🎉 Phase 4 Complete: Rehearsal Trajectory Integration

**Completion Date**: December 20, 2025 **Status**: ✅ **COMPUTATIONAL REHEARSAL OPERATIONAL** Phase 4 integrates **computational rehearsal** - the system now predicts future movement and makes proactive musical decisions rather than just reacting to the present moment. **Purpose**: Predict where the dancer's movement is heading and make musical decisions based on the *future*, not just the *present*. 1. **Trajectory Prediction** - Uses `rehearse_trajectory()` from cc-brain - Predicts 2 seconds into the future at 50 Hz (100 future frames) - Computed every 10 sensor frames (~5 Hz) for efficiency - Uses inertial extrapolation with decay (motion naturally slows down) 2. **Future-Aware Section Transitions** - **Anticipatory**: Detects rising tension in trajectory → transitions to "build" earlier - **Smoothing**: Requires sustained energy in future → prevents flickering between sections - **Predictive breakdown**: If future shows energy drop → graceful transition to breakdown