || 0) - (root_torso.x || 0),
+                y: (headPivot.y || 0) - (root_torso.y || 0),
                 rotation: headRot,
                 scaleX: flipHead ? -1 : 1,
                 scaleY: 1
@@ -282,9 +305,9 @@ export class CharacterRigRenderer {
         if (visibility.rightEye !== false && rightEyeImage && eyes) {
             const headPivot = pivotPoints['torso_head'] || { x: 0, y: 0 };
             const headRot = rotations["head"] || 0;
-            const headBaseTransform = this.applyTransform(rootTransform, {
-                x: headPivot.x || 0,
-                y: headPivot.y || 0,
+            const headBaseTransform = this.applyTransform(torsoTransform, {
+                x: (headPivot.x || 0) - (root_torso.x || 0),
+                y: (headPivot.y || 0) - (root_torso.y || 0),
                 rotation: headRot,
                 scaleX: flipHead ? -1 : 1,
                 scaleY: 1
@@ -325,9 +348,9 @@ export class CharacterRigRenderer {
         if (visibility.leftIris !== false && leftIrisImage && eyes) {
             const headPivot = pivotPoints['torso_head'] || { x: 0, y: 0 };
             const headRot = rotations["head"] || 0;
-            const headBaseTransform = this.applyTransform(rootTransform, {
-                x: headPivot.x || 0,
-                y: headPivot.y || 0,
+            const headBaseTransform = this.applyTransform(torsoTransform, {
+                x: (headPivot.x || 0) - (root_torso.x || 0),
+                y: (headPivot.y || 0) - (root_torso.y || 0),
                 rotation: headRot,
                 scaleX: flipHead ? -1 : 1,
                 scaleY: 1
@@ -370,9 +393,9 @@ export class CharacterRigRenderer {
         if (visibility.rightIris !== false && rightIrisImage && eyes) {
             const headPivot = pivotPoints['torso_head'] || { x: 0, y: 0 };
             const headRot = rotations["head"] || 0;
-            const headBaseTransform = this.applyTransform(rootTransform, {
-                x: headPivot.x || 0,
-                y: headPivot.y || 0,
+            const headBaseTransform = this.applyTransform(torsoTransform, {
+                x: (headPivot.x || 0) - (root_torso.x || 0),
+                y: (headPivot.y || 0) - (root_torso.y || 0),
                 rotation: headRot,
                 scaleX: flipHead ? -1 : 1,
                 scaleY: 1
@@ -431,9 +454,9 @@ export class CharacterRigRenderer {
         if (visibility.leftEyeLid !== false && leftEyeLidImage && eyes) {
             const headPivot = pivotPoints['torso_head'] || { x: 0, y: 0 };
             const headRot = rotations["head"] || 0;
-            const headBaseTransform = this.applyTransform(rootTransform, {
-                x: headPivot.x || 0,
-                y: headPivot.y || 0,
+            const headBaseTransform = this.applyTransform(torsoTransform, {
+                x: (headPivot.x || 0) - (root_torso.x || 0),
+                y: (headPivot.y || 0) - (root_torso.y || 0),
                 rotation: headRot,
                 scaleX: flipHead ? -1 : 1,
                 scaleY: 1
@@ -489,9 +512,9 @@ export class CharacterRigRenderer {
         if (visibility.rightEyeLid !== false && rightEyeLidImage && eyes) {
             const headPivot = pivotPoints['torso_head'] || { x: 0, y: 0 };
             const headRot = rotations["head"] || 0;
-            const headBaseTransform = this.applyTransform(rootTransform, {
-                x: headPivot.x || 0,
-                y: headPivot.y || 0,
+            const headBaseTransform = this.applyTransform(torsoTransform, {
+                x: (headPivot.x || 0) - (root_torso.x || 0),
+                y: (headPivot.y || 0) - (root_torso.y || 0),
                 rotation: headRot,
                 scaleX: flipHead ? -1 : 1,
                 scaleY: 1
@@ -536,9 +559,9 @@ export class CharacterRigRenderer {
             const height = dimensions.leftUpperArm?.height || 50;
             const limbRot = rotations['leftUpperArm'] || 0;
             const selfRot = selfRotations['leftUpperArm'] || 0;
-            const upperArmParentTransform = this.applyTransform(rootTransform, {
-                x: pivotPoint.x || 0,
-                y: pivotPoint.y || 0,
+            const upperArmParentTransform = this.applyTransform(torsoTransform, {
+                x: (pivotPoint.x || 0) - (root_torso.x || 0),
+                y: (pivotPoint.y || 0) - (root_torso.y || 0),
                 rotation: limbRot,
                 scaleX: 1,
                 scaleY: 1
@@ -582,9 +605,9 @@ export class CharacterRigRenderer {
             const height = dimensions.leftForearm?.height || 45;
             const limbRot = rotations["leftForearm"] || 0;
             const selfRot = selfRotations["leftForearm"] || 0;
-            const upperArmBase = this.applyTransform(rootTransform, {
-                x: upperPivot.x || 0,
-                y: upperPivot.y || 0,
+            const upperArmBase = this.applyTransform(torsoTransform, {
+                x: (upperPivot.x || 0) - (root_torso.x || 0),
+                y: (upperPivot.y || 0) - (root_torso.y || 0),
                 rotation: upperRot,
                 scaleX: 1,
                 scaleY: 1
@@ -639,9 +662,9 @@ export class CharacterRigRenderer {
             const height = dimensions.leftHand?.height || 30;
             const handRot = rotations["leftHand"] || 0;
             const selfRot = selfRotations["leftHand"] || 0;
-            const upperArmBase = this.applyTransform(rootTransform, {
-                x: upperPivot.x || 0,
-                y: upperPivot.y || 0,
+            const upperArmBase = this.applyTransform(torsoTransform, {
+                x: (upperPivot.x || 0) - (root_torso.x || 0),
+                y: (upperPivot.y || 0) - (root_torso.y || 0),
                 rotation: upperRot,
                 scaleX: 1,
                 scaleY: 1
@@ -695,9 +718,9 @@ export class CharacterRigRenderer {
             const height = dimensions.rightUpperArm?.height || 50;
             const limbRot = rotations['rightUpperArm'] || 0;
             const selfRot = selfRotations['rightUpperArm'] || 0;
-            const upperArmParentTransform = this.applyTransform(rootTransform, {
-                x: pivotPoint.x || 0,
-                y: pivotPoint.y || 0,
+            const upperArmParentTransform = this.applyTransform(torsoTransform, {
+                x: (pivotPoint.x || 0) - (root_torso.x || 0),
+                y: (pivotPoint.y || 0) - (root_torso.y || 0),
                 rotation: limbRot,
                 scaleX: 1,
                 scaleY: 1
@@ -741,9 +764,9 @@ export class CharacterRigRenderer {
             const height = dimensions.rightForearm?.height || 45;
             const limbRot = rotations["rightForearm"] || 0;
             const selfRot = selfRotations["rightForearm"] || 0;
-            const upperArmBase = this.applyTransform(rootTransform, {
-                x: upperPivot.x || 0,
-                y: upperPivot.y || 0,
+            const upperArmBase = this.applyTransform(torsoTransform, {
+                x: (upperPivot.x || 0) - (root_torso.x || 0),
+                y: (upperPivot.y || 0) - (root_torso.y || 0),
                 rotation: upperRot,
                 scaleX: 1,
                 scaleY: 1
@@ -798,9 +821,9 @@ export class CharacterRigRenderer {
             const height = dimensions.rightHand?.height || 30;
             const handRot = rotations["rightHand"] || 0;
             const selfRot = selfRotations["rightHand"] || 0;
-            const upperArmBase = this.applyTransform(rootTransform, {
-                x: upperPivot.x || 0,
-                y: upperPivot.y || 0,
+            const upperArmBase = this.applyTransform(torsoTransform, {
+                x: (upperPivot.x || 0) - (root_torso.x || 0),
+                y: (upperPivot.y || 0) - (root_torso.y || 0),
                 rotation: upperRot,
                 scaleX: 1,
                 scaleY: 1
@@ -1036,58 +1059,49 @@ export class CharacterRigRenderer {
         }
         // Sort all objects by zIndex
         allObjects.sort((a, b) => a.zIndex - b.zIndex);
-        // Compute pivot points in world space
+        // Compute pivot points in world space.
+        // All torso-attached joints are resolved via torsoTransform so they correctly
+        // follow any torso rotation applied around root_torso.
         const computedPivotPoints = [];
-        // Head/torso pivot
-        const torsoHead = pivotPoints['torso_head'] || { x: 0, y: 0 };
-        const headPivotWorld = this.applyTransform(rootTransform, {
-            x: torsoHead.x || 0,
-            y: torsoHead.y || 0,
-            rotation: 0,
+        // Helper: convert a root-space pivot offset to torso-local space, then to world.
+        const torsoLocalPivot = (px, py, rot) => this.applyTransform(torsoTransform, {
+            x: px - (root_torso.x || 0),
+            y: py - (root_torso.y || 0),
+            rotation: rot,
             scaleX: 1,
             scaleY: 1
         });
-        computedPivotPoints.push({
-            name: 'torso_head',
-            x: headPivotWorld.x,
-            y: headPivotWorld.y
-        });
-        // Mouth pivot
+        // root_torso pivot (the torso rotation origin in world space)
+        computedPivotPoints.push({ name: 'root_torso', x: torsoTransform.x, y: torsoTransform.y });
+        // Head/torso pivot
+        const torsoHead = pivotPoints['torso_head'] || { x: 0, y: 0 };
+        const headPivotWorld = torsoLocalPivot(torsoHead.x || 0, torsoHead.y || 0, 0);
+        computedPivotPoints.push({ name: 'torso_head', x: headPivotWorld.x, y: headPivotWorld.y });
+        // Mouth pivot — child of head, uses applyTransform chain for correctness
         const headAngle = rotations['head'] || 0;
-        const headAngleEff = flipHead ? -headAngle : headAngle;
-        const headOffX = 0; // head offset defaults to 0
-        const headOffY = 0; // head offset defaults to 0
-        const headOffEffX = flipHead ? -headOffX : headOffX;
-        const cosH = Math.cos(headAngleEff);
-        const sinH = Math.sin(headAngleEff);
         const mouthOffset = pivotPoints['head_mouth'] || { x: 0, y: 0 };
-        const mouthOffX = flipHead ? -(mouthOffset.x || 0) : (mouthOffset.x || 0);
-        const mouthOffY = mouthOffset.y || 0;
-        computedPivotPoints.push({
-            name: 'head_mouth',
-            x: centerX + (torsoHead.x || 0) + headOffEffX + (mouthOffX * cosH - mouthOffY * sinH),
-            y: centerY + (torsoHead.y || 0) + headOffY + (mouthOffX * sinH + mouthOffY * cosH)
-        });
-        // Left arm chain pivots
-        const lShoulder = pivotPoints['torso_leftUpperArm'] || { x: 0, y: 0 };
-        const lShoulderWorld = this.applyTransform(rootTransform, {
-            x: lShoulder.x || 0,
-            y: lShoulder.y || 0,
+        const mouthHeadBase = torsoLocalPivot(torsoHead.x || 0, torsoHead.y || 0, headAngle);
+        // Apply flipHead mirror to the head base before computing mouth
+        const mouthHeadBaseFlipped = {
+            ...mouthHeadBase,
+            scaleX: mouthHeadBase.scaleX * (flipHead ? -1 : 1)
+        };
+        const mouthPivotWorld = this.applyTransform(mouthHeadBaseFlipped, {
+            x: mouthOffset.x || 0,
+            y: mouthOffset.y || 0,
             rotation: 0,
             scaleX: 1,
             scaleY: 1
         });
+        computedPivotPoints.push({ name: 'head_mouth', x: mouthPivotWorld.x, y: mouthPivotWorld.y });
+        // Left arm chain pivots
+        const lShoulder = pivotPoints['torso_leftUpperArm'] || { x: 0, y: 0 };
+        const lShoulderWorld = torsoLocalPivot(lShoulder.x || 0, lShoulder.y || 0, 0);
         computedPivotPoints.push({ name: 'torso_leftUpperArm', x: lShoulderWorld.x, y: lShoulderWorld.y });
         const rL1 = rotations['leftUpperArm'] || 0;
         const leftUpperArmHeight = dimensions.leftUpperArm?.height || 50;
         const lElbowOff = pivotPoints['leftUpperArm_leftForearm'] || { x: 0, y: 0 };
-        const lElbowBase = this.applyTransform(rootTransform, {
-            x: lShoulder.x || 0,
-            y: lShoulder.y || 0,
-            rotation: rL1,
-            scaleX: 1,
-            scaleY: 1
-        });
+        const lElbowBase = torsoLocalPivot(lShoulder.x || 0, lShoulder.y || 0, rL1);
         const lElbowWorld = this.applyTransform(lElbowBase, {
             x: lElbowOff.x || 0,
             y: (lElbowOff.y || 0) - leftUpperArmHeight,
@@ -1115,24 +1129,12 @@ export class CharacterRigRenderer {
         computedPivotPoints.push({ name: 'leftForearm_leftHand', x: lWristWorld.x, y: lWristWorld.y });
         // Right arm chain pivots
         const rShoulder = pivotPoints['torso_rightUpperArm'] || { x: 0, y: 0 };
-        const rShoulderWorld = this.applyTransform(rootTransform, {
-            x: rShoulder.x || 0,
-            y: rShoulder.y || 0,
-            rotation: 0,
-            scaleX: 1,
-            scaleY: 1
-        });
+        const rShoulderWorld = torsoLocalPivot(rShoulder.x || 0, rShoulder.y || 0, 0);
         computedPivotPoints.push({ name: 'torso_rightUpperArm', x: rShoulderWorld.x, y: rShoulderWorld.y });
         const rR1 = rotations['rightUpperArm'] || 0;
         const rightUpperArmHeight = dimensions.rightUpperArm?.height || 50;
         const rElbowOff = pivotPoints['rightUpperArm_rightForearm'] || { x: 0, y: 0 };
-        const rElbowBase = this.applyTransform(rootTransform, {
-            x: rShoulder.x || 0,
-            y: rShoulder.y || 0,
-            rotation: rR1,
-            scaleX: 1,
-            scaleY: 1
-        });
+        const rElbowBase = torsoLocalPivot(rShoulder.x || 0, rShoulder.y || 0, rR1);
         const rElbowWorld = this.applyTransform(rElbowBase, {
             x: rElbowOff.x || 0,
             y: (rElbowOff.y || 0) - rightUpperArmHeight,
@@ -1158,25 +1160,17 @@ export class CharacterRigRenderer {
             scaleY: 1
         });
         computedPivotPoints.push({ name: 'rightForearm_rightHand', x: rWristWorld.x, y: rWristWorld.y });
-        // Left leg chain pivots
+        // Left leg chain pivots — legs are rooted to rootTransform, not torsoTransform
         const lHip = pivotPoints['torso_leftThigh'] || { x: 0, y: 0 };
         const lHipWorld = this.applyTransform(rootTransform, {
-            x: lHip.x || 0,
-            y: lHip.y || 0,
-            rotation: 0,
-            scaleX: 1,
-            scaleY: 1
+            x: lHip.x || 0, y: lHip.y || 0, rotation: 0, scaleX: 1, scaleY: 1
         });
         computedPivotPoints.push({ name: 'torso_leftThigh', x: lHipWorld.x, y: lHipWorld.y });
         const rLT1 = rotations['leftThigh'] || 0;
         const leftThighHeight = dimensions.leftThigh?.height || 60;
         const lKneeOff = pivotPoints['leftThigh_leftLeg'] || { x: 0, y: 0 };
         const lThighBase = this.applyTransform(rootTransform, {
-            x: lHip.x || 0,
-            y: lHip.y || 0,
-            rotation: rLT1,
-            scaleX: 1,
-            scaleY: 1
+            x: lHip.x || 0, y: lHip.y || 0, rotation: rLT1, scaleX: 1, scaleY: 1
         });
         const lKneeWorld = this.applyTransform(lThighBase, {
             x: lKneeOff.x || 0,
@@ -1186,25 +1180,17 @@ export class CharacterRigRenderer {
             scaleY: 1
         });
         computedPivotPoints.push({ name: 'leftThigh_leftLeg', x: lKneeWorld.x, y: lKneeWorld.y });
-        // Right leg chain pivots
+        // Right leg chain pivots — legs are rooted to rootTransform, not torsoTransform
         const rHip = pivotPoints['torso_rightThigh'] || { x: 0, y: 0 };
         const rHipWorld = this.applyTransform(rootTransform, {
-            x: rHip.x || 0,
-            y: rHip.y || 0,
-            rotation: 0,
-            scaleX: 1,
-            scaleY: 1
+            x: rHip.x || 0, y: rHip.y || 0, rotation: 0, scaleX: 1, scaleY: 1
         });
         computedPivotPoints.push({ name: 'torso_rightThigh', x: rHipWorld.x, y: rHipWorld.y });
         const rRT1 = rotations['rightThigh'] || 0;
         const rightThighHeight = dimensions.rightThigh?.height || 60;
         const rKneeOff = pivotPoints['rightThigh_rightLeg'] || { x: 0, y: 0 };
         const rThighBase = this.applyTransform(rootTransform, {
-            x: rHip.x || 0,
-            y: rHip.y || 0,
-            rotation: rRT1,
-            scaleX: 1,
-            scaleY: 1
+            x: rHip.x || 0, y: rHip.y || 0, rotation: rRT1, scaleX: 1, scaleY: 1
         });
         const rKneeWorld = this.applyTransform(rThighBase, {
             x: rKneeOff.x || 0,