{ "schema": "NEXT11_V303_BROWSER_RUNTIME_SEQUENTIAL_FINGER_CONTACT_AUDIT", "generatedAt": "2026-08-19T19:15:48Z", "root": "/mnt/data/nex_v303_sequential_finger_contact/NEXT11_V303_SEQUENTIAL_FINGER_CONTACT_ROOT", "cases": [ { "case": { "name": "left", "side": "L", "caseId": "v94_left_full", "exercise": "hurdle-stretch", "phase": 0.25 }, "url": "http://127.0.0.1:56209/assets/nexprod/nexprod01-player.html?exercise=hurdle-stretch&caseId=v94_left_full&phase=0.25&play=0&debug=0&visualMode=nex&nativeRuntimeParity=1&nativeSkin=1&skinPreset=freeridehuman&readyTimeoutMs=12000&hostLifecycle=v303-sequential-finger-contact-browser-audit&build=NEXPROD01_RUNTIME_V303_SEQUENTIAL_FINGER_CONTACT_2026_08_19&safeBoot=0&lowPower=1&pixelRatioCap=1.15&antialias=1&maxFPS=24&staticAfterReady=0&idleSleepAfterReady=0&v=V303_left", "navigationError": null, "polls": [ { "t": 1, "hasDebug": true, "hasModel": true, "boneCount": 103, "markerCount": 23, "gripSchema": "NEXPROD01_GRIP_SOLVER_V1", "fingerSchema": "NEXPROD01_V303_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "fingerActive": true, "fingerPass": true } ], "final": { "href": "http://127.0.0.1:56209/assets/nexprod/nexprod01-player.html?exercise=hurdle-stretch&caseId=v94_left_full&phase=0.25&play=0&debug=0&visualMode=nex&nativeRuntimeParity=1&nativeSkin=1&skinPreset=freeridehuman&readyTimeoutMs=12000&hostLifecycle=v303-sequential-finger-contact-browser-audit&build=NEXPROD01_RUNTIME_V303_SEQUENTIAL_FINGER_CONTACT_2026_08_19&safeBoot=0&lowPower=1&pixelRatioCap=1.15&antialias=1&maxFPS=24&staticAfterReady=0&idleSleepAfterReady=0&v=V303_left", "ready": "complete", "hasDebug": true, "hasModel": true, "boneCount": 103, "skinnedMeshCount": 0, "canvasCount": 1, "windowMarkers": [ "__NEXPROD01_DEBUG_SCENE", "__NEXPROD01_GRIP_SOLVER_V1", "__NEXPROD01_PUBLISH", "__NEXPROD01_V100_GRIP_CAPSULE_SURFACE", "__NEXPROD01_V102_HEEL_TO_GLUTE_REACH", "__NEXPROD01_V110_DISTAL_GRIP_COUPLED", "__NEXPROD01_V140_GRIP_HAND_QA_TINT", "__NEXPROD01_V151_ACTUAL_MESH_TRUTH", "__NEXPROD01_V153_MESH_FEEDBACK", "__NEXPROD01_V157_REAL_MEDIAPIPE_HAND_FRAME", "__NEXPROD01_V169_LEG_CLOSER_ONLY", "__NEXPROD01_V175_LEG_OUT", "__NEXPROD01_V184_SNAP_ONLY_FEASIBILITY", "__NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH", "__NEXPROD01_V198_V195_DELTA_SINGLE_WRITER", "__NEXPROD01_V199_LOCK_GREEN_ROLL_PINK", "__NEXPROD01_V266_CLEAN_GRIP_CONTRACT", "__NEXPROD01_V297_PREFINGER_CHILD_LAYER_GATE", "__NEXPROD01_V301_FINGER_CHILD_LAYER_GATE", "__NEXPROD01_V303_SEQUENTIAL_FINGER_CONTACT", "__NEXPROD01_V69_SHIN_GRIP_FINGER_LAYER", "__NEXPROD01_V70_BIORIG_FULL_GRIP_LAYER", "__NEXPROD01_V93_ACTIVE_HAND_CONTROL_PROBE" ], "markerCount": 23, "gripSolverV1": { "schema": "NEXPROD01_GRIP_SOLVER_V1", "version": "V303_SEQUENTIAL_FINGER_CONTACT_CHILD_ONLY", "side": "L", "applied": true, "implemented": true, "policy": "V303 sequential child-only finger contact: V301 side-surface gate remains authority; non-thumb fingers close one joint at a time toward the shifted limb surface, with no hand/wrist/arm/leg/foot/toe writes.", "pass": true, "palmContactReady": true, "preFingerReady": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "ruleType": "v94_space_control_left_finger_grip", "targetLimb": "L_lower_shin_heel_cylinder", "targetSide": "outside_shifted_surface", "palmPoints": { "pointA": { "x": 0.98367, "y": 0.76385, "z": -0.12841, "vertex": 46363, "anatomy": "left homolog of right thenar surface, L_Thumb2-weighted" }, "pointB": { "x": -0.01101, "y": 0.62481, "z": 0.30647, "vertex": 39744, "anatomy": "left homolog of right palm surface, L_Hand-weighted" } }, "limb": { "axisA": "L_Foot", "axisB": "L_Calf", "axisPoint": { "x": 0.12016, "y": 1.01636, "z": -0.32949 }, "outside": { "x": 0.99445, "y": -0.09524, "z": -0.04478 }, "target": { "x": 0.17485, "y": 1.01112, "z": -0.33196 }, "radiusM": 0.052, "clearanceM": 0.003, "t": 0.16 }, "beforeBasis": null, "afterAngles": { "palmRay_vs_forearm": 46.7, "mcpCenter_vs_forearm": 42.21, "mcpAxis_vs_forearm": 125.46, "palmNormal_vs_forearm": 83 }, "stages": { "neutralPalm": { "applied": true, "xSource": "raw_index_minus_pinky_projected", "beforeAngles": { "palmRay_vs_forearm": 63.25, "mcpCenter_vs_forearm": 60.87, "mcpAxis_vs_forearm": 129.3, "palmNormal_vs_forearm": 58.85 }, "afterAngles": { "palmRay_vs_forearm": 10.53, "mcpCenter_vs_forearm": 6.09, "mcpAxis_vs_forearm": 90, "palmNormal_vs_forearm": 90 }, "pass": true, "policy": "Solver V1 neutral palm: visible palm/MCP axis follows the forearm before object contact. This is a named solver step, not a historical patch." }, "v297EntryFrameGate": { "schema": "NEXPROD01_V297_V286_ENTRY_FRAME_GATE", "source": "V286_NEUTRALIZE_HAND_FOR_GRIP", "active": true, "mutatesTargets": false, "side": "L", "pass": false, "gate": "NEEDS_NEUTRALIZE_BEFORE_SOLVE_GRIP", "desiredOutsideDistanceM": 0.055, "signedOutsideM": 0.02508, "palmBaseOutsideM": 0.02224, "requiredOutwardShiftM": 0.02992, "palmAcrossOutsideDot": -0.76411, "limbAxisA": "L_Foot", "limbAxisB": "L_Calf", "policy": "V297 ports V286 as a non-mutating pre-contact entry-frame gate inside the V267 clean solver. It measures whether the hand MCP/palm frame approaches from the outside shell before point snap, palm roll, or finger child-layer." }, "pointASnap": { "applied": true, "pointA0": { "x": 0.11428, "y": 0.95475, "z": -0.25105 }, "pointB0": { "x": 0.17274, "y": 0.97181, "z": -0.26103 }, "limbTargetBefore": { "x": 0.18943, "y": 0.95093, "z": -0.3791 }, "limbTargetAfter": { "x": 0.17485, "y": 1.01112, "z": -0.33196 }, "shift": { "x": 0.07515, "y": -0.00382, "z": -0.12806 }, "shiftM": 0.14853, "pointAAfter": { "x": 0.17485, "y": 1.01112, "z": -0.33196 }, "pointBAfter": { "x": 0.23331, "y": 1.02818, "z": -0.34194 }, "arm": { "ok": true, "distance": 0.45253411647940833, "minReach": 0.014049215156796717, "maxReach": 0.45253, "segmentErrorM": { "upperarm": 0, "forearm": 0 }, "clamped": true, "desiredDistance": 0.53037, "handDelta": { "x": 0.06057, "y": 0.05637, "z": -0.08091 }, "legDelta": { "x": -0.01458, "y": 0.06019, "z": 0.04715 }, "legDeltaM": 0.07784, "segmentLengths": { "thighM": 0.30846, "calfM": 0.39526, "rawThighM": 0.30323, "rawCalfM": 0.37435 }, "policy": "Arm could not reach the one outside limb point; move the target limb contact body by the residual instead of inventing a hand point. This encodes the prior learning explicitly inside the solver." }, "policy": "Step 1-2 of V300 contract: arm reach / approach places first inside-palm contact on the outside limb snap. If the arm cannot reach, object/leg-meet is the only allowed compensation; fingers/hand-only patches are not owners." }, "v300ObjectMeetGate": { "schema": "NEXPROD01_V300_OBJECT_LEG_MEET_SHIFTED_SURFACE_GATE", "active": true, "applied": true, "meetM": 0.07784, "maxObjectMeetM": 0.08, "pass": true, "legDelta": { "x": -0.01458, "y": 0.06019, "z": 0.04715 }, "clamped": true, "policy": "V300 keeps neutralization in the approach/contact layer. If arm reach cannot place first palm contact, the lower-leg/object target surface may meet the hand up to 80 mm before palm-frame validation. Surface checks must then use the shifted surface, not the original one." }, "v300ForearmAxisSecondPalmRoll": { "schema": "NEXPROD01_V300_FOREARM_AXIS_SECOND_PALM_ROLL", "active": true, "applied": true, "pass": true, "rollDeg": 115, "axis": { "x": 0.18892, "y": -0.77222, "z": -0.60662 }, "before": { "first": { "radialM": 0.055, "requiredRadialM": 0.055, "signedOutsideM": 0.055, "outsideScore": 1, "distanceToSurfaceM": 0, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "second": { "radialM": 0.11198, "requiredRadialM": 0.055, "signedOutsideM": 0.11196, "outsideScore": 0.9998, "distanceToSurfaceM": 0.05698, "penetrationM": 0, "surfaceOk": false, "sideOk": true }, "pointA": { "x": 0.17485, "y": 1.01112, "z": -0.33196 }, "pointB": { "x": 0.23331, "y": 1.02818, "z": -0.34194 } }, "after": { "first": { "radialM": 0.055, "requiredRadialM": 0.055, "signedOutsideM": 0.055, "outsideScore": 1, "distanceToSurfaceM": 0, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "second": { "radialM": 0.05512, "requiredRadialM": 0.055, "signedOutsideM": 0.04976, "outsideScore": 0.90273, "distanceToSurfaceM": 0.00012, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pointA": { "x": 0.17485, "y": 1.01112, "z": -0.33196 }, "pointB": { "x": 0.16757, "y": 0.96917, "z": -0.28729 }, "palmFacesObject": 0.94225, "handAcrossVerticalProxy": -0.78297, "grossPenetration": false, "arm": { "ok": true, "distance": 0.46887050894149274, "minReach": 0.017543664772971035, "maxReach": 0.4841249964091761, "segmentErrorM": { "upperarm": 0, "forearm": 0 } } }, "policy": "V300 contract step 3: keep the first palm contact fixed, then rotate the rigid hand/palm frame around the active wrist/forearm axis to bring the second palm point toward the shifted outside limb surface. Fingers remain blocked for visual approval." }, "v301SideSurfaceContactGate": { "schema": "NEXPROD01_V301_SIDE_SURFACE_CONTACT_GATE", "active": true, "pass": true, "palmContactReady": true, "preFingerReady": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04976, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.90273 }, "policy": "V301 replaces the explicit thumb-down requirement with a generic side/surface/penetration gate. The solver only checks that palm-side contact is on the intended object side, both palm points remain on the shifted outside surface, the palm faces the object, and the hand has not snapped through or penetrated the object. Thumb orientation is an emergent result of correct side contact, not a global constraint." } }, "nextPhase": "finger_child_layer_ready_but_deferred_to_v302_integration", "notes": [ "V301 side/surface/penetration gate passed without an explicit thumb-direction constraint", "first palm contact was held while wrist/forearm-axis roll searched the second palm point", "shifted-surface gate is evaluated after object/leg meet", "finger writes remain deferred by default so V301 only changes contact gating" ] }, "v303FingerContact": { "schema": "NEXPROD01_V303_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "active": true, "blocked": false, "ready": true, "releaseEnabled": true, "side": "L", "pass": true, "contractStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "sideGate": { "pass": true, "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04976, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.90273 } }, "limb": { "axisA": "L_Foot", "axisB": "L_Calf", "axisPoint": { "x": 0.12016, "y": 1.01636, "z": -0.32949 }, "axis": { "x": -0.06945, "y": -0.91358, "z": 0.40069 }, "outward": { "x": 0.99445, "y": -0.09524, "z": -0.04478 }, "radiusM": 0.052, "clearanceM": 0.003 }, "rows": [ { "finger": "thumb", "active": false, "reason": "thumb_writer_off_in_generic_grip_solver; thumb orientation follows side/palm contact" }, { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "x", "sign": 1, "amount": 0.36, "contactOk": false, "bestDistanceToSurfaceM": 0.02153, "prevDistanceToSurfaceM": 0.0387, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "x", "sign": 1, "amount": 0.36, "score": 0.02189, "distanceToSurfaceM": 0.02153 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.27, "contactOk": true, "bestDistanceToSurfaceM": 0.01138, "prevDistanceToSurfaceM": 0.02153, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.27, "score": 0.01165, "distanceToSurfaceM": 0.01138 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "contactOk": true, "bestDistanceToSurfaceM": 0.01138, "prevDistanceToSurfaceM": 0.01138, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.01138, "distanceToSurfaceM": 0.01138 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "x", "sign": 1, "amount": 0.735, "contactOk": false, "bestDistanceToSurfaceM": 0.0186, "prevDistanceToSurfaceM": 0.05433, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "x", "sign": 1, "amount": 0.735, "score": 0.019335, "distanceToSurfaceM": 0.0186 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.18, "contactOk": true, "bestDistanceToSurfaceM": 0.01046, "prevDistanceToSurfaceM": 0.0186, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.18, "score": 0.01064, "distanceToSurfaceM": 0.01046 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "contactOk": true, "bestDistanceToSurfaceM": 0.01046, "prevDistanceToSurfaceM": 0.01046, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.01046, "distanceToSurfaceM": 0.01046 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "x", "sign": 1, "amount": 0.84, "contactOk": false, "bestDistanceToSurfaceM": 0.0345, "prevDistanceToSurfaceM": 0.08212, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "x", "sign": 1, "amount": 0.84, "score": 0.03534, "distanceToSurfaceM": 0.0345 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.45, "contactOk": false, "bestDistanceToSurfaceM": 0.02715, "prevDistanceToSurfaceM": 0.0345, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.45, "score": 0.0276, "distanceToSurfaceM": 0.02715 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0.06, "contactOk": false, "bestDistanceToSurfaceM": 0.02719, "prevDistanceToSurfaceM": 0.02715, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.06, "score": 0.02719, "distanceToSurfaceM": 0.02719 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.84, "contactOk": false, "bestDistanceToSurfaceM": 0.05625, "prevDistanceToSurfaceM": 0.08213, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.84, "score": 0.05709, "distanceToSurfaceM": 0.05625 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "x", "sign": 1, "amount": 0.68, "contactOk": false, "bestDistanceToSurfaceM": 0.04266, "prevDistanceToSurfaceM": 0.05625, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "x", "sign": 1, "amount": 0.68, "score": 0.04334, "distanceToSurfaceM": 0.04266 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": false, "reason": "no_approved_max_for_segment" } ], "fingerResults": [ { "finger": "index", "contactOk": true, "start": { "distanceToSurfaceM": 0.0387, "penetrationM": 0, "sideOk": true, "point": { "x": 0.17417, "y": 0.68175, "z": -0.38821 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "index", "nearestM": 0.0387, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 36, "legVertexCount": 41, "nearest": { "d": 0.0387, "fingerPoint": { "x": 0.17417, "y": 0.68175, "z": -0.38821 }, "legPoint": { "x": 0.14843, "y": 0.70316, "z": -0.40764 } } }, "score": 0.0387 }, "final": { "distanceToSurfaceM": 0.01138, "penetrationM": 0, "sideOk": true, "point": { "x": 0.15783, "y": 0.69872, "z": -0.40301 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "index", "nearestM": 0.01138, "contactOk": true, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 36, "legVertexCount": 41, "nearest": { "d": 0.01138, "fingerPoint": { "x": 0.15783, "y": 0.69872, "z": -0.40301 }, "legPoint": { "x": 0.14843, "y": 0.70316, "z": -0.40764 } } }, "score": 0.01138 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "x", "sign": 1, "amount": 0.36, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.27, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ] }, { "finger": "middle", "contactOk": true, "start": { "distanceToSurfaceM": 0.05433, "penetrationM": 0, "sideOk": true, "point": { "x": 0.17711, "y": 0.66793, "z": -0.37783 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "middle", "nearestM": 0.05433, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 34, "legVertexCount": 41, "nearest": { "d": 0.05433, "fingerPoint": { "x": 0.17711, "y": 0.66793, "z": -0.37783 }, "legPoint": { "x": 0.14843, "y": 0.70316, "z": -0.40764 } } }, "score": 0.05433 }, "final": { "distanceToSurfaceM": 0.01046, "penetrationM": 0, "sideOk": true, "point": { "x": 0.1574, "y": 0.70842, "z": -0.40652 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "middle", "nearestM": 0.01046, "contactOk": true, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 34, "legVertexCount": 41, "nearest": { "d": 0.01046, "fingerPoint": { "x": 0.1574, "y": 0.70842, "z": -0.40652 }, "legPoint": { "x": 0.14843, "y": 0.70316, "z": -0.40764 } } }, "score": 0.01046 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "x", "sign": 1, "amount": 0.735, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.18, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ] }, { "finger": "ring", "contactOk": false, "start": { "radialM": 0.13712, "requiredRadialM": 0.055, "signedOutsideM": 0.09292, "outsideScore": 0.67766, "distanceToSurfaceM": 0.08212, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.18404, "y": 0.69729, "z": -0.30735 }, "score": 0.08212 }, "final": { "distanceToSurfaceM": 0.02719, "penetrationM": 0, "sideOk": true, "point": { "x": 0.15964, "y": 0.69993, "z": -0.38308 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "ring", "nearestM": 0.02719, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 37, "legVertexCount": 41, "nearest": { "d": 0.02719, "fingerPoint": { "x": 0.15964, "y": 0.69993, "z": -0.38308 }, "legPoint": { "x": 0.14843, "y": 0.70316, "z": -0.40764 } } }, "score": 0.02719 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "x", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.45, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true } ] }, { "finger": "pinky", "contactOk": false, "start": { "radialM": 0.13713, "requiredRadialM": 0.055, "signedOutsideM": 0.10079, "outsideScore": 0.73499, "distanceToSurfaceM": 0.08213, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.19149, "y": 0.68657, "z": -0.29478 }, "score": 0.08213 }, "final": { "distanceToSurfaceM": 0.04266, "penetrationM": 0, "sideOk": true, "point": { "x": 0.15221, "y": 0.67558, "z": -0.32804 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "pinky", "nearestM": 0.04266, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 39, "legVertexCount": 41, "nearest": { "d": 0.04266, "fingerPoint": { "x": 0.15221, "y": 0.67558, "z": -0.32804 }, "legPoint": { "x": 0.12557, "y": 0.69888, "z": -0.35186 } } }, "score": 0.04266 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "x", "sign": 1, "amount": 0.68, "active": true } ] } ], "parentDrift": { "checked": 16, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 8.8684e-05, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Calf", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Upperarm", "changed": false, "localQuatDeltaRad": 0.000297115, "worldPosDeltaM": 0 }, { "bone": "L_Forearm", "changed": false, "localQuatDeltaRad": 0.000149426, "worldPosDeltaM": 0 }, { "bone": "L_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thumb1", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thumb2", "changed": false, "localQuatDeltaRad": 3.6347e-05, "worldPosDeltaM": 0 }, { "bone": "L_Thumb3", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V303: after V301 side/surface gate passes, close non-thumb fingers one joint at a time (MCP -> PIP -> DIP) by scanning z-axis curl candidates and stopping at the first non-penetrating contact/improvement against the shifted limb surface. Only Index/Mid/Ring/Pinky bones may rotate; thumb, hand, wrist, arm, leg, foot and toe are immutable.", "v301FingerChildLayerGate": { "schema": "NEXPROD01_V301_FINGER_CHILD_LAYER_GATE", "active": false, "blocked": true, "ready": true, "releaseEnabled": false, "side": "L", "reason": "side_surface_gate_passed_finger_release_deferred_to_V302_child_only_integration", "contractStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "sideGate": { "schema": "NEXPROD01_V301_SIDE_SURFACE_CONTACT_GATE", "active": true, "pass": true, "palmContactReady": true, "preFingerReady": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04976, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.90273 }, "policy": "V301 replaces the explicit thumb-down requirement with a generic side/surface/penetration gate. The solver only checks that palm-side contact is on the intended object side, both palm points remain on the shifted outside surface, the palm faces the object, and the hand has not snapped through or penetrated the object. Thumb orientation is an emergent result of correct side contact, not a global constraint." }, "policy": "V301 verifies the generic side/surface contact gate but does not yet release finger writes by default. No finger, thumb, hand, wrist, arm, snap-point, leg, foot, or toe writes are made by this deferred gate." } }, "v151MeshTruth": { "active": true, "handVertexCount": 10752, "palmVertexCount": 4763, "legVertexCount": 2337, "meshToMeshNearestM": 0.006116241639990904, "nearest": { "d": 0.006116241639990904, "h": { "x": 0.15749952293310357, "y": 0.7084819946944466, "z": -0.40517271382663356, "i": 77173 }, "l": { "x": 0.1519424808492814, "y": 0.710095693905013, "z": -0.40319188825753227, "i": 63621 } }, "bones": { "H": { "x": 0.1841677326759111, "y": 0.7549463018672987, "z": -0.24906605217115435 }, "M": { "x": 0.1772384332548424, "y": 0.7088081634538136, "z": -0.31975244977543493 }, "I": { "x": 0.17565124791278658, "y": 0.7259217852540278, "z": -0.3311468652729549 }, "P": { "x": 0.19148829335861017, "y": 0.6865672256204378, "z": -0.29478171008003184 }, "Th": { "x": 0.1859015203731898, "y": 0.7607563492367779, "z": -0.27587799240559363 }, "Rg": { "x": 0.184035145089174, "y": 0.6972862063227143, "z": -0.3073464255544382 }, "F": { "x": 0.13112989467879949, "y": 0.7501606595033823, "z": -0.4049906037048754 }, "K": { "x": 0.10367787984488355, "y": 0.38906076236276715, "z": -0.24661345344084012 } }, "radial": { "M": { "r": 0.079860419135585, "vec": { "x": 0.0508820883830715, "y": 0.021438098911935828, "z": 0.05769841888068225 }, "axial": 0.005488987414750103 }, "I": { "r": 0.07521086699802114, "vec": { "x": 0.04789958807995158, "y": 0.020197946245420494, "z": 0.0543539045868104 }, "axial": -0.014601031261314873 }, "P": { "r": 0.1010766149138738, "vec": { "x": 0.06716933366311352, "y": 0.02599663579979302, "z": 0.07091500281882375 }, "axial": 0.0348236590723036 }, "Th": { "r": 0.13534836806866907, "vec": { "x": 0.05742822913562135, "y": 0.04554027340696837, "z": 0.11378603928082329 }, "axial": -0.024991221865502046 }, "Rg": { "r": 0.09007803455604442, "vec": { "x": 0.05872234265230302, "y": 0.02364275049003313, "z": 0.06408400059430969 }, "axial": 0.020514116214642872 } }, "sourceRadialSupport": { "legSurfaceM": 0.02429557101177432, "handContactFaceM": 0.0038593898728144817, "gapM": -0.020436181138959838, "legCountBand": 238, "handCountBand": 9712 }, "palmSourceRadialSupport": { "legSurfaceM": 0.02429557101177432, "palmContactFaceM": 0.042811851185918626, "gapM": 0.018516280174144306, "legCountBand": 238, "palmCountBand": 4618 }, "note": "V153 actual posed skinned-mesh truth after all writers. palmSourceRadialSupport excludes distal fingers so wrap-around cannot masquerade as palm penetration." }, "activeHandProbe": { "schema": "V93_RIGHT_HAND_CONTROL_PROBE", "side": "L", "profileId": "warmup_hurdle_stretch_right_pose_v50_ik_v1", "caseId": "v94_left_full", "phase": 0.25, "purpose": "Locate whether the bad heel-grab hand rotation is authored/normalized, one-writer commit/IK, or post-finger-layer.", "sourceContactRule": [ { "type": "v94_space_control_left_finger_grip", "gripSide": "L", "handPreset": "v83_compact_heel_hook", "contactStyle": "v94_space_control_left_kept_same_side_targets_not_solved", "wristPolicy": "left_still_not_approved_separate_rebuild_needed", "thumbVectorConstraint": "thumb_tip_world_y_negative_down_opposition" }, { "type": "support_foot_contact", "gripSide": null, "handPreset": null, "contactStyle": null, "wristPolicy": null, "thumbVectorConstraint": null } ], "rawAuthored": { "basis": { "ok": true, "forearmAxis": { "x": 0.13930469368449422, "y": -0.9118125404803262, "z": -0.3862539233979154 }, "palmRay": { "x": -0.5773502691896255, "y": -0.577350269189626, "z": -0.577350269189626 }, "mcpAxis": { "x": -0.6897882399232318, "y": 0.31270400209853094, "z": 0.6529995337939927 }, "palmNormal": { "x": 0.1990110363329293, "y": -0.7852867920164219, "z": 0.5862757556834927 }, "wristToIndex": { "x": -0.9636241116594315, "y": -0.26684975399799665, "z": 0.014824986333221215 }, "wristToPinky": { "x": 0.11393098783744397, "y": -0.5924411367547074, "z": -0.7975169148621079 }, "mcpCenter": { "x": 0.1325, "y": 0.817, "z": -0.3205 }, "mcpCenterRay": { "x": -0.4883153045628865, "y": -0.6214922058073108, "z": -0.6126137457243501 }, "angles": { "palmRay_vs_forearm": 48.01, "mcpCenter_vs_forearm": 42.67, "mcpAxis_vs_forearm": 129.3, "palmNormal_vs_forearm": 58.85 } }, "points": { "L_Forearm": { "x": 0.138, "y": 0.996, "z": -0.225 }, "L_Hand": { "x": 0.16, "y": 0.852, "z": -0.286 }, "L_PalmBase": { "x": 0.128, "y": 0.82, "z": -0.318 }, "L_PalmIndexBase": { "x": 0.095, "y": 0.834, "z": -0.285 }, "L_PalmPinkyBase": { "x": 0.17, "y": 0.8, "z": -0.356 }, "L_Foot": { "x": 0.108, "y": 0.812, "z": -0.325 }, "L_ToeBase": { "x": 0.048, "y": 0.834, "z": -0.405 } } }, "finalNormalized": { "basis": { "ok": true, "forearmAxis": { "x": 0.022968573871216053, "y": -0.982951357692262, "z": -0.18242552733995593 }, "palmRay": { "x": -0.08181440230989372, "y": -0.5447537746693578, "z": -0.8345955478902107 }, "mcpAxis": { "x": -0.28343693719558266, "y": 0.7043319122004452, "z": -0.6508302851659958 }, "palmNormal": { "x": -0.9585041562064853, "y": -0.1864454019097821, "z": 0.21565689101346452 }, "wristToIndex": { "x": -0.09735694608233557, "y": -0.3317961865007558, "z": -0.9383138684220098 }, "wristToPinky": { "x": 0.0886497142839378, "y": -0.8280493407097469, "z": -0.553602309882762 }, "mcpCenter": { "x": 0.18491630812562948, "y": 0.6888208620060796, "z": -0.31346004357491253 }, "mcpCenterRay": { "x": -0.0074425035632221135, "y": -0.6061636543443706, "z": -0.7953051196192501 }, "angles": { "palmRay_vs_forearm": 46.7, "mcpCenter_vs_forearm": 42.21, "mcpAxis_vs_forearm": 125.46, "palmNormal_vs_forearm": 83 } }, "points": { "L_Forearm": { "x": 0.17975, "y": 0.98408, "z": -0.2038 }, "L_Hand": { "x": 0.18551, "y": 0.73752, "z": -0.24956 }, "L_PalmBase": { "x": 0.17858, "y": 0.69138, "z": -0.32025 }, "L_PalmIndexBase": { "x": 0.177, "y": 0.7085, "z": -0.33164 }, "L_PalmPinkyBase": { "x": 0.19283, "y": 0.66914, "z": -0.29528 }, "L_Foot": { "x": 0.12455, "y": 0.80853, "z": -0.35483 }, "L_ToeBase": { "x": 0.05242, "y": 0.83497, "z": -0.45101 } } }, "afterCommitBeforeFingers": { "basis": { "ok": true, "forearmAxis": { "x": 0.02296858587398772, "y": -0.9829513735256727, "z": -0.18242544051459056 }, "palmRay": { "x": -0.08181435932391151, "y": -0.5447538063112092, "z": -0.8345955314509342 }, "mcpAxis": { "x": -0.2834369523876569, "y": 0.7043319085786065, "z": -0.650830282469412 }, "palmNormal": { "x": -0.9585041527995244, "y": -0.1864454371890302, "z": 0.21565687565542005 }, "wristToIndex": { "x": -0.09735692535403705, "y": -0.3317962487986082, "z": -0.938313848543642 }, "wristToPinky": { "x": 0.08864970827829784, "y": -0.8280493017358259, "z": -0.5536023691396051 }, "mcpCenter": { "x": 0.18356977063569838, "y": 0.7062445054372328, "z": -0.31296428767649337 }, "mcpCenterRay": { "x": -0.0074424945815717665, "y": -0.6061636553294047, "z": -0.79530511895253 }, "angles": { "palmRay_vs_forearm": 46.7, "mcpCenter_vs_forearm": 42.21, "mcpAxis_vs_forearm": 125.46, "palmNormal_vs_forearm": 83 } }, "errors": [ { "joint": "L_Forearm", "ok": true, "distance": 0.01462, "target": { "x": 0.17975, "y": 0.98408, "z": -0.2038 }, "actual": { "x": 0.17913, "y": 0.97045, "z": -0.20907 }, "delta": { "x": -0.00062, "y": -0.01363, "z": -0.00527 } }, { "joint": "L_Hand", "ok": true, "distance": 0.01748, "target": { "x": 0.18551, "y": 0.73752, "z": -0.24956 }, "actual": { "x": 0.18417, "y": 0.75495, "z": -0.24907 }, "delta": { "x": -0.00135, "y": 0.01742, "z": 0.0005 } }, { "joint": "L_PalmBase", "ok": true, "distance": 0.01748, "target": { "x": 0.17858, "y": 0.69138, "z": -0.32025 }, "actual": { "x": 0.17724, "y": 0.70881, "z": -0.31975 }, "delta": { "x": -0.00135, "y": 0.01742, "z": 0.0005 } }, { "joint": "L_PalmIndexBase", "ok": true, "distance": 0.01748, "target": { "x": 0.177, "y": 0.7085, "z": -0.33164 }, "actual": { "x": 0.17565, "y": 0.72592, "z": -0.33115 }, "delta": { "x": -0.00135, "y": 0.01742, "z": 0.0005 } }, { "joint": "L_PalmPinkyBase", "ok": true, "distance": 0.01748, "target": { "x": 0.19283, "y": 0.66914, "z": -0.29528 }, "actual": { "x": 0.19149, "y": 0.68657, "z": -0.29478 }, "delta": { "x": -0.00135, "y": 0.01742, "z": 0.0005 } }, { "joint": "L_Foot", "ok": true, "distance": 0.07724, "target": { "x": 0.12455, "y": 0.80853, "z": -0.35483 }, "actual": { "x": 0.13113, "y": 0.75016, "z": -0.40499 }, "delta": { "x": 0.00658, "y": -0.05837, "z": -0.05016 } }, { "joint": "L_ToeBase", "ok": true, "distance": 0.07724, "target": { "x": 0.05242, "y": 0.83497, "z": -0.45101 }, "actual": { "x": 0.059, "y": 0.77661, "z": -0.50116 }, "delta": { "x": 0.00658, "y": -0.05837, "z": -0.05016 } } ] }, "afterFingerLayer": { "basis": { "ok": true, "forearmAxis": { "x": 0.02296858587398772, "y": -0.9829513735256727, "z": -0.18242544051459056 }, "palmRay": { "x": -0.08181435932391151, "y": -0.5447538063112092, "z": -0.8345955314509342 }, "mcpAxis": { "x": -0.2834369523876569, "y": 0.7043319085786065, "z": -0.650830282469412 }, "palmNormal": { "x": -0.9585041527995244, "y": -0.1864454371890302, "z": 0.21565687565542005 }, "wristToIndex": { "x": -0.09735692535403705, "y": -0.3317962487986082, "z": -0.938313848543642 }, "wristToPinky": { "x": 0.08864970827829784, "y": -0.8280493017358259, "z": -0.5536023691396051 }, "mcpCenter": { "x": 0.18356977063569838, "y": 0.7062445054372328, "z": -0.31296428767649337 }, "mcpCenterRay": { "x": -0.0074424945815717665, "y": -0.6061636553294047, "z": -0.79530511895253 }, "angles": { "palmRay_vs_forearm": 46.7, "mcpCenter_vs_forearm": 42.21, "mcpAxis_vs_forearm": 125.46, "palmNormal_vs_forearm": 83 } }, "errors": [ { "joint": "L_Forearm", "ok": true, "distance": 0.01462, "target": { "x": 0.17975, "y": 0.98408, "z": -0.2038 }, "actual": { "x": 0.17913, "y": 0.97045, "z": -0.20907 }, "delta": { "x": -0.00062, "y": -0.01363, "z": -0.00527 } }, { "joint": "L_Hand", "ok": true, "distance": 0.01748, "target": { "x": 0.18551, "y": 0.73752, "z": -0.24956 }, "actual": { "x": 0.18417, "y": 0.75495, "z": -0.24907 }, "delta": { "x": -0.00135, "y": 0.01742, "z": 0.0005 } }, { "joint": "L_PalmBase", "ok": true, "distance": 0.01748, "target": { "x": 0.17858, "y": 0.69138, "z": -0.32025 }, "actual": { "x": 0.17724, "y": 0.70881, "z": -0.31975 }, "delta": { "x": -0.00135, "y": 0.01742, "z": 0.0005 } }, { "joint": "L_PalmIndexBase", "ok": true, "distance": 0.01748, "target": { "x": 0.177, "y": 0.7085, "z": -0.33164 }, "actual": { "x": 0.17565, "y": 0.72592, "z": -0.33115 }, "delta": { "x": -0.00135, "y": 0.01742, "z": 0.0005 } }, { "joint": "L_PalmPinkyBase", "ok": true, "distance": 0.01748, "target": { "x": 0.19283, "y": 0.66914, "z": -0.29528 }, "actual": { "x": 0.19149, "y": 0.68657, "z": -0.29478 }, "delta": { "x": -0.00135, "y": 0.01742, "z": 0.0005 } }, { "joint": "L_Foot", "ok": true, "distance": 0.07724, "target": { "x": 0.12455, "y": 0.80853, "z": -0.35483 }, "actual": { "x": 0.13113, "y": 0.75016, "z": -0.40499 }, "delta": { "x": 0.00658, "y": -0.05837, "z": -0.05016 } }, { "joint": "L_ToeBase", "ok": true, "distance": 0.07724, "target": { "x": 0.05242, "y": 0.83497, "z": -0.45101 }, "actual": { "x": 0.059, "y": 0.77661, "z": -0.50116 }, "delta": { "x": 0.00658, "y": -0.05837, "z": -0.05016 } } ] }, "comparisons": [ { "label": "raw_authored_to_final_normalized_target", "ok": true, "roll_mcp_about_target_forearm_deg": 113.79, "roll_palmray_about_target_forearm_deg": 46.21, "angle_forearm_deg": 14.09, "angle_palmray_deg": 32.48, "angle_mcp_axis_deg": 90.53, "angle_palm_normal_deg": 85.29 }, { "label": "final_target_to_after_one_writer_commit_before_fingers", "ok": true, "roll_mcp_about_target_forearm_deg": -0.0, "roll_palmray_about_target_forearm_deg": 0, "angle_forearm_deg": 0, "angle_palmray_deg": 0, "angle_mcp_axis_deg": 0, "angle_palm_normal_deg": 0 }, { "label": "after_commit_to_after_finger_layer", "ok": true, "roll_mcp_about_target_forearm_deg": 0, "roll_palmray_about_target_forearm_deg": 0, "angle_forearm_deg": 0, "angle_palmray_deg": 0, "angle_mcp_axis_deg": 0, "angle_palm_normal_deg": 0 }, { "label": "final_target_to_after_finger_layer", "ok": true, "roll_mcp_about_target_forearm_deg": -0.0, "roll_palmray_about_target_forearm_deg": 0, "angle_forearm_deg": 0, "angle_palmray_deg": 0, "angle_mcp_axis_deg": 0, "angle_palm_normal_deg": 0 } ], "summary": { "maxPointErrorAfterCommitM": 0.07724, "maxPointErrorAfterFingerM": 0.07724, "firstBreak": "normalization/authoring-frame changes raw hand roll before runtime commit" }, "fingerLayer": { "schema": "NEXPROD01_V303_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "active": true, "blocked": false, "ready": true, "releaseEnabled": true, "side": "L", "pass": true, "contractStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "sideGate": { "pass": true, "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04976, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.90273 } }, "limb": { "axisA": "L_Foot", "axisB": "L_Calf", "axisPoint": { "x": 0.12016, "y": 1.01636, "z": -0.32949 }, "axis": { "x": -0.06945, "y": -0.91358, "z": 0.40069 }, "outward": { "x": 0.99445, "y": -0.09524, "z": -0.04478 }, "radiusM": 0.052, "clearanceM": 0.003 }, "rows": [ { "finger": "thumb", "active": false, "reason": "thumb_writer_off_in_generic_grip_solver; thumb orientation follows side/palm contact" }, { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "x", "sign": 1, "amount": 0.36, "contactOk": false, "bestDistanceToSurfaceM": 0.02153, "prevDistanceToSurfaceM": 0.0387, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "x", "sign": 1, "amount": 0.36, "score": 0.02189, "distanceToSurfaceM": 0.02153 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.27, "contactOk": true, "bestDistanceToSurfaceM": 0.01138, "prevDistanceToSurfaceM": 0.02153, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.27, "score": 0.01165, "distanceToSurfaceM": 0.01138 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "contactOk": true, "bestDistanceToSurfaceM": 0.01138, "prevDistanceToSurfaceM": 0.01138, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.01138, "distanceToSurfaceM": 0.01138 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "x", "sign": 1, "amount": 0.735, "contactOk": false, "bestDistanceToSurfaceM": 0.0186, "prevDistanceToSurfaceM": 0.05433, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "x", "sign": 1, "amount": 0.735, "score": 0.019335, "distanceToSurfaceM": 0.0186 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.18, "contactOk": true, "bestDistanceToSurfaceM": 0.01046, "prevDistanceToSurfaceM": 0.0186, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.18, "score": 0.01064, "distanceToSurfaceM": 0.01046 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "contactOk": true, "bestDistanceToSurfaceM": 0.01046, "prevDistanceToSurfaceM": 0.01046, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.01046, "distanceToSurfaceM": 0.01046 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "x", "sign": 1, "amount": 0.84, "contactOk": false, "bestDistanceToSurfaceM": 0.0345, "prevDistanceToSurfaceM": 0.08212, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "x", "sign": 1, "amount": 0.84, "score": 0.03534, "distanceToSurfaceM": 0.0345 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.45, "contactOk": false, "bestDistanceToSurfaceM": 0.02715, "prevDistanceToSurfaceM": 0.0345, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.45, "score": 0.0276, "distanceToSurfaceM": 0.02715 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0.06, "contactOk": false, "bestDistanceToSurfaceM": 0.02719, "prevDistanceToSurfaceM": 0.02715, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.06, "score": 0.02719, "distanceToSurfaceM": 0.02719 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.84, "contactOk": false, "bestDistanceToSurfaceM": 0.05625, "prevDistanceToSurfaceM": 0.08213, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.84, "score": 0.05709, "distanceToSurfaceM": 0.05625 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "x", "sign": 1, "amount": 0.68, "contactOk": false, "bestDistanceToSurfaceM": 0.04266, "prevDistanceToSurfaceM": 0.05625, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "x", "sign": 1, "amount": 0.68, "score": 0.04334, "distanceToSurfaceM": 0.04266 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": false, "reason": "no_approved_max_for_segment" } ], "fingerResults": [ { "finger": "index", "contactOk": true, "start": { "distanceToSurfaceM": 0.0387, "penetrationM": 0, "sideOk": true, "point": { "x": 0.17417, "y": 0.68175, "z": -0.38821 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "index", "nearestM": 0.0387, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 36, "legVertexCount": 41, "nearest": { "d": 0.0387, "fingerPoint": { "x": 0.17417, "y": 0.68175, "z": -0.38821 }, "legPoint": { "x": 0.14843, "y": 0.70316, "z": -0.40764 } } }, "score": 0.0387 }, "final": { "distanceToSurfaceM": 0.01138, "penetrationM": 0, "sideOk": true, "point": { "x": 0.15783, "y": 0.69872, "z": -0.40301 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "index", "nearestM": 0.01138, "contactOk": true, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 36, "legVertexCount": 41, "nearest": { "d": 0.01138, "fingerPoint": { "x": 0.15783, "y": 0.69872, "z": -0.40301 }, "legPoint": { "x": 0.14843, "y": 0.70316, "z": -0.40764 } } }, "score": 0.01138 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "x", "sign": 1, "amount": 0.36, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.27, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ] }, { "finger": "middle", "contactOk": true, "start": { "distanceToSurfaceM": 0.05433, "penetrationM": 0, "sideOk": true, "point": { "x": 0.17711, "y": 0.66793, "z": -0.37783 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "middle", "nearestM": 0.05433, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 34, "legVertexCount": 41, "nearest": { "d": 0.05433, "fingerPoint": { "x": 0.17711, "y": 0.66793, "z": -0.37783 }, "legPoint": { "x": 0.14843, "y": 0.70316, "z": -0.40764 } } }, "score": 0.05433 }, "final": { "distanceToSurfaceM": 0.01046, "penetrationM": 0, "sideOk": true, "point": { "x": 0.1574, "y": 0.70842, "z": -0.40652 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "middle", "nearestM": 0.01046, "contactOk": true, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 34, "legVertexCount": 41, "nearest": { "d": 0.01046, "fingerPoint": { "x": 0.1574, "y": 0.70842, "z": -0.40652 }, "legPoint": { "x": 0.14843, "y": 0.70316, "z": -0.40764 } } }, "score": 0.01046 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "x", "sign": 1, "amount": 0.735, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.18, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ] }, { "finger": "ring", "contactOk": false, "start": { "radialM": 0.13712, "requiredRadialM": 0.055, "signedOutsideM": 0.09292, "outsideScore": 0.67766, "distanceToSurfaceM": 0.08212, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.18404, "y": 0.69729, "z": -0.30735 }, "score": 0.08212 }, "final": { "distanceToSurfaceM": 0.02719, "penetrationM": 0, "sideOk": true, "point": { "x": 0.15964, "y": 0.69993, "z": -0.38308 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "ring", "nearestM": 0.02719, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 37, "legVertexCount": 41, "nearest": { "d": 0.02719, "fingerPoint": { "x": 0.15964, "y": 0.69993, "z": -0.38308 }, "legPoint": { "x": 0.14843, "y": 0.70316, "z": -0.40764 } } }, "score": 0.02719 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "x", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.45, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true } ] }, { "finger": "pinky", "contactOk": false, "start": { "radialM": 0.13713, "requiredRadialM": 0.055, "signedOutsideM": 0.10079, "outsideScore": 0.73499, "distanceToSurfaceM": 0.08213, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.19149, "y": 0.68657, "z": -0.29478 }, "score": 0.08213 }, "final": { "distanceToSurfaceM": 0.04266, "penetrationM": 0, "sideOk": true, "point": { "x": 0.15221, "y": 0.67558, "z": -0.32804 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "pinky", "nearestM": 0.04266, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 39, "legVertexCount": 41, "nearest": { "d": 0.04266, "fingerPoint": { "x": 0.15221, "y": 0.67558, "z": -0.32804 }, "legPoint": { "x": 0.12557, "y": 0.69888, "z": -0.35186 } } }, "score": 0.04266 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "x", "sign": 1, "amount": 0.68, "active": true } ] } ], "parentDrift": { "checked": 16, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 8.8684e-05, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Calf", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Upperarm", "changed": false, "localQuatDeltaRad": 0.000297115, "worldPosDeltaM": 0 }, { "bone": "L_Forearm", "changed": false, "localQuatDeltaRad": 0.000149426, "worldPosDeltaM": 0 }, { "bone": "L_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thumb1", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thumb2", "changed": false, "localQuatDeltaRad": 3.6347e-05, "worldPosDeltaM": 0 }, { "bone": "L_Thumb3", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V303: after V301 side/surface gate passes, close non-thumb fingers one joint at a time (MCP -> PIP -> DIP) by scanning z-axis curl candidates and stopping at the first non-penetrating contact/improvement against the shifted limb surface. Only Index/Mid/Ring/Pinky bones may rotate; thumb, hand, wrist, arm, leg, foot and toe are immutable.", "v301FingerChildLayerGate": { "schema": "NEXPROD01_V301_FINGER_CHILD_LAYER_GATE", "active": false, "blocked": true, "ready": true, "releaseEnabled": false, "side": "L", "reason": "side_surface_gate_passed_finger_release_deferred_to_V302_child_only_integration", "contractStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "sideGate": { "schema": "NEXPROD01_V301_SIDE_SURFACE_CONTACT_GATE", "active": true, "pass": true, "palmContactReady": true, "preFingerReady": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04976, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.90273 }, "policy": "V301 replaces the explicit thumb-down requirement with a generic side/surface/penetration gate. The solver only checks that palm-side contact is on the intended object side, both palm points remain on the shifted outside surface, the palm faces the object, and the hand has not snapped through or penetrated the object. Thumb orientation is an emergent result of correct side contact, not a global constraint." }, "policy": "V301 verifies the generic side/surface contact gate but does not yet release finger writes by default. No finger, thumb, hand, wrist, arm, snap-point, leg, foot, or toe writes are made by this deferred gate." } } }, "fingerBones": {}, "bodyText": "NEXPROD01\none writer\nsleep\nNEXPLAYER RUNTIME\nDynamic Warm Up \u00b7 02 \u00b7 Hurdle stretch\nhurdle-stretch \u2192 warmup_hurdle_stretch_right_pose_v50_ik_v1 \u00b7 for_nex_approval \u00b7 ikHash addc0aae \u00b7 phase 0.250\nCHECK" }, "screenshot": "/mnt/data/nex_v303_sequential_finger_contact/NEXT11_V303_SEQUENTIAL_FINGER_CONTACT_ROOT/diagnostics/v303_browser_screens/V303_left_sequential_finger_contact_player.png", "summary": { "hasDebug": true, "hasModel": true, "boneCount": 103, "skinnedMeshCount": 0, "hasGripSolverV1": true, "runtimeGripVersion": "V303_SEQUENTIAL_FINGER_CONTACT_CHILD_ONLY", "gripSide": "L", "gripPass": true, "gripStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "sideSurfaceGatePass": true, "fingerSchema": "NEXPROD01_V303_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "fingerActive": true, "fingerBlocked": false, "fingerReady": true, "fingerReleaseEnabled": true, "fingerPass": true, "activeFingerJointRows": 11, "parentDriftPass": true, "parentDriftChanged": [], "thumbActiveRows": 0, "perFinger": [ { "finger": "index", "contactOk": true, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "x", "sign": 1, "amount": 0.36, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.27, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ] }, { "finger": "middle", "contactOk": true, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "x", "sign": 1, "amount": 0.735, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.18, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ] }, { "finger": "ring", "contactOk": false, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "x", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.45, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true } ] }, { "finger": "pinky", "contactOk": false, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "x", "sign": 1, "amount": 0.68, "active": true } ] } ] } }, { "case": { "name": "right", "side": "R", "caseId": "v94_right_full", "exercise": "hurdle-stretch", "phase": 0.75 }, "url": "http://127.0.0.1:56209/assets/nexprod/nexprod01-player.html?exercise=hurdle-stretch&caseId=v94_right_full&phase=0.75&play=0&debug=0&visualMode=nex&nativeRuntimeParity=1&nativeSkin=1&skinPreset=freeridehuman&readyTimeoutMs=12000&hostLifecycle=v303-sequential-finger-contact-browser-audit&build=NEXPROD01_RUNTIME_V303_SEQUENTIAL_FINGER_CONTACT_2026_08_19&safeBoot=0&lowPower=1&pixelRatioCap=1.15&antialias=1&maxFPS=24&staticAfterReady=0&idleSleepAfterReady=0&v=V303_right", "navigationError": null, "polls": [ { "t": 1, "hasDebug": true, "hasModel": true, "boneCount": 103, "markerCount": 24, "gripSchema": "NEXPROD01_GRIP_SOLVER_V1", "fingerSchema": "NEXPROD01_V303_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "fingerActive": true, "fingerPass": true } ], "final": { "href": "http://127.0.0.1:56209/assets/nexprod/nexprod01-player.html?exercise=hurdle-stretch&caseId=v94_right_full&phase=0.75&play=0&debug=0&visualMode=nex&nativeRuntimeParity=1&nativeSkin=1&skinPreset=freeridehuman&readyTimeoutMs=12000&hostLifecycle=v303-sequential-finger-contact-browser-audit&build=NEXPROD01_RUNTIME_V303_SEQUENTIAL_FINGER_CONTACT_2026_08_19&safeBoot=0&lowPower=1&pixelRatioCap=1.15&antialias=1&maxFPS=24&staticAfterReady=0&idleSleepAfterReady=0&v=V303_right", "ready": "complete", "hasDebug": true, "hasModel": true, "boneCount": 103, "skinnedMeshCount": 0, "canvasCount": 1, "windowMarkers": [ "__NEXPROD01_DEBUG_SCENE", "__NEXPROD01_GRIP_SOLVER_V1", "__NEXPROD01_PUBLISH", "__NEXPROD01_V100_GRIP_CAPSULE_SURFACE", "__NEXPROD01_V102_HEEL_TO_GLUTE_REACH", "__NEXPROD01_V110_DISTAL_GRIP_COUPLED", "__NEXPROD01_V140_GRIP_HAND_QA_TINT", "__NEXPROD01_V151_ACTUAL_MESH_TRUTH", "__NEXPROD01_V153_MESH_FEEDBACK", "__NEXPROD01_V157_REAL_MEDIAPIPE_HAND_FRAME", "__NEXPROD01_V169_LEG_CLOSER_ONLY", "__NEXPROD01_V175_LEG_OUT", "__NEXPROD01_V184_SNAP_ONLY_FEASIBILITY", "__NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH", "__NEXPROD01_V198_V195_DELTA_SINGLE_WRITER", "__NEXPROD01_V199_LOCK_GREEN_ROLL_PINK", "__NEXPROD01_V266_CLEAN_GRIP_CONTRACT", "__NEXPROD01_V297_PREFINGER_CHILD_LAYER_GATE", "__NEXPROD01_V301_FINGER_CHILD_LAYER_GATE", "__NEXPROD01_V303_SEQUENTIAL_FINGER_CONTACT", "__NEXPROD01_V69_SHIN_GRIP_FINGER_LAYER", "__NEXPROD01_V70_BIORIG_FULL_GRIP_LAYER", "__NEXPROD01_V93_ACTIVE_HAND_CONTROL_PROBE", "__NEXPROD01_V93_RIGHT_HAND_CONTROL_PROBE" ], "markerCount": 24, "gripSolverV1": { "schema": "NEXPROD01_GRIP_SOLVER_V1", "version": "V303_SEQUENTIAL_FINGER_CONTACT_CHILD_ONLY", "side": "R", "applied": true, "implemented": true, "policy": "V303 sequential child-only finger contact: V301 side-surface gate remains authority; non-thumb fingers close one joint at a time toward the shifted limb surface, with no hand/wrist/arm/leg/foot/toe writes.", "pass": true, "palmContactReady": true, "preFingerReady": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "ruleType": "v94_space_control_right_finger_grip", "targetLimb": "R_lower_shin_heel_cylinder", "targetSide": "outside_shifted_surface", "palmPoints": { "pointA": { "x": 0.93966, "y": 0.70339, "z": 0.42636, "vertex": 58174, "anatomy": "inside palm / thumb-thenar surface, R_Thumb2-weighted" }, "pointB": { "x": -0.08284, "y": 0.62487, "z": 0.34506, "vertex": 58358, "anatomy": "inside palm surface, R_Hand-weighted" } }, "limb": { "axisA": "R_Foot", "axisB": "R_Calf", "axisPoint": { "x": -0.07875, "y": 0.94635, "z": -0.32161 }, "outside": { "x": -0.99311, "y": 0.07015, "z": -0.09385 }, "target": { "x": -0.13338, "y": 0.95021, "z": -0.32677 }, "radiusM": 0.052, "clearanceM": 0.003, "t": 0.16 }, "beforeBasis": null, "afterAngles": { "palmRay_vs_forearm": 35.44, "mcpCenter_vs_forearm": 29.94, "mcpAxis_vs_forearm": 104.94, "palmNormal_vs_forearm": 66.17 }, "stages": { "neutralPalm": { "applied": true, "xSource": "raw_index_minus_pinky_projected", "beforeAngles": { "palmRay_vs_forearm": 68.28, "mcpCenter_vs_forearm": 65.66, "mcpAxis_vs_forearm": 134.88, "palmNormal_vs_forearm": 119.49 }, "afterAngles": { "palmRay_vs_forearm": 10.68, "mcpCenter_vs_forearm": 6.37, "mcpAxis_vs_forearm": 90, "palmNormal_vs_forearm": 90 }, "pass": true, "policy": "Solver V1 neutral palm: visible palm/MCP axis follows the forearm before object contact. This is a named solver step, not a historical patch." }, "v297EntryFrameGate": { "schema": "NEXPROD01_V297_V286_ENTRY_FRAME_GATE", "source": "V286_NEUTRALIZE_HAND_FOR_GRIP", "active": true, "mutatesTargets": false, "side": "R", "pass": true, "gate": "GRIP_ENTRY_FRAME_USABLE", "desiredOutsideDistanceM": 0.055, "signedOutsideM": 0.12338, "palmBaseOutsideM": 0.11954, "requiredOutwardShiftM": 0, "palmAcrossOutsideDot": -0.82552, "limbAxisA": "R_Foot", "limbAxisB": "R_Calf", "policy": "V297 ports V286 as a non-mutating pre-contact entry-frame gate inside the V267 clean solver. It measures whether the hand MCP/palm frame approaches from the outside shell before point snap, palm roll, or finger child-layer." }, "pointASnap": { "applied": true, "pointA0": { "x": -0.1507, "y": 0.9247, "z": -0.27468 }, "pointB0": { "x": -0.19695, "y": 0.94318, "z": -0.30344 }, "limbTargetBefore": { "x": -0.13344, "y": 0.94777, "z": -0.32833 }, "limbTargetAfter": { "x": -0.13338, "y": 0.95021, "z": -0.32677 }, "shift": { "x": 0.01726, "y": 0.02307, "z": -0.05365 }, "shiftM": 0.0609, "pointAAfter": { "x": -0.13338, "y": 0.95021, "z": -0.32677 }, "pointBAfter": { "x": -0.17963, "y": 0.96868, "z": -0.35553 }, "arm": { "ok": true, "distance": 0.45140559268217767, "minReach": 0.010498007252821183, "maxReach": 0.45141, "segmentErrorM": { "upperarm": 0, "forearm": 0 }, "clamped": true, "desiredDistance": 0.4543, "handDelta": { "x": 0.01732, "y": 0.02551, "z": -0.05209 }, "legDelta": { "x": 6e-05, "y": 0.00243, "z": 0.00156 }, "legDeltaM": 0.00289, "segmentLengths": { "thighM": 0.38297, "calfM": 0.39537, "rawThighM": 0.30323, "rawCalfM": 0.37435 }, "policy": "Arm could not reach the one outside limb point; move the target limb contact body by the residual instead of inventing a hand point. This encodes the prior learning explicitly inside the solver." }, "policy": "Step 1-2 of V300 contract: arm reach / approach places first inside-palm contact on the outside limb snap. If the arm cannot reach, object/leg-meet is the only allowed compensation; fingers/hand-only patches are not owners." }, "v300ObjectMeetGate": { "schema": "NEXPROD01_V300_OBJECT_LEG_MEET_SHIFTED_SURFACE_GATE", "active": true, "applied": true, "meetM": 0.00289, "maxObjectMeetM": 0.08, "pass": true, "legDelta": { "x": 6e-05, "y": 0.00243, "z": 0.00156 }, "clamped": true, "policy": "V300 keeps neutralization in the approach/contact layer. If arm reach cannot place first palm contact, the lower-leg/object target surface may meet the hand up to 80 mm before palm-frame validation. Surface checks must then use the shifted surface, not the original one." }, "v300ForearmAxisSecondPalmRoll": { "schema": "NEXPROD01_V300_FOREARM_AXIS_SECOND_PALM_ROLL", "active": true, "applied": true, "pass": true, "rollDeg": 73, "axis": { "x": -0.02199, "y": -0.84069, "z": -0.54107 }, "before": { "first": { "radialM": 0.055, "requiredRadialM": 0.055, "signedOutsideM": 0.055, "outsideScore": 1, "distanceToSurfaceM": 0, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "second": { "radialM": 0.10646, "requiredRadialM": 0.055, "signedOutsideM": 0.10493, "outsideScore": 0.98565, "distanceToSurfaceM": 0.05146, "penetrationM": 0, "surfaceOk": false, "sideOk": true }, "pointA": { "x": -0.13338, "y": 0.95021, "z": -0.32677 }, "pointB": { "x": -0.17963, "y": 0.96868, "z": -0.35553 } }, "after": { "first": { "radialM": 0.055, "requiredRadialM": 0.055, "signedOutsideM": 0.055, "outsideScore": 1, "distanceToSurfaceM": 0, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "second": { "radialM": 0.05537, "requiredRadialM": 0.055, "signedOutsideM": 0.04232, "outsideScore": 0.76427, "distanceToSurfaceM": 0.00037, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pointA": { "x": -0.13338, "y": 0.95021, "z": -0.32677 }, "pointB": { "x": -0.11424, "y": 0.97832, "z": -0.37315 }, "palmFacesObject": 0.93477, "handAcrossVerticalProxy": 0.36582, "grossPenetration": false, "arm": { "ok": true, "distance": 0.45739882884412997, "minReach": 0.0015090627052331263, "maxReach": 0.46341066264023184, "segmentErrorM": { "upperarm": 0, "forearm": 0 } } }, "policy": "V300 contract step 3: keep the first palm contact fixed, then rotate the rigid hand/palm frame around the active wrist/forearm axis to bring the second palm point toward the shifted outside limb surface. Fingers remain blocked for visual approval." }, "v301SideSurfaceContactGate": { "schema": "NEXPROD01_V301_SIDE_SURFACE_CONTACT_GATE", "active": true, "pass": true, "palmContactReady": true, "preFingerReady": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04232, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76427 }, "policy": "V301 replaces the explicit thumb-down requirement with a generic side/surface/penetration gate. The solver only checks that palm-side contact is on the intended object side, both palm points remain on the shifted outside surface, the palm faces the object, and the hand has not snapped through or penetrated the object. Thumb orientation is an emergent result of correct side contact, not a global constraint." } }, "nextPhase": "finger_child_layer_ready_but_deferred_to_v302_integration", "notes": [ "V301 side/surface/penetration gate passed without an explicit thumb-direction constraint", "first palm contact was held while wrist/forearm-axis roll searched the second palm point", "shifted-surface gate is evaluated after object/leg meet", "finger writes remain deferred by default so V301 only changes contact gating" ] }, "v303FingerContact": { "schema": "NEXPROD01_V303_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "active": true, "blocked": false, "ready": true, "releaseEnabled": true, "side": "R", "pass": true, "contractStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "sideGate": { "pass": true, "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04232, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76427 } }, "limb": { "axisA": "R_Foot", "axisB": "R_Calf", "axisPoint": { "x": -0.07875, "y": 0.94635, "z": -0.32161 }, "axis": { "x": -0.09696, "y": -0.94174, "z": 0.32205 }, "outward": { "x": -0.99311, "y": 0.07015, "z": -0.09385 }, "radiusM": 0.052, "clearanceM": 0.003 }, "rows": [ { "finger": "thumb", "active": false, "reason": "thumb_writer_off_in_generic_grip_solver; thumb orientation follows side/palm contact" }, { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.36, "contactOk": false, "bestDistanceToSurfaceM": 0.06346, "prevDistanceToSurfaceM": 0.06346, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.36, "score": 0.06346, "distanceToSurfaceM": 0.06346 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.72, "contactOk": false, "bestDistanceToSurfaceM": 0.06346, "prevDistanceToSurfaceM": 0.06346, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.72, "score": 0.06346, "distanceToSurfaceM": 0.06346 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0.36, "contactOk": false, "bestDistanceToSurfaceM": 0.06346, "prevDistanceToSurfaceM": 0.06346, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.36, "score": 0.06346, "distanceToSurfaceM": 0.06346 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.84, "contactOk": false, "bestDistanceToSurfaceM": 0.07584, "prevDistanceToSurfaceM": 0.07584, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.84, "score": 0.07584, "distanceToSurfaceM": 0.07584 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.72, "contactOk": false, "bestDistanceToSurfaceM": 0.07584, "prevDistanceToSurfaceM": 0.07584, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.72, "score": 0.07584, "distanceToSurfaceM": 0.07584 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0.36, "contactOk": false, "bestDistanceToSurfaceM": 0.07584, "prevDistanceToSurfaceM": 0.07584, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.36, "score": 0.07584, "distanceToSurfaceM": 0.07584 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.84, "contactOk": false, "bestDistanceToSurfaceM": 0.0817, "prevDistanceToSurfaceM": 0.0817, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.84, "score": 0.0817, "distanceToSurfaceM": 0.0817 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.72, "contactOk": false, "bestDistanceToSurfaceM": 0.0817, "prevDistanceToSurfaceM": 0.0817, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.72, "score": 0.0817, "distanceToSurfaceM": 0.0817 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0.06, "contactOk": false, "bestDistanceToSurfaceM": 0.0817, "prevDistanceToSurfaceM": 0.0817, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.06, "score": 0.0817, "distanceToSurfaceM": 0.0817 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "pinky", "segment": 0, "joint": "MCP", "active": false, "axis": null, "sign": null, "amount": 0, "contactOk": false, "bestDistanceToSurfaceM": 0.05947, "prevDistanceToSurfaceM": 0.05959, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "x", "sign": -1, "amount": 0.105, "score": 0.059575, "distanceToSurfaceM": 0.05947 }, "reason": "held_no_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.68, "contactOk": false, "bestDistanceToSurfaceM": 0.05959, "prevDistanceToSurfaceM": 0.05959, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.68, "score": 0.05959, "distanceToSurfaceM": 0.05959 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": false, "reason": "no_approved_max_for_segment" } ], "fingerResults": [ { "finger": "index", "contactOk": false, "start": { "radialM": 0.11846, "requiredRadialM": 0.055, "signedOutsideM": 0.06088, "outsideScore": 0.51391, "distanceToSurfaceM": 0.06346, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.15004, "y": 0.74704, "z": -0.36487 }, "score": 0.06346 }, "final": { "radialM": 0.11846, "requiredRadialM": 0.055, "signedOutsideM": 0.06088, "outsideScore": 0.51391, "distanceToSurfaceM": 0.06346, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.15004, "y": 0.74704, "z": -0.36487 }, "score": 0.06346 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.36, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true } ] }, { "finger": "middle", "contactOk": false, "start": { "radialM": 0.13084, "requiredRadialM": 0.055, "signedOutsideM": 0.05942, "outsideScore": 0.45413, "distanceToSurfaceM": 0.07584, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.14623, "y": 0.75545, "z": -0.38341 }, "score": 0.07584 }, "final": { "radialM": 0.13084, "requiredRadialM": 0.055, "signedOutsideM": 0.05942, "outsideScore": 0.45413, "distanceToSurfaceM": 0.07584, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.14623, "y": 0.75545, "z": -0.38341 }, "score": 0.07584 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true } ] }, { "finger": "ring", "contactOk": false, "start": { "radialM": 0.1367, "requiredRadialM": 0.055, "signedOutsideM": 0.05214, "outsideScore": 0.38138, "distanceToSurfaceM": 0.0817, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.13705, "y": 0.76438, "z": -0.39629 }, "score": 0.0817 }, "final": { "radialM": 0.1367, "requiredRadialM": 0.055, "signedOutsideM": 0.05214, "outsideScore": 0.38138, "distanceToSurfaceM": 0.0817, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.13705, "y": 0.76438, "z": -0.39629 }, "score": 0.0817 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true } ] }, { "finger": "pinky", "contactOk": false, "start": { "distanceToSurfaceM": 0.05959, "penetrationM": 0, "sideOk": true, "point": { "x": -0.12115, "y": 0.7891, "z": -0.40491 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "pinky", "nearestM": 0.05959, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 38, "legVertexCount": 39, "nearest": { "d": 0.05959, "fingerPoint": { "x": -0.12115, "y": 0.7891, "z": -0.40491 }, "legPoint": { "x": -0.08781, "y": 0.81603, "z": -0.36352 } } }, "score": 0.05959 }, "final": { "distanceToSurfaceM": 0.05959, "penetrationM": 0, "sideOk": true, "point": { "x": -0.12115, "y": 0.7891, "z": -0.40491 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "pinky", "nearestM": 0.05959, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 38, "legVertexCount": 39, "nearest": { "d": 0.05959, "fingerPoint": { "x": -0.12115, "y": 0.7891, "z": -0.40491 }, "legPoint": { "x": -0.08781, "y": 0.81603, "z": -0.36352 } } }, "score": 0.05959 }, "worstPenetrationM": 0, "terms": [ { "seg": 1, "axis": "z", "sign": 1, "amount": 0.68, "active": true } ] } ], "parentDrift": { "checked": 16, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 8.8684e-05, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Calf", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Upperarm", "changed": false, "localQuatDeltaRad": 0.0004429, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Thumb1", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Thumb2", "changed": false, "localQuatDeltaRad": 4.3988e-05, "worldPosDeltaM": 0 }, { "bone": "R_Thumb3", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V303: after V301 side/surface gate passes, close non-thumb fingers one joint at a time (MCP -> PIP -> DIP) by scanning z-axis curl candidates and stopping at the first non-penetrating contact/improvement against the shifted limb surface. Only Index/Mid/Ring/Pinky bones may rotate; thumb, hand, wrist, arm, leg, foot and toe are immutable.", "v301FingerChildLayerGate": { "schema": "NEXPROD01_V301_FINGER_CHILD_LAYER_GATE", "active": false, "blocked": true, "ready": true, "releaseEnabled": false, "side": "R", "reason": "side_surface_gate_passed_finger_release_deferred_to_V302_child_only_integration", "contractStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "sideGate": { "schema": "NEXPROD01_V301_SIDE_SURFACE_CONTACT_GATE", "active": true, "pass": true, "palmContactReady": true, "preFingerReady": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04232, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76427 }, "policy": "V301 replaces the explicit thumb-down requirement with a generic side/surface/penetration gate. The solver only checks that palm-side contact is on the intended object side, both palm points remain on the shifted outside surface, the palm faces the object, and the hand has not snapped through or penetrated the object. Thumb orientation is an emergent result of correct side contact, not a global constraint." }, "policy": "V301 verifies the generic side/surface contact gate but does not yet release finger writes by default. No finger, thumb, hand, wrist, arm, snap-point, leg, foot, or toe writes are made by this deferred gate." } }, "v151MeshTruth": { "active": true, "handVertexCount": 10755, "palmVertexCount": 4763, "legVertexCount": 2337, "meshToMeshNearestM": 0.005294404096676208, "nearest": { "d": 0.005294404096676208, "h": { "x": -0.10039452660024349, "y": 0.8340919874692001, "z": -0.34097278467324016, "i": 57619 }, "l": { "x": -0.0951794993391814, "y": 0.8334906273269227, "z": -0.3416602229501503, "i": 70541 } }, "bones": { "H": { "x": -0.1207373126595309, "y": 0.8287622234497477, "z": -0.34626184849153424 }, "M": { "x": -0.14622623476027347, "y": 0.7554488428881334, "z": -0.38340844433259197 }, "I": { "x": -0.15004161396429636, "y": 0.7470407133717458, "z": -0.3648686743639632 }, "P": { "x": -0.127346343680383, "y": 0.7733320004394392, "z": -0.4084250653669186 }, "Th": { "x": -0.12582677959211, "y": 0.8027314534034363, "z": -0.3376040789372039 }, "Rg": { "x": -0.13704539923973577, "y": 0.7643756361257313, "z": -0.3962865236989054 }, "F": { "x": -0.07290194572114439, "y": 0.8026745637279653, "z": -0.34332861346683674 }, "K": { "x": -0.11123658208556227, "y": 0.4303332072896015, "z": -0.21599821708689507 } }, "radial": { "M": { "r": 0.08784796075032177, "vec": { "x": -0.06957432594844352, "y": -0.010802619535141587, "z": -0.05253551929874481 }, "axial": -0.02458364878784054 }, "I": { "r": 0.08189929248700385, "vec": { "x": -0.07200718434891397, "y": -0.0057824314745615665, "z": -0.038587860762878845 }, "axial": -0.01032466691215729 }, "P": { "r": 0.08899426790935908, "vec": { "x": -0.05328597707820339, "y": -0.01809091091674219, "z": -0.06894420432310797 }, "axial": -0.05131218213252554 }, "Th": { "r": 0.05278166820724334, "vec": { "x": -0.05225374045306206, "y": 0.006575168110244445, "z": 0.003495464450623483 }, "axial": -0.0563383585534965 }, "Rg": { "r": 0.08802887022108719, "vec": { "x": -0.06169702177680781, "y": -0.014536925414179662, "z": -0.06108385462440701 }, "axial": -0.03802795272208741 } }, "sourceRadialSupport": { "legSurfaceM": 0.029305549030179977, "handContactFaceM": 0.02173014202576943, "gapM": -0.007575407004410548, "legCountBand": 208, "handCountBand": 7416 }, "palmSourceRadialSupport": { "legSurfaceM": 0.029305549030179977, "palmContactFaceM": 0.02173014202576943, "gapM": -0.007575407004410548, "legCountBand": 208, "palmCountBand": 3508 }, "note": "V153 actual posed skinned-mesh truth after all writers. palmSourceRadialSupport excludes distal fingers so wrap-around cannot masquerade as palm penetration." }, "activeHandProbe": { "schema": "V93_RIGHT_HAND_CONTROL_PROBE", "side": "R", "profileId": "warmup_hurdle_stretch_right_pose_v50_ik_v1", "caseId": "v94_right_full", "phase": 0.75, "purpose": "Locate whether the bad heel-grab hand rotation is authored/normalized, one-writer commit/IK, or post-finger-layer.", "sourceContactRule": [ { "type": "v94_space_control_right_finger_grip", "gripSide": "R", "handPreset": "v83_compact_heel_hook", "contactStyle": "v94_space_control_normalized_same_side_fingertip_targets_thumb_down", "wristPolicy": "lock_v86_v91_roll_no_v87_90deg_compensation", "thumbVectorConstraint": "thumb_tip_world_y_negative_down_opposition" }, { "type": "support_foot_contact", "gripSide": null, "handPreset": null, "contactStyle": null, "wristPolicy": null, "thumbVectorConstraint": null } ], "rawAuthored": { "basis": { "ok": true, "forearmAxis": { "x": -0.1499619285617507, "y": -0.9122683987506505, "z": -0.38115323509444926 }, "palmRay": { "x": 0.5525321015128176, "y": -0.589367574947006, "z": -0.589367574947006 }, "mcpAxis": { "x": 0.6400261077368842, "y": 0.39227406603228293, "z": 0.6606721112122673 }, "palmNormal": { "x": 0.1641411504193291, "y": 0.7702007827368496, "z": -0.6163184542187287 }, "wristToIndex": { "x": 0.9678215817483968, "y": -0.24195539543709932, "z": -0.06913011298202934 }, "wristToPinky": { "x": -0.06991886350763156, "y": -0.6059634837328055, "z": -0.7924137864198243 }, "mcpCenter": { "x": -0.137, "y": 0.817, "z": -0.32199999999999995 }, "mcpCenterRay": { "x": 0.4556766353603054, "y": -0.6014931586756037, "z": -0.6561743549188405 }, "angles": { "palmRay_vs_forearm": 47.2, "mcpCenter_vs_forearm": 43.07, "mcpAxis_vs_forearm": 134.88, "palmNormal_vs_forearm": 119.49 } }, "points": { "R_Forearm": { "x": -0.138, "y": 0.996, "z": -0.225 }, "R_Hand": { "x": -0.162, "y": 0.85, "z": -0.286 }, "R_PalmBase": { "x": -0.132, "y": 0.818, "z": -0.318 }, "R_PalmIndexBase": { "x": -0.106, "y": 0.836, "z": -0.29 }, "R_PalmPinkyBase": { "x": -0.168, "y": 0.798, "z": -0.354 }, "R_Foot": { "x": -0.108, "y": 0.812, "z": -0.325 }, "R_ToeBase": { "x": -0.048, "y": 0.834, "z": -0.405 } } }, "finalNormalized": { "basis": { "ok": true, "forearmAxis": { "x": 0.2654564293088304, "y": -0.7287446770652007, "z": -0.6312401126257285 }, "palmRay": { "x": -0.2962145585214026, "y": -0.8519971108657594, "z": -0.4316918558374361 }, "mcpAxis": { "x": -0.4073914090513697, "y": -0.4719417108863736, "z": 0.7818588500213974 }, "palmNormal": { "x": 0.8851957066070935, "y": -0.4146420895481806, "z": 0.21095141284069827 }, "wristToIndex": { "x": -0.33004692820556286, "y": -0.920408611868654, "z": -0.20956386229521884 }, "wristToPinky": { "x": -0.07910348948186957, "y": -0.66344470658621, "z": -0.7440320955809161 }, "mcpCenter": { "x": -0.13829910859535297, "y": 0.7584687061064759, "z": -0.38947394318922346 }, "mcpCenterRay": { "x": -0.22009881400016468, "y": -0.8405495158700073, "z": -0.49500810442498566 }, "angles": { "palmRay_vs_forearm": 35.44, "mcpCenter_vs_forearm": 29.94, "mcpAxis_vs_forearm": 104.94, "palmNormal_vs_forearm": 66.17 } }, "points": { "R_Forearm": { "x": -0.18205, "y": 0.99645, "z": -0.20235 }, "R_Hand": { "x": -0.12034, "y": 0.82704, "z": -0.34909 }, "R_PalmBase": { "x": -0.14583, "y": 0.75373, "z": -0.38624 }, "R_PalmIndexBase": { "x": -0.14965, "y": 0.74532, "z": -0.3677 }, "R_PalmPinkyBase": { "x": -0.12695, "y": 0.77161, "z": -0.41125 }, "R_Foot": { "x": -0.07262, "y": 0.80502, "z": -0.34198 }, "R_ToeBase": { "x": -0.0005, "y": 0.83147, "z": -0.43815 } } }, "afterCommitBeforeFingers": { "basis": { "ok": true, "forearmAxis": { "x": 0.26545641834222355, "y": -0.7287446574495333, "z": -0.6312401398831357 }, "palmRay": { "x": -0.2962145200523702, "y": -0.851997104885133, "z": -0.4316918940372817 }, "mcpAxis": { "x": -0.40739138860937385, "y": -0.471941678281189, "z": 0.7818588803537766 }, "palmNormal": { "x": 0.885195715988438, "y": -0.4146420673611113, "z": 0.2109514170851194 }, "wristToIndex": { "x": -0.3300468991461368, "y": -0.9204086019412488, "z": -0.2095639516629124 }, "wristToPinky": { "x": -0.07910354408653247, "y": -0.6634447736420137, "z": -0.7440320299826124 }, "mcpCenter": { "x": -0.1386939788223397, "y": 0.7601863569055924, "z": -0.3866468698654409 }, "mcpCenterRay": { "x": -0.22009881541649412, "y": -0.8405495126812135, "z": -0.49500810920997124 }, "angles": { "palmRay_vs_forearm": 35.44, "mcpCenter_vs_forearm": 29.94, "mcpAxis_vs_forearm": 104.94, "palmNormal_vs_forearm": 66.17 } }, "errors": [ { "joint": "R_Forearm", "ok": true, "distance": 0.00893, "target": { "x": -0.18205, "y": 0.99645, "z": -0.20235 }, "actual": { "x": -0.17926, "y": 0.98942, "z": -0.2071 }, "delta": { "x": 0.00279, "y": -0.00703, "z": -0.00475 } }, { "joint": "R_Hand", "ok": true, "distance": 0.00333, "target": { "x": -0.12034, "y": 0.82704, "z": -0.34909 }, "actual": { "x": -0.12074, "y": 0.82876, "z": -0.34626 }, "delta": { "x": -0.00039, "y": 0.00172, "z": 0.00283 } }, { "joint": "R_PalmBase", "ok": true, "distance": 0.00333, "target": { "x": -0.14583, "y": 0.75373, "z": -0.38624 }, "actual": { "x": -0.14623, "y": 0.75545, "z": -0.38341 }, "delta": { "x": -0.00039, "y": 0.00172, "z": 0.00283 } }, { "joint": "R_PalmIndexBase", "ok": true, "distance": 0.00333, "target": { "x": -0.14965, "y": 0.74532, "z": -0.3677 }, "actual": { "x": -0.15004, "y": 0.74704, "z": -0.36487 }, "delta": { "x": -0.00039, "y": 0.00172, "z": 0.00283 } }, { "joint": "R_PalmPinkyBase", "ok": true, "distance": 0.00333, "target": { "x": -0.12695, "y": 0.77161, "z": -0.41125 }, "actual": { "x": -0.12735, "y": 0.77333, "z": -0.40843 }, "delta": { "x": -0.00039, "y": 0.00172, "z": 0.00283 } }, { "joint": "R_Foot", "ok": true, "distance": 0.00272, "target": { "x": -0.07262, "y": 0.80502, "z": -0.34198 }, "actual": { "x": -0.0729, "y": 0.80267, "z": -0.34333 }, "delta": { "x": -0.00028, "y": -0.00235, "z": -0.00135 } }, { "joint": "R_ToeBase", "ok": true, "distance": 0.00272, "target": { "x": -0.0005, "y": 0.83147, "z": -0.43815 }, "actual": { "x": -0.00078, "y": 0.82912, "z": -0.43949 }, "delta": { "x": -0.00028, "y": -0.00235, "z": -0.00135 } } ] }, "afterFingerLayer": { "basis": { "ok": true, "forearmAxis": { "x": 0.26545641834222355, "y": -0.7287446574495333, "z": -0.6312401398831357 }, "palmRay": { "x": -0.2962145200523702, "y": -0.851997104885133, "z": -0.4316918940372817 }, "mcpAxis": { "x": -0.40739138860937385, "y": -0.471941678281189, "z": 0.7818588803537766 }, "palmNormal": { "x": 0.885195715988438, "y": -0.4146420673611113, "z": 0.2109514170851194 }, "wristToIndex": { "x": -0.3300468991461368, "y": -0.9204086019412488, "z": -0.2095639516629124 }, "wristToPinky": { "x": -0.07910354408653247, "y": -0.6634447736420137, "z": -0.7440320299826124 }, "mcpCenter": { "x": -0.1386939788223397, "y": 0.7601863569055924, "z": -0.3866468698654409 }, "mcpCenterRay": { "x": -0.22009881541649412, "y": -0.8405495126812135, "z": -0.49500810920997124 }, "angles": { "palmRay_vs_forearm": 35.44, "mcpCenter_vs_forearm": 29.94, "mcpAxis_vs_forearm": 104.94, "palmNormal_vs_forearm": 66.17 } }, "errors": [ { "joint": "R_Forearm", "ok": true, "distance": 0.00893, "target": { "x": -0.18205, "y": 0.99645, "z": -0.20235 }, "actual": { "x": -0.17926, "y": 0.98942, "z": -0.2071 }, "delta": { "x": 0.00279, "y": -0.00703, "z": -0.00475 } }, { "joint": "R_Hand", "ok": true, "distance": 0.00333, "target": { "x": -0.12034, "y": 0.82704, "z": -0.34909 }, "actual": { "x": -0.12074, "y": 0.82876, "z": -0.34626 }, "delta": { "x": -0.00039, "y": 0.00172, "z": 0.00283 } }, { "joint": "R_PalmBase", "ok": true, "distance": 0.00333, "target": { "x": -0.14583, "y": 0.75373, "z": -0.38624 }, "actual": { "x": -0.14623, "y": 0.75545, "z": -0.38341 }, "delta": { "x": -0.00039, "y": 0.00172, "z": 0.00283 } }, { "joint": "R_PalmIndexBase", "ok": true, "distance": 0.00333, "target": { "x": -0.14965, "y": 0.74532, "z": -0.3677 }, "actual": { "x": -0.15004, "y": 0.74704, "z": -0.36487 }, "delta": { "x": -0.00039, "y": 0.00172, "z": 0.00283 } }, { "joint": "R_PalmPinkyBase", "ok": true, "distance": 0.00333, "target": { "x": -0.12695, "y": 0.77161, "z": -0.41125 }, "actual": { "x": -0.12735, "y": 0.77333, "z": -0.40843 }, "delta": { "x": -0.00039, "y": 0.00172, "z": 0.00283 } }, { "joint": "R_Foot", "ok": true, "distance": 0.00272, "target": { "x": -0.07262, "y": 0.80502, "z": -0.34198 }, "actual": { "x": -0.0729, "y": 0.80267, "z": -0.34333 }, "delta": { "x": -0.00028, "y": -0.00235, "z": -0.00135 } }, { "joint": "R_ToeBase", "ok": true, "distance": 0.00272, "target": { "x": -0.0005, "y": 0.83147, "z": -0.43815 }, "actual": { "x": -0.00078, "y": 0.82912, "z": -0.43949 }, "delta": { "x": -0.00028, "y": -0.00235, "z": -0.00135 } } ] }, "comparisons": [ { "label": "raw_authored_to_final_normalized_target", "ok": true, "roll_mcp_about_target_forearm_deg": 72.65, "roll_palmray_about_target_forearm_deg": -129.46, "angle_forearm_deg": 30.05, "angle_palmray_deg": 53.64, "angle_mcp_axis_deg": 85.95, "angle_palm_normal_deg": 107.7 }, { "label": "final_target_to_after_one_writer_commit_before_fingers", "ok": true, "roll_mcp_about_target_forearm_deg": -0.0, "roll_palmray_about_target_forearm_deg": 0, "angle_forearm_deg": 0, "angle_palmray_deg": 0, "angle_mcp_axis_deg": 0, "angle_palm_normal_deg": 0 }, { "label": "after_commit_to_after_finger_layer", "ok": true, "roll_mcp_about_target_forearm_deg": 0, "roll_palmray_about_target_forearm_deg": 0, "angle_forearm_deg": 0, "angle_palmray_deg": 0, "angle_mcp_axis_deg": 0, "angle_palm_normal_deg": 0 }, { "label": "final_target_to_after_finger_layer", "ok": true, "roll_mcp_about_target_forearm_deg": -0.0, "roll_palmray_about_target_forearm_deg": 0, "angle_forearm_deg": 0, "angle_palmray_deg": 0, "angle_mcp_axis_deg": 0, "angle_palm_normal_deg": 0 } ], "summary": { "maxPointErrorAfterCommitM": 0.00893, "maxPointErrorAfterFingerM": 0.00893, "firstBreak": "normalization/authoring-frame changes raw hand roll before runtime commit" }, "fingerLayer": { "schema": "NEXPROD01_V303_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "active": true, "blocked": false, "ready": true, "releaseEnabled": true, "side": "R", "pass": true, "contractStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "sideGate": { "pass": true, "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04232, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76427 } }, "limb": { "axisA": "R_Foot", "axisB": "R_Calf", "axisPoint": { "x": -0.07875, "y": 0.94635, "z": -0.32161 }, "axis": { "x": -0.09696, "y": -0.94174, "z": 0.32205 }, "outward": { "x": -0.99311, "y": 0.07015, "z": -0.09385 }, "radiusM": 0.052, "clearanceM": 0.003 }, "rows": [ { "finger": "thumb", "active": false, "reason": "thumb_writer_off_in_generic_grip_solver; thumb orientation follows side/palm contact" }, { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.36, "contactOk": false, "bestDistanceToSurfaceM": 0.06346, "prevDistanceToSurfaceM": 0.06346, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.36, "score": 0.06346, "distanceToSurfaceM": 0.06346 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.72, "contactOk": false, "bestDistanceToSurfaceM": 0.06346, "prevDistanceToSurfaceM": 0.06346, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.72, "score": 0.06346, "distanceToSurfaceM": 0.06346 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0.36, "contactOk": false, "bestDistanceToSurfaceM": 0.06346, "prevDistanceToSurfaceM": 0.06346, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.36, "score": 0.06346, "distanceToSurfaceM": 0.06346 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.84, "contactOk": false, "bestDistanceToSurfaceM": 0.07584, "prevDistanceToSurfaceM": 0.07584, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.84, "score": 0.07584, "distanceToSurfaceM": 0.07584 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.72, "contactOk": false, "bestDistanceToSurfaceM": 0.07584, "prevDistanceToSurfaceM": 0.07584, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.72, "score": 0.07584, "distanceToSurfaceM": 0.07584 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0.36, "contactOk": false, "bestDistanceToSurfaceM": 0.07584, "prevDistanceToSurfaceM": 0.07584, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.36, "score": 0.07584, "distanceToSurfaceM": 0.07584 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.84, "contactOk": false, "bestDistanceToSurfaceM": 0.0817, "prevDistanceToSurfaceM": 0.0817, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.84, "score": 0.0817, "distanceToSurfaceM": 0.0817 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.72, "contactOk": false, "bestDistanceToSurfaceM": 0.0817, "prevDistanceToSurfaceM": 0.0817, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.72, "score": 0.0817, "distanceToSurfaceM": 0.0817 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0.06, "contactOk": false, "bestDistanceToSurfaceM": 0.0817, "prevDistanceToSurfaceM": 0.0817, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.06, "score": 0.0817, "distanceToSurfaceM": 0.0817 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "pinky", "segment": 0, "joint": "MCP", "active": false, "axis": null, "sign": null, "amount": 0, "contactOk": false, "bestDistanceToSurfaceM": 0.05947, "prevDistanceToSurfaceM": 0.05959, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "x", "sign": -1, "amount": 0.105, "score": 0.059575, "distanceToSurfaceM": 0.05947 }, "reason": "held_no_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.68, "contactOk": false, "bestDistanceToSurfaceM": 0.05959, "prevDistanceToSurfaceM": 0.05959, "worstPenetrationM": 0, "sideOk": true, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.68, "score": 0.05959, "distanceToSurfaceM": 0.05959 }, "reason": "approved_axis_safe_cap_no_contact_signal" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": false, "reason": "no_approved_max_for_segment" } ], "fingerResults": [ { "finger": "index", "contactOk": false, "start": { "radialM": 0.11846, "requiredRadialM": 0.055, "signedOutsideM": 0.06088, "outsideScore": 0.51391, "distanceToSurfaceM": 0.06346, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.15004, "y": 0.74704, "z": -0.36487 }, "score": 0.06346 }, "final": { "radialM": 0.11846, "requiredRadialM": 0.055, "signedOutsideM": 0.06088, "outsideScore": 0.51391, "distanceToSurfaceM": 0.06346, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.15004, "y": 0.74704, "z": -0.36487 }, "score": 0.06346 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.36, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true } ] }, { "finger": "middle", "contactOk": false, "start": { "radialM": 0.13084, "requiredRadialM": 0.055, "signedOutsideM": 0.05942, "outsideScore": 0.45413, "distanceToSurfaceM": 0.07584, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.14623, "y": 0.75545, "z": -0.38341 }, "score": 0.07584 }, "final": { "radialM": 0.13084, "requiredRadialM": 0.055, "signedOutsideM": 0.05942, "outsideScore": 0.45413, "distanceToSurfaceM": 0.07584, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.14623, "y": 0.75545, "z": -0.38341 }, "score": 0.07584 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true } ] }, { "finger": "ring", "contactOk": false, "start": { "radialM": 0.1367, "requiredRadialM": 0.055, "signedOutsideM": 0.05214, "outsideScore": 0.38138, "distanceToSurfaceM": 0.0817, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.13705, "y": 0.76438, "z": -0.39629 }, "score": 0.0817 }, "final": { "radialM": 0.1367, "requiredRadialM": 0.055, "signedOutsideM": 0.05214, "outsideScore": 0.38138, "distanceToSurfaceM": 0.0817, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.13705, "y": 0.76438, "z": -0.39629 }, "score": 0.0817 }, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true } ] }, { "finger": "pinky", "contactOk": false, "start": { "distanceToSurfaceM": 0.05959, "penetrationM": 0, "sideOk": true, "point": { "x": -0.12115, "y": 0.7891, "z": -0.40491 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "pinky", "nearestM": 0.05959, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 38, "legVertexCount": 39, "nearest": { "d": 0.05959, "fingerPoint": { "x": -0.12115, "y": 0.7891, "z": -0.40491 }, "legPoint": { "x": -0.08781, "y": 0.81603, "z": -0.36352 } } }, "score": 0.05959 }, "final": { "distanceToSurfaceM": 0.05959, "penetrationM": 0, "sideOk": true, "point": { "x": -0.12115, "y": 0.7891, "z": -0.40491 }, "mesh": { "schema": "V303_ACTUAL_SKINNED_FINGER_TO_LIMB_MESH_METRIC", "finger": "pinky", "nearestM": 0.05959, "contactOk": false, "worstPenetrationM": 0, "sideOk": true, "fingerVertexCount": 38, "legVertexCount": 39, "nearest": { "d": 0.05959, "fingerPoint": { "x": -0.12115, "y": 0.7891, "z": -0.40491 }, "legPoint": { "x": -0.08781, "y": 0.81603, "z": -0.36352 } } }, "score": 0.05959 }, "worstPenetrationM": 0, "terms": [ { "seg": 1, "axis": "z", "sign": 1, "amount": 0.68, "active": true } ] } ], "parentDrift": { "checked": 16, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 8.8684e-05, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Calf", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Upperarm", "changed": false, "localQuatDeltaRad": 0.0004429, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Thumb1", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Thumb2", "changed": false, "localQuatDeltaRad": 4.3988e-05, "worldPosDeltaM": 0 }, { "bone": "R_Thumb3", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V303: after V301 side/surface gate passes, close non-thumb fingers one joint at a time (MCP -> PIP -> DIP) by scanning z-axis curl candidates and stopping at the first non-penetrating contact/improvement against the shifted limb surface. Only Index/Mid/Ring/Pinky bones may rotate; thumb, hand, wrist, arm, leg, foot and toe are immutable.", "v301FingerChildLayerGate": { "schema": "NEXPROD01_V301_FINGER_CHILD_LAYER_GATE", "active": false, "blocked": true, "ready": true, "releaseEnabled": false, "side": "R", "reason": "side_surface_gate_passed_finger_release_deferred_to_V302_child_only_integration", "contractStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "sideGate": { "schema": "NEXPROD01_V301_SIDE_SURFACE_CONTACT_GATE", "active": true, "pass": true, "palmContactReady": true, "preFingerReady": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04232, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76427 }, "policy": "V301 replaces the explicit thumb-down requirement with a generic side/surface/penetration gate. The solver only checks that palm-side contact is on the intended object side, both palm points remain on the shifted outside surface, the palm faces the object, and the hand has not snapped through or penetrated the object. Thumb orientation is an emergent result of correct side contact, not a global constraint." }, "policy": "V301 verifies the generic side/surface contact gate but does not yet release finger writes by default. No finger, thumb, hand, wrist, arm, snap-point, leg, foot, or toe writes are made by this deferred gate." } } }, "fingerBones": {}, "bodyText": "NEXPROD01\none writer\nsleep\nNEXPLAYER RUNTIME\nDynamic Warm Up \u00b7 02 \u00b7 Hurdle stretch\nhurdle-stretch \u2192 warmup_hurdle_stretch_right_pose_v50_ik_v1 \u00b7 for_nex_approval \u00b7 ikHash addc0aae \u00b7 phase 0.750\nCHECK" }, "screenshot": "/mnt/data/nex_v303_sequential_finger_contact/NEXT11_V303_SEQUENTIAL_FINGER_CONTACT_ROOT/diagnostics/v303_browser_screens/V303_right_sequential_finger_contact_player.png", "summary": { "hasDebug": true, "hasModel": true, "boneCount": 103, "skinnedMeshCount": 0, "hasGripSolverV1": true, "runtimeGripVersion": "V303_SEQUENTIAL_FINGER_CONTACT_CHILD_ONLY", "gripSide": "R", "gripPass": true, "gripStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "sideSurfaceGatePass": true, "fingerSchema": "NEXPROD01_V303_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "fingerActive": true, "fingerBlocked": false, "fingerReady": true, "fingerReleaseEnabled": true, "fingerPass": true, "activeFingerJointRows": 10, "parentDriftPass": true, "parentDriftChanged": [], "thumbActiveRows": 0, "perFinger": [ { "finger": "index", "contactOk": false, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.36, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true } ] }, { "finger": "middle", "contactOk": false, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true } ] }, { "finger": "ring", "contactOk": false, "worstPenetrationM": 0, "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true } ] }, { "finger": "pinky", "contactOk": false, "worstPenetrationM": 0, "terms": [ { "seg": 1, "axis": "z", "sign": 1, "amount": 0.68, "active": true } ] } ] } } ], "passBrowserRuntime": true, "passSideSurfaceGate": true, "passFingerLayerActive": true, "passChildOnly": true, "passHasActiveJointRows": true, "pass": true }