FoxyzandClaude Opus 5.5
cb518999e5
- BodyMath.RotationError: atan2-based shortest-arc error (no NaN, no GetAxis gain collapse inside 0.16 deg); used by PhysicsTorso orientation servo and PhysicsHands rotation lock - BodyMath.ResetIfNonFinite escape hatch on torso + hands - PhysicsHands.Drive extracted (static) so spikes run the real hand chase - CollapseSpike: deterministic repro (slow yaw drift across a parked chest, 7/40 NaN on old code) + solver-stacking scenarios (seated chest in table, two-hand-welded 50 kg anvil, real PropShop) — 49/49 clean after fix, x3; all other spikes PASS x3 - Failure brief RESOLUTION section; HANDOFF/AGENTS updated Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
