{ "schema": "NEXT11_V306_BROWSER_ENTRY_FRAME_STATE_MACHINE_AUDIT", "generatedAt": "2026-08-19T20:02:30Z", "root": "/mnt/data/nex_v306_entry_frame_state_machine/NEXT11_V306_ENTRY_FRAME_STATE_MACHINE_ROOT", "results": [ { "name": "right", "caseId": "v94_right_full", "phase": "0.75", "url": "http://127.0.0.1:42515/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=v306-entry-frame-state-machine&build=NEXPROD01_RUNTIME_V306_ENTRY_FRAME_STATE_MACHINE_2026_08_19&safeBoot=0&lowPower=1&pixelRatioCap=1.15&antialias=1&maxFPS=24&staticAfterReady=0&idleSleepAfterReady=0&v=V306_right", "navigationError": null, "polls": [ { "i": 0, "hasModel": true, "hasGrip": true } ], "final": { "ready": "complete", "href": "http://127.0.0.1:42515/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=v306-entry-frame-state-machine&build=NEXPROD01_RUNTIME_V306_ENTRY_FRAME_STATE_MACHINE_2026_08_19&safeBoot=0&lowPower=1&pixelRatioCap=1.15&antialias=1&maxFPS=24&staticAfterReady=0&idleSleepAfterReady=0&v=V306_right", "hasDebug": true, "hasModel": true, "boneCount": 165, "skinnedMeshCount": 12, "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_V304_ZPLUS_SEQUENTIAL_FINGER_CONTACT", "__NEXPROD01_V306_ACTUAL_SURFACE_PREFINGER_GATE", "__NEXPROD01_V306_ZPLUS_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" ], "gripSolverV1": { "schema": "NEXPROD01_GRIP_SOLVER_V1", "version": "V306_ENTRY_FRAME_STATE_MACHINE_ACTUAL_GATE", "side": "R", "applied": true, "implemented": true, "policy": "V306: entry-frame gate is now a hard state machine. NEEDS_NEUTRALIZE_BEFORE_SOLVE_GRIP triggers forearm-axis handframe rotation and re-check before point snap; if it still fails, stop before palm pass/fingers. Finger child-layer remains z+ only and is additionally blocked by actual-surface gate.", "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": 0.94636, "z": -0.3216 }, "outside": { "x": -0.99311, "y": 0.07015, "z": -0.09385 }, "target": { "x": -0.13338, "y": 0.95022, "z": -0.32677 }, "radiusM": 0.052, "clearanceM": 0.003, "t": 0.16 }, "beforeBasis": null, "afterAngles": { "palmRay_vs_forearm": 35.76, "mcpCenter_vs_forearm": 30.26, "mcpAxis_vs_forearm": 105.22, "palmNormal_vs_forearm": 66.03 }, "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." }, "v306EntryFrameNeutralizeRotation": { "schema": "NEXPROD01_V306_ENTRY_FRAME_NEUTRALIZE_ROTATION", "active": true, "applied": false, "pass": true, "reason": "initial_entry_frame_pass", "axis": { "x": -0.14996, "y": -0.91227, "z": -0.38115 }, "before": { "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." }, "afterGate": { "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." }, "policy": "V306 state machine: a passing entry-frame gate may continue; no neutralizing rotation is applied." }, "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": 0.95022, "z": -0.32677 }, "shift": { "x": 0.01726, "y": 0.02307, "z": -0.05365 }, "shiftM": 0.0609, "pointAAfter": { "x": -0.13338, "y": 0.95022, "z": -0.32677 }, "pointBAfter": { "x": -0.17963, "y": 0.96869, "z": -0.35552 }, "arm": { "ok": true, "distance": 0.45139559268217766, "minReach": 0.010498007252821183, "maxReach": 0.45141, "segmentErrorM": { "upperarm": 0, "forearm": 0 }, "clamped": true, "desiredDistance": 0.4543, "handDelta": { "x": 0.01732, "y": 0.02552, "z": -0.05208 }, "legDelta": { "x": 6e-05, "y": 0.00244, "z": 0.00157 }, "legDeltaM": 0.0029, "segmentLengths": { "thighM": 0.38296, "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": 0.0029, "maxObjectMeetM": 0.08, "pass": true, "legDelta": { "x": 6e-05, "y": 0.00244, "z": 0.00157 }, "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": -0.02442, "y": -0.83828, "z": -0.54469 }, "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": 0.95022, "z": -0.32677 }, "pointB": { "x": -0.17963, "y": 0.96869, "z": -0.35552 } }, "after": { "first": { "radialM": 0.055, "requiredRadialM": 0.055, "signedOutsideM": 0.055, "outsideScore": 1, "distanceToSurfaceM": 0, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "second": { "radialM": 0.05541, "requiredRadialM": 0.055, "signedOutsideM": 0.04233, "outsideScore": 0.76383, "distanceToSurfaceM": 0.00041, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pointA": { "x": -0.13338, "y": 0.95022, "z": -0.32677 }, "pointB": { "x": -0.11424, "y": 0.97827, "z": -0.37319 }, "palmFacesObject": 0.9336, "handAcrossVerticalProxy": 0.36459, "grossPenetration": false, "arm": { "ok": true, "distance": 0.45745724150406675, "minReach": 0.001593916169705194, "maxReach": 0.4634955161047042, "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": 0.04233, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76383 }, "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" ] }, "fingerLayer": { "schema": "NEXPROD01_V306_ZPLUS_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "active": false, "blocked": true, "ready": false, "releaseEnabled": false, "side": "R", "reason": "v306_actual_surface_or_entry_frame_gate_not_passed", "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": 0.04233, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76383 }, "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": "V306: fingers remain child-layer and cannot run unless solver side-surface gate AND actual skinned surface gate pass after one-writer commit.", "v306ActualSurfacePreFingerGate": { "schema": "NEXPROD01_V306_ACTUAL_SURFACE_PREFINGER_GATE", "active": true, "side": "R", "pass": false, "entryOk": true, "solverOk": true, "meshPass": false, "palmGapOk": false, "palmGapM": -0.007666, "entryFrameGate": { "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." }, "entryRepair": { "schema": "NEXPROD01_V306_ENTRY_FRAME_NEUTRALIZE_ROTATION", "active": true, "applied": false, "pass": true, "reason": "initial_entry_frame_pass", "axis": { "x": -0.14996, "y": -0.91227, "z": -0.38115 }, "before": { "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." }, "afterGate": { "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." }, "policy": "V306 state machine: a passing entry-frame gate may continue; no neutralizing rotation is applied." }, "sideSurfaceGate": { "pass": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04233, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76383 } }, "v153MeshFeedbackPass": false, "policy": "V306 adds a post-commit actual-surface pre-finger gate. Solver targets and shifted-surface landmarks are not enough: actual skinned palm/hand must also pass mesh feedback before fingers may run." } }, "v306ActualGate": { "schema": "NEXPROD01_V306_ACTUAL_SURFACE_PREFINGER_GATE", "active": true, "side": "R", "pass": false, "entryOk": true, "solverOk": true, "meshPass": false, "palmGapOk": false, "palmGapM": -0.007666, "entryFrameGate": { "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." }, "entryRepair": { "schema": "NEXPROD01_V306_ENTRY_FRAME_NEUTRALIZE_ROTATION", "active": true, "applied": false, "pass": true, "reason": "initial_entry_frame_pass", "axis": { "x": -0.14996, "y": -0.91227, "z": -0.38115 }, "before": { "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." }, "afterGate": { "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." }, "policy": "V306 state machine: a passing entry-frame gate may continue; no neutralizing rotation is applied." }, "sideSurfaceGate": { "pass": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04233, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76383 } }, "v153MeshFeedbackPass": false, "policy": "V306 adds a post-commit actual-surface pre-finger gate. Solver targets and shifted-surface landmarks are not enough: actual skinned palm/hand must also pass mesh feedback before fingers may run." }, "v151MeshTruth": { "active": true, "handVertexCount": 10755, "palmVertexCount": 4763, "legVertexCount": 2337, "meshToMeshNearestM": 0.004977228016656325, "nearest": { "d": 0.004977228016656325, "h": { "x": -0.10007011799146341, "y": 0.8340640299924782, "z": -0.34093057905073143, "i": 57619 }, "l": { "x": -0.09518016694376914, "y": 0.8334909595976929, "z": -0.34166048849961056, "i": 70541 } }, "bones": { "H": { "x": -0.12042565593195348, "y": 0.8287400486677134, "z": -0.34615941780991943 }, "M": { "x": -0.14639569737003014, "y": 0.7555820625049672, "z": -0.3832791228500338 }, "I": { "x": -0.1501936946240906, "y": 0.7471788644615639, "z": -0.36473354898824595 }, "P": { "x": -0.12750709569022772, "y": 0.7733904574168674, "z": -0.4083424573397232 }, "Th": { "x": -0.1256165057203786, "y": 0.8027282456819392, "z": -0.3375048340470518 }, "Rg": { "x": -0.137211751864482, "y": 0.7644730389666992, "z": -0.39617974255847643 }, "F": { "x": -0.07290266178966381, "y": 0.802674863727723, "z": -0.3433289249991246 }, "K": { "x": -0.11123729815427827, "y": 0.43033350728944, "z": -0.21599852861899146 } }, "radial": { "M": { "r": 0.08788805991662844, "vec": { "x": -0.06974957512941399, "y": -0.01073285955477447, "z": -0.05238428744339845 }, "axial": -0.024650715425923543 }, "I": { "r": 0.08195914382832865, "vec": { "x": -0.07216548404684915, "y": -0.00571194053907823, "z": -0.03842938855400458 }, "axial": -0.010396193908566081 }, "P": { "r": 0.08901422866124312, "vec": { "x": -0.05344722964567609, "y": -0.018044570934751397, "z": -0.06885724367950814 }, "axial": -0.0513247301175005 }, "Th": { "r": 0.05257906954314689, "vec": { "x": -0.05204130502311406, "y": 0.006585700318522597, "z": 0.003590219607334827 }, "axial": -0.05632345012586877 }, "Rg": { "r": 0.08805487378625314, "vec": { "x": -0.06186662362487575, "y": -0.014478337145890606, "z": -0.060963591038101284 }, "axial": -0.03806884977371097 } }, "sourceRadialSupport": { "legSurfaceM": 0.0292712127573496, "handContactFaceM": 0.021605339113526488, "gapM": -0.007665873643823113, "legCountBand": 208, "handCountBand": 8726 }, "palmSourceRadialSupport": { "legSurfaceM": 0.0292712127573496, "palmContactFaceM": 0.021605339113526488, "gapM": -0.007665873643823113, "legCountBand": 208, "palmCountBand": 3502 }, "note": "V153 actual posed skinned-mesh truth after all writers. palmSourceRadialSupport excludes distal fingers so wrap-around cannot masquerade as palm penetration." }, "v153MeshFeedback": { "schema": "NEXPROD01_V158_MESH_FEEDBACK_DISABLED_NONMONOTONIC_SENSOR", "targetPalmGapM": 0.002, "passes": [ { "pass": 0, "gapM": -0.007665873643823113, "nearestM": 0.004977228016656325, "appliedCorrectionM": 0 } ], "disabledReason": "V151/V153 contact-patch metric is non-monotonic and was pushing the hand ~32mm outward despite the source-driven geometric target; diagnostic only until contact patch is repaired", "pass": false }, "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": 0.2644003595904824, "y": -0.726400513783068, "z": -0.6343774455512415 }, "palmRay": { "x": -0.3018057937468417, "y": -0.8501912258033734, "z": -0.4313793486338863 }, "mcpAxis": { "x": -0.40723575456742545, "y": -0.47051116119169434, "z": 0.7828015632303905 }, "palmNormal": { "x": 0.8837964326883503, "y": -0.4191822847257523, "z": 0.20782222628834707 }, "wristToIndex": { "x": -0.3352698854238803, "y": -0.9186029026350152, "z": -0.20919562901356925 }, "wristToPinky": { "x": -0.08475775420520983, "y": -0.6624796254812727, "z": -0.7442693524015896 }, "mcpCenter": { "x": -0.13845291086266803, "y": 0.7585490030350756, "z": -0.3894457178843192 }, "mcpCenterRay": { "x": -0.2258360897982155, "y": -0.8390727811229126, "z": -0.4949292156695876 }, "angles": { "palmRay_vs_forearm": 35.76, "mcpCenter_vs_forearm": 30.26, "mcpAxis_vs_forearm": 105.22, "palmNormal_vs_forearm": 66.03 } }, "points": { "R_Forearm": { "x": -0.18151, "y": 0.99592, "z": -0.20155 }, "R_Hand": { "x": -0.12003, "y": 0.827, "z": -0.34907 }, "R_PalmBase": { "x": -0.146, "y": 0.75385, "z": -0.38619 }, "R_PalmIndexBase": { "x": -0.1498, "y": 0.74544, "z": -0.36764 }, "R_PalmPinkyBase": { "x": -0.12711, "y": 0.77165, "z": -0.41125 }, "R_Foot": { "x": -0.07262, "y": 0.80503, "z": -0.34198 }, "R_ToeBase": { "x": -0.0005, "y": 0.83148, "z": -0.43814 } } }, "afterCommitBeforeFingers": { "basis": { "ok": true, "forearmAxis": { "x": 0.26440034843464827, "y": -0.7264004942470295, "z": -0.6343774725707936 }, "palmRay": { "x": -0.30180575443709123, "y": -0.8501912197403536, "z": -0.4313793880855549 }, "mcpAxis": { "x": -0.40723573370058386, "y": -0.47051112948804413, "z": 0.7828015931417308 }, "palmNormal": { "x": 0.8837964424505965, "y": -0.4191822620761336, "z": 0.20782223045767964 }, "wristToIndex": { "x": -0.3352698556650241, "y": -0.9186028928364388, "z": -0.2091957197336496 }, "wristToPinky": { "x": -0.08475780796996392, "y": -0.6624796915025204, "z": -0.7442692875128277 }, "mcpCenter": { "x": -0.13885039515715916, "y": 0.7602846609392157, "z": -0.38653800316398457 }, "mcpCenterRay": { "x": -0.2258360901819505, "y": -0.8390727775047158, "z": -0.4949292216285596 }, "angles": { "palmRay_vs_forearm": 35.76, "mcpCenter_vs_forearm": 30.26, "mcpAxis_vs_forearm": 105.22, "palmNormal_vs_forearm": 66.03 } }, "errors": [ { "joint": "R_Forearm", "ok": true, "distance": 0.00895, "target": { "x": -0.18151, "y": 0.99592, "z": -0.20155 }, "actual": { "x": -0.17871, "y": 0.98888, "z": -0.20631 }, "delta": { "x": 0.0028, "y": -0.00705, "z": -0.00476 } }, { "joint": "R_Hand", "ok": true, "distance": 0.00341, "target": { "x": -0.12003, "y": 0.827, "z": -0.34907 }, "actual": { "x": -0.12043, "y": 0.82874, "z": -0.34616 }, "delta": { "x": -0.0004, "y": 0.00174, "z": 0.00291 } }, { "joint": "R_PalmBase", "ok": true, "distance": 0.00341, "target": { "x": -0.146, "y": 0.75385, "z": -0.38619 }, "actual": { "x": -0.1464, "y": 0.75558, "z": -0.38328 }, "delta": { "x": -0.0004, "y": 0.00174, "z": 0.00291 } }, { "joint": "R_PalmIndexBase", "ok": true, "distance": 0.00341, "target": { "x": -0.1498, "y": 0.74544, "z": -0.36764 }, "actual": { "x": -0.15019, "y": 0.74718, "z": -0.36473 }, "delta": { "x": -0.0004, "y": 0.00174, "z": 0.00291 } }, { "joint": "R_PalmPinkyBase", "ok": true, "distance": 0.00341, "target": { "x": -0.12711, "y": 0.77165, "z": -0.41125 }, "actual": { "x": -0.12751, "y": 0.77339, "z": -0.40834 }, "delta": { "x": -0.0004, "y": 0.00174, "z": 0.00291 } }, { "joint": "R_Foot", "ok": true, "distance": 0.00273, "target": { "x": -0.07262, "y": 0.80503, "z": -0.34198 }, "actual": { "x": -0.0729, "y": 0.80267, "z": -0.34333 }, "delta": { "x": -0.00028, "y": -0.00236, "z": -0.00135 } }, { "joint": "R_ToeBase", "ok": true, "distance": 0.00273, "target": { "x": -0.0005, "y": 0.83148, "z": -0.43814 }, "actual": { "x": -0.00078, "y": 0.82912, "z": -0.43949 }, "delta": { "x": -0.00028, "y": -0.00236, "z": -0.00135 } } ] }, "afterFingerLayer": { "basis": { "ok": true, "forearmAxis": { "x": 0.26440034843464827, "y": -0.7264004942470295, "z": -0.6343774725707936 }, "palmRay": { "x": -0.30180575443709123, "y": -0.8501912197403536, "z": -0.4313793880855549 }, "mcpAxis": { "x": -0.40723573370058386, "y": -0.47051112948804413, "z": 0.7828015931417308 }, "palmNormal": { "x": 0.8837964424505965, "y": -0.4191822620761336, "z": 0.20782223045767964 }, "wristToIndex": { "x": -0.3352698556650241, "y": -0.9186028928364388, "z": -0.2091957197336496 }, "wristToPinky": { "x": -0.08475780796996392, "y": -0.6624796915025204, "z": -0.7442692875128277 }, "mcpCenter": { "x": -0.13885039515715916, "y": 0.7602846609392157, "z": -0.38653800316398457 }, "mcpCenterRay": { "x": -0.2258360901819505, "y": -0.8390727775047158, "z": -0.4949292216285596 }, "angles": { "palmRay_vs_forearm": 35.76, "mcpCenter_vs_forearm": 30.26, "mcpAxis_vs_forearm": 105.22, "palmNormal_vs_forearm": 66.03 } }, "errors": [ { "joint": "R_Forearm", "ok": true, "distance": 0.00895, "target": { "x": -0.18151, "y": 0.99592, "z": -0.20155 }, "actual": { "x": -0.17871, "y": 0.98888, "z": -0.20631 }, "delta": { "x": 0.0028, "y": -0.00705, "z": -0.00476 } }, { "joint": "R_Hand", "ok": true, "distance": 0.00341, "target": { "x": -0.12003, "y": 0.827, "z": -0.34907 }, "actual": { "x": -0.12043, "y": 0.82874, "z": -0.34616 }, "delta": { "x": -0.0004, "y": 0.00174, "z": 0.00291 } }, { "joint": "R_PalmBase", "ok": true, "distance": 0.00341, "target": { "x": -0.146, "y": 0.75385, "z": -0.38619 }, "actual": { "x": -0.1464, "y": 0.75558, "z": -0.38328 }, "delta": { "x": -0.0004, "y": 0.00174, "z": 0.00291 } }, { "joint": "R_PalmIndexBase", "ok": true, "distance": 0.00341, "target": { "x": -0.1498, "y": 0.74544, "z": -0.36764 }, "actual": { "x": -0.15019, "y": 0.74718, "z": -0.36473 }, "delta": { "x": -0.0004, "y": 0.00174, "z": 0.00291 } }, { "joint": "R_PalmPinkyBase", "ok": true, "distance": 0.00341, "target": { "x": -0.12711, "y": 0.77165, "z": -0.41125 }, "actual": { "x": -0.12751, "y": 0.77339, "z": -0.40834 }, "delta": { "x": -0.0004, "y": 0.00174, "z": 0.00291 } }, { "joint": "R_Foot", "ok": true, "distance": 0.00273, "target": { "x": -0.07262, "y": 0.80503, "z": -0.34198 }, "actual": { "x": -0.0729, "y": 0.80267, "z": -0.34333 }, "delta": { "x": -0.00028, "y": -0.00236, "z": -0.00135 } }, { "joint": "R_ToeBase", "ok": true, "distance": 0.00273, "target": { "x": -0.0005, "y": 0.83148, "z": -0.43814 }, "actual": { "x": -0.00078, "y": 0.82912, "z": -0.43949 }, "delta": { "x": -0.00028, "y": -0.00236, "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": -130.16, "angle_forearm_deg": 30.14, "angle_palmray_deg": 53.95, "angle_mcp_axis_deg": 85.87, "angle_palm_normal_deg": 107.81 }, { "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": 0.00895, "maxPointErrorAfterFingerM": 0.00895, "firstBreak": "normalization/authoring-frame changes raw hand roll before runtime commit" }, "fingerLayer": { "schema": "NEXPROD01_V306_ZPLUS_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "active": false, "blocked": true, "ready": false, "releaseEnabled": false, "side": "R", "reason": "v306_actual_surface_or_entry_frame_gate_not_passed", "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": 0.04233, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76383 }, "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": "V306: fingers remain child-layer and cannot run unless solver side-surface gate AND actual skinned surface gate pass after one-writer commit.", "v306ActualSurfacePreFingerGate": { "schema": "NEXPROD01_V306_ACTUAL_SURFACE_PREFINGER_GATE", "active": true, "side": "R", "pass": false, "entryOk": true, "solverOk": true, "meshPass": false, "palmGapOk": false, "palmGapM": -0.007666, "entryFrameGate": { "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." }, "entryRepair": { "schema": "NEXPROD01_V306_ENTRY_FRAME_NEUTRALIZE_ROTATION", "active": true, "applied": false, "pass": true, "reason": "initial_entry_frame_pass", "axis": { "x": -0.14996, "y": -0.91227, "z": -0.38115 }, "before": { "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." }, "afterGate": { "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." }, "policy": "V306 state machine: a passing entry-frame gate may continue; no neutralizing rotation is applied." }, "sideSurfaceGate": { "pass": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04233, "firstPenetrationM": 0, "secondPenetrationM": 0, "firstOutsideScore": 1, "secondOutsideScore": 0.76383 } }, "v153MeshFeedbackPass": false, "policy": "V306 adds a post-commit actual-surface pre-finger gate. Solver targets and shifted-surface landmarks are not enough: actual skinned palm/hand must also pass mesh feedback before fingers may run." } } }, "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" }, "summary": { "hasModel": true, "boneCount": 165, "skinnedMeshCount": 12, "runtimeVersion": "V306_ENTRY_FRAME_STATE_MACHINE_ACTUAL_GATE", "side": "R", "gripApplied": true, "gripPass": true, "gripStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "gripReason": null, "nextPhase": "finger_child_layer_ready_but_deferred_to_v302_integration", "entryPass": true, "entryGate": "GRIP_ENTRY_FRAME_USABLE", "entryRequiredOutwardShiftM": 0, "entrySignedOutsideM": 0.12338, "repairSchema": "NEXPROD01_V306_ENTRY_FRAME_NEUTRALIZE_ROTATION", "repairApplied": false, "repairPass": true, "repairReason": "initial_entry_frame_pass", "repairRollDeg": null, "repairAfterGate": { "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." }, "sideSurfacePass": true, "sideSurfaceStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "actualGatePass": false, "actualEntryOk": true, "actualSolverOk": true, "actualMeshPass": false, "actualPalmGapOk": false, "actualPalmGapM": -0.007666, "v153Pass": false, "fingerSchema": "NEXPROD01_V306_ZPLUS_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "fingerActive": false, "fingerBlocked": true, "fingerReason": "v306_actual_surface_or_entry_frame_gate_not_passed", "fingerReady": false, "fingerReleaseEnabled": false, "probeSide": "R", "meshTruthSide": null, "palmSourceGapM": -0.007665873643823113 }, "screenshot": "/mnt/data/nex_v306_entry_frame_state_machine/NEXT11_V306_ENTRY_FRAME_STATE_MACHINE_ROOT/diagnostics/v306/V306_right_canvas.png" }, { "name": "left", "caseId": "v94_left_full", "phase": "0.25", "url": "http://127.0.0.1:42515/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=v306-entry-frame-state-machine&build=NEXPROD01_RUNTIME_V306_ENTRY_FRAME_STATE_MACHINE_2026_08_19&safeBoot=0&lowPower=1&pixelRatioCap=1.15&antialias=1&maxFPS=24&staticAfterReady=0&idleSleepAfterReady=0&v=V306_left", "navigationError": null, "polls": [ { "i": 0, "hasModel": true, "hasGrip": true } ], "final": { "ready": "complete", "href": "http://127.0.0.1:42515/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=v306-entry-frame-state-machine&build=NEXPROD01_RUNTIME_V306_ENTRY_FRAME_STATE_MACHINE_2026_08_19&safeBoot=0&lowPower=1&pixelRatioCap=1.15&antialias=1&maxFPS=24&staticAfterReady=0&idleSleepAfterReady=0&v=V306_left", "hasDebug": true, "hasModel": true, "boneCount": 165, "skinnedMeshCount": 12, "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_V304_ZPLUS_SEQUENTIAL_FINGER_CONTACT", "__NEXPROD01_V306_ACTUAL_SURFACE_PREFINGER_GATE", "__NEXPROD01_V306_ZPLUS_SEQUENTIAL_FINGER_CONTACT", "__NEXPROD01_V69_SHIN_GRIP_FINGER_LAYER", "__NEXPROD01_V70_BIORIG_FULL_GRIP_LAYER", "__NEXPROD01_V93_ACTIVE_HAND_CONTROL_PROBE" ], "gripSolverV1": { "schema": "NEXPROD01_GRIP_SOLVER_V1", "version": "V306_ENTRY_FRAME_STATE_MACHINE_ACTUAL_GATE", "side": "L", "applied": true, "implemented": true, "policy": "V306: entry-frame gate is now a hard state machine. NEEDS_NEUTRALIZE_BEFORE_SOLVE_GRIP triggers forearm-axis handframe rotation and re-check before point snap; if it still fails, stop before palm pass/fingers. Finger child-layer remains z+ only and is additionally blocked by actual-surface gate.", "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": 0.1359, "y": 1.01686, "z": -0.34022 }, "outside": { "x": 0.99445, "y": -0.09524, "z": -0.04478 }, "target": { "x": 0.19059, "y": 1.01163, "z": -0.34268 }, "radiusM": 0.052, "clearanceM": 0.003, "t": 0.16 }, "beforeBasis": null, "afterAngles": { "palmRay_vs_forearm": 25.74, "mcpCenter_vs_forearm": 20.77, "mcpAxis_vs_forearm": 105.21, "palmNormal_vs_forearm": 89.83 }, "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." }, "v306EntryFrameNeutralizeRotation": { "schema": "NEXPROD01_V306_ENTRY_FRAME_NEUTRALIZE_ROTATION", "active": true, "applied": true, "pass": true, "reason": "rotated_entry_frame_repaired_orientation_continue_to_point_snap", "rollDeg": -180, "axis": { "x": 0.1393, "y": -0.91181, "z": -0.38625 }, "pivot": { "x": 0.1606, "y": 1.02401, "z": -0.25589 }, "before": { "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." }, "bestCandidate": { "deg": -180, "score": -986.04, "gate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." } }, "afterGate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." }, "policy": "V306 implements the recovered contract: when V297 says NEEDS_NEUTRALIZE_BEFORE_SOLVE_GRIP, rotate the handframe around the active forearm/wrist axis and re-run the entry-frame gate before point snap. If orientation/outside approach is repaired but residual reach remains, object/leg-meet may handle that in the next stage; if repair fails, stop." }, "pointASnap": { "applied": true, "pointA0": { "x": 0.2222, "y": 0.99328, "z": -0.30309 }, "pointB0": { "x": 0.16275, "y": 0.9827, "z": -0.29036 }, "limbTargetBefore": { "x": 0.18943, "y": 0.95093, "z": -0.3791 }, "limbTargetAfter": { "x": 0.19059, "y": 1.01163, "z": -0.34268 }, "shift": { "x": -0.03277, "y": -0.04235, "z": -0.07601 }, "shiftM": 0.09298, "pointAAfter": { "x": 0.19059, "y": 1.01163, "z": -0.34268 }, "pointBAfter": { "x": 0.13114, "y": 1.00105, "z": -0.32995 }, "arm": { "ok": true, "distance": 0.4525241164794085, "minReach": 0.014049215156796717, "maxReach": 0.45253, "segmentErrorM": { "upperarm": 0, "forearm": 0 }, "clamped": true, "desiredDistance": 0.52332, "handDelta": { "x": -0.03161, "y": 0.01835, "z": -0.0396 }, "legDelta": { "x": 0.00116, "y": 0.0607, "z": 0.03642 }, "legDeltaM": 0.0708, "segmentLengths": { "thighM": 0.31688, "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": 0.0708, "maxObjectMeetM": 0.08, "pass": true, "legDelta": { "x": 0.00116, "y": 0.0607, "z": 0.03642 }, "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": -64, "axis": { "x": -0.01503, "y": -0.85375, "z": -0.52047 }, "before": { "first": { "radialM": 0.055, "requiredRadialM": 0.055, "signedOutsideM": 0.055, "outsideScore": 1, "distanceToSurfaceM": 0, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "second": { "radialM": 0.00461, "requiredRadialM": 0.055, "signedOutsideM": -0.00368, "outsideScore": -0.7992, "distanceToSurfaceM": 0.05039, "penetrationM": 0.05039, "surfaceOk": false, "sideOk": false }, "pointA": { "x": 0.19059, "y": 1.01163, "z": -0.34268 }, "pointB": { "x": 0.13114, "y": 1.00105, "z": -0.32995 } }, "after": { "first": { "radialM": 0.055, "requiredRadialM": 0.055, "signedOutsideM": 0.055, "outsideScore": 1, "distanceToSurfaceM": 0, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "second": { "radialM": 0.05465, "requiredRadialM": 0.055, "signedOutsideM": 0.04471, "outsideScore": 0.81815, "distanceToSurfaceM": 0.00035, "penetrationM": 0.00035, "surfaceOk": true, "sideOk": true }, "pointA": { "x": 0.19059, "y": 1.01163, "z": -0.34268 }, "pointB": { "x": 0.17922, "y": 0.97743, "z": -0.29259 }, "palmFacesObject": 0.91895, "handAcrossVerticalProxy": -0.62845, "grossPenetration": false, "arm": { "ok": true, "distance": 0.45826809636778026, "minReach": 0.0028617815719048914, "maxReach": 0.4637215500643004, "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": 0.04471, "firstPenetrationM": 0, "secondPenetrationM": 0.00035, "firstOutsideScore": 1, "secondOutsideScore": 0.81815 }, "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" ] }, "fingerLayer": { "schema": "NEXPROD01_V306_ZPLUS_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "active": false, "blocked": true, "ready": false, "releaseEnabled": false, "side": "L", "reason": "v306_actual_surface_or_entry_frame_gate_not_passed", "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": 0.04471, "firstPenetrationM": 0, "secondPenetrationM": 0.00035, "firstOutsideScore": 1, "secondOutsideScore": 0.81815 }, "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": "V306: fingers remain child-layer and cannot run unless solver side-surface gate AND actual skinned surface gate pass after one-writer commit.", "v306ActualSurfacePreFingerGate": { "schema": "NEXPROD01_V306_ACTUAL_SURFACE_PREFINGER_GATE", "active": true, "side": "L", "pass": false, "entryOk": true, "solverOk": true, "meshPass": false, "palmGapOk": false, "palmGapM": 0.02355, "entryFrameGate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." }, "entryRepair": { "schema": "NEXPROD01_V306_ENTRY_FRAME_NEUTRALIZE_ROTATION", "active": true, "applied": true, "pass": true, "reason": "rotated_entry_frame_repaired_orientation_continue_to_point_snap", "rollDeg": -180, "axis": { "x": 0.1393, "y": -0.91181, "z": -0.38625 }, "pivot": { "x": 0.1606, "y": 1.02401, "z": -0.25589 }, "before": { "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." }, "bestCandidate": { "deg": -180, "score": -986.04, "gate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." } }, "afterGate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." }, "policy": "V306 implements the recovered contract: when V297 says NEEDS_NEUTRALIZE_BEFORE_SOLVE_GRIP, rotate the handframe around the active forearm/wrist axis and re-run the entry-frame gate before point snap. If orientation/outside approach is repaired but residual reach remains, object/leg-meet may handle that in the next stage; if repair fails, stop." }, "sideSurfaceGate": { "pass": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04471, "firstPenetrationM": 0, "secondPenetrationM": 0.00035, "firstOutsideScore": 1, "secondOutsideScore": 0.81815 } }, "v153MeshFeedbackPass": false, "policy": "V306 adds a post-commit actual-surface pre-finger gate. Solver targets and shifted-surface landmarks are not enough: actual skinned palm/hand must also pass mesh feedback before fingers may run." } }, "v306ActualGate": { "schema": "NEXPROD01_V306_ACTUAL_SURFACE_PREFINGER_GATE", "active": true, "side": "L", "pass": false, "entryOk": true, "solverOk": true, "meshPass": false, "palmGapOk": false, "palmGapM": 0.02355, "entryFrameGate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." }, "entryRepair": { "schema": "NEXPROD01_V306_ENTRY_FRAME_NEUTRALIZE_ROTATION", "active": true, "applied": true, "pass": true, "reason": "rotated_entry_frame_repaired_orientation_continue_to_point_snap", "rollDeg": -180, "axis": { "x": 0.1393, "y": -0.91181, "z": -0.38625 }, "pivot": { "x": 0.1606, "y": 1.02401, "z": -0.25589 }, "before": { "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." }, "bestCandidate": { "deg": -180, "score": -986.04, "gate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." } }, "afterGate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." }, "policy": "V306 implements the recovered contract: when V297 says NEEDS_NEUTRALIZE_BEFORE_SOLVE_GRIP, rotate the handframe around the active forearm/wrist axis and re-run the entry-frame gate before point snap. If orientation/outside approach is repaired but residual reach remains, object/leg-meet may handle that in the next stage; if repair fails, stop." }, "sideSurfaceGate": { "pass": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04471, "firstPenetrationM": 0, "secondPenetrationM": 0.00035, "firstOutsideScore": 1, "secondOutsideScore": 0.81815 } }, "v153MeshFeedbackPass": false, "policy": "V306 adds a post-commit actual-surface pre-finger gate. Solver targets and shifted-surface landmarks are not enough: actual skinned palm/hand must also pass mesh feedback before fingers may run." }, "v151MeshTruth": { "active": true, "handVertexCount": 10752, "palmVertexCount": 4763, "legVertexCount": 2337, "meshToMeshNearestM": null, "nearest": { "d": Infinity }, "bones": { "H": { "x": 0.18249016224904335, "y": 0.7505590200071174, "z": -0.2616725372773517 }, "M": { "x": 0.19425985939131404, "y": 0.6923867252087211, "z": -0.322094127455294 }, "I": { "x": 0.19312959101030241, "y": 0.7068836242115055, "z": -0.3367156981610484 }, "P": { "x": 0.205646771374515, "y": 0.6769968348912058, "z": -0.29119517537075984 }, "Th": { "x": 0.18877042657462806, "y": 0.7518299035071512, "z": -0.2884042789530085 }, "Rg": { "x": 0.19969054724212623, "y": 0.6842409685911548, "z": -0.30669885165041827 }, "F": { "x": 0.14942826586743255, "y": 0.7585028931512519, "z": -0.4113747518242141 }, "K": { "x": 0.12197625606708706, "y": 0.3974029952447652, "z": -0.25299759939321337 } }, "radial": { "M": { "r": 0.07544283482291632, "vec": { "x": 0.05129507519982474, "y": 0.01890356614171773, "z": 0.05199126631933352 }, "axial": 0.02982097531199444 }, "I": { "r": 0.06831303114643626, "vec": { "x": 0.04884351171530262, "y": 0.016020334128521788, "z": 0.04499256029769352 }, "axial": 0.010796705526388438 }, "P": { "r": 0.10076828044642908, "vec": { "x": 0.0644634557959608, "y": 0.026946864830508815, "z": 0.0726125036531497 }, "axial": 0.0554709148425524 }, "Th": { "r": 0.118082212403183, "vec": { "x": 0.04299797106897802, "y": 0.0414150286105237, "z": 0.10187923623178209 }, "axial": -0.010604434884401236 }, "Rg": { "r": 0.0877460374244866, "vec": { "x": 0.05764486086081502, "y": 0.022847493588638676, "z": 0.06208404897196858 }, "axial": 0.043054328446908915 } }, "sourceRadialSupport": { "legSurfaceM": 0.02247493681654726, "handContactFaceM": 0.033820501553314695, "gapM": 0.011345564736767434, "legCountBand": 245, "handCountBand": 5024 }, "palmSourceRadialSupport": { "legSurfaceM": 0.02247493681654726, "palmContactFaceM": 0.046025269575174374, "gapM": 0.023550332758627113, "legCountBand": 245, "palmCountBand": 3168 }, "note": "V153 actual posed skinned-mesh truth after all writers. palmSourceRadialSupport excludes distal fingers so wrap-around cannot masquerade as palm penetration." }, "v153MeshFeedback": { "schema": "NEXPROD01_V158_MESH_FEEDBACK_DISABLED_NONMONOTONIC_SENSOR", "targetPalmGapM": 0.002, "passes": [ { "pass": 0, "gapM": 0.023550332758627113, "nearestM": null, "appliedCorrectionM": 0 } ], "disabledReason": "V151/V153 contact-patch metric is non-monotonic and was pushing the hand ~32mm outward despite the source-driven geometric target; diagnostic only until contact patch is repaired", "pass": false }, "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": 0.23245764460950663, "y": -0.9112229411689377, "z": -0.34005322370186575 }, "palmRay": { "x": 0.13896498388843836, "y": -0.6868413269089518, "z": -0.7133987138359844 }, "mcpAxis": { "x": -0.2240210276958417, "y": 0.5348864183714082, "z": -0.8146846620575999 }, "palmNormal": { "x": -0.9572549797162205, "y": -0.2777021004591874, "z": 0.0808977577504686 }, "wristToIndex": { "x": 0.1216255257030833, "y": -0.499279025030015, "z": -0.8578622772115151 }, "wristToPinky": { "x": 0.28041932426920535, "y": -0.8908152124220872, "z": -0.3575098039128355 }, "mcpCenter": { "x": 0.20275508182611132, "y": 0.6953340003063668, "z": -0.3120159137745273 }, "mcpCenterRay": { "x": 0.21032006217935506, "y": -0.7295949125085568, "z": -0.6507355339049065 }, "angles": { "palmRay_vs_forearm": 25.74, "mcpCenter_vs_forearm": 20.77, "mcpAxis_vs_forearm": 105.21, "palmNormal_vs_forearm": 89.83 } }, "points": { "L_Forearm": { "x": 0.13229, "y": 0.96393, "z": -0.18137 }, "L_Hand": { "x": 0.18586, "y": 0.75395, "z": -0.25973 }, "L_PalmBase": { "x": 0.19763, "y": 0.69578, "z": -0.32015 }, "L_PalmIndexBase": { "x": 0.1965, "y": 0.71028, "z": -0.33478 }, "L_PalmPinkyBase": { "x": 0.20901, "y": 0.68039, "z": -0.28926 }, "L_Foot": { "x": 0.14029, "y": 0.80903, "z": -0.36556 }, "L_ToeBase": { "x": 0.06816, "y": 0.83548, "z": -0.46173 } } }, "afterCommitBeforeFingers": { "basis": { "ok": true, "forearmAxis": { "x": 0.2324576252254059, "y": -0.9112229642189169, "z": -0.3400531751868451 }, "palmRay": { "x": 0.13896501591274774, "y": -0.6868412818633142, "z": -0.7133987509666171 }, "mcpAxis": { "x": -0.22402104076528914, "y": 0.5348864084285848, "z": -0.8146846649918027 }, "palmNormal": { "x": -0.9572549672450638, "y": -0.27770214820246125, "z": 0.08089774142947445 }, "wristToIndex": { "x": 0.1216255361744817, "y": -0.49927900740465814, "z": -0.8578622859849295 }, "wristToPinky": { "x": 0.2804193248702728, "y": -0.8908151523573213, "z": -0.35750995310606787 }, "mcpCenter": { "x": 0.1993881811924087, "y": 0.6919402295513557, "z": -0.3139554367659041 }, "mcpCenterRay": { "x": 0.21032006078449414, "y": -0.7295948485493876, "z": -0.6507356060657836 }, "angles": { "palmRay_vs_forearm": 25.74, "mcpCenter_vs_forearm": 20.77, "mcpAxis_vs_forearm": 105.21, "palmNormal_vs_forearm": 89.83 } }, "errors": [ { "joint": "L_Forearm", "ok": true, "distance": 0.01477, "target": { "x": 0.13229, "y": 0.96393, "z": -0.18137 }, "actual": { "x": 0.13153, "y": 0.95034, "z": -0.18712 }, "delta": { "x": -0.00077, "y": -0.01359, "z": -0.00574 } }, { "joint": "L_Hand", "ok": true, "distance": 0.00516, "target": { "x": 0.18586, "y": 0.75395, "z": -0.25973 }, "actual": { "x": 0.18249, "y": 0.75056, "z": -0.26167 }, "delta": { "x": -0.00337, "y": -0.00339, "z": -0.00194 } }, { "joint": "L_PalmBase", "ok": true, "distance": 0.00516, "target": { "x": 0.19763, "y": 0.69578, "z": -0.32015 }, "actual": { "x": 0.19426, "y": 0.69239, "z": -0.32209 }, "delta": { "x": -0.00337, "y": -0.00339, "z": -0.00194 } }, { "joint": "L_PalmIndexBase", "ok": true, "distance": 0.00516, "target": { "x": 0.1965, "y": 0.71028, "z": -0.33478 }, "actual": { "x": 0.19313, "y": 0.70688, "z": -0.33672 }, "delta": { "x": -0.00337, "y": -0.00339, "z": -0.00194 } }, { "joint": "L_PalmPinkyBase", "ok": true, "distance": 0.00516, "target": { "x": 0.20901, "y": 0.68039, "z": -0.28926 }, "actual": { "x": 0.20565, "y": 0.677, "z": -0.2912 }, "delta": { "x": -0.00337, "y": -0.00339, "z": -0.00194 } }, { "joint": "L_Foot", "ok": true, "distance": 0.06881, "target": { "x": 0.14029, "y": 0.80903, "z": -0.36556 }, "actual": { "x": 0.14943, "y": 0.7585, "z": -0.41137 }, "delta": { "x": 0.00914, "y": -0.05053, "z": -0.04581 } }, { "joint": "L_ToeBase", "ok": true, "distance": 0.06881, "target": { "x": 0.06816, "y": 0.83548, "z": -0.46173 }, "actual": { "x": 0.0773, "y": 0.78495, "z": -0.50755 }, "delta": { "x": 0.00914, "y": -0.05053, "z": -0.04581 } } ] }, "afterFingerLayer": { "basis": { "ok": true, "forearmAxis": { "x": 0.2324576252254059, "y": -0.9112229642189169, "z": -0.3400531751868451 }, "palmRay": { "x": 0.13896501591274774, "y": -0.6868412818633142, "z": -0.7133987509666171 }, "mcpAxis": { "x": -0.22402104076528914, "y": 0.5348864084285848, "z": -0.8146846649918027 }, "palmNormal": { "x": -0.9572549672450638, "y": -0.27770214820246125, "z": 0.08089774142947445 }, "wristToIndex": { "x": 0.1216255361744817, "y": -0.49927900740465814, "z": -0.8578622859849295 }, "wristToPinky": { "x": 0.2804193248702728, "y": -0.8908151523573213, "z": -0.35750995310606787 }, "mcpCenter": { "x": 0.1993881811924087, "y": 0.6919402295513557, "z": -0.3139554367659041 }, "mcpCenterRay": { "x": 0.21032006078449414, "y": -0.7295948485493876, "z": -0.6507356060657836 }, "angles": { "palmRay_vs_forearm": 25.74, "mcpCenter_vs_forearm": 20.77, "mcpAxis_vs_forearm": 105.21, "palmNormal_vs_forearm": 89.83 } }, "errors": [ { "joint": "L_Forearm", "ok": true, "distance": 0.01477, "target": { "x": 0.13229, "y": 0.96393, "z": -0.18137 }, "actual": { "x": 0.13153, "y": 0.95034, "z": -0.18712 }, "delta": { "x": -0.00077, "y": -0.01359, "z": -0.00574 } }, { "joint": "L_Hand", "ok": true, "distance": 0.00516, "target": { "x": 0.18586, "y": 0.75395, "z": -0.25973 }, "actual": { "x": 0.18249, "y": 0.75056, "z": -0.26167 }, "delta": { "x": -0.00337, "y": -0.00339, "z": -0.00194 } }, { "joint": "L_PalmBase", "ok": true, "distance": 0.00516, "target": { "x": 0.19763, "y": 0.69578, "z": -0.32015 }, "actual": { "x": 0.19426, "y": 0.69239, "z": -0.32209 }, "delta": { "x": -0.00337, "y": -0.00339, "z": -0.00194 } }, { "joint": "L_PalmIndexBase", "ok": true, "distance": 0.00516, "target": { "x": 0.1965, "y": 0.71028, "z": -0.33478 }, "actual": { "x": 0.19313, "y": 0.70688, "z": -0.33672 }, "delta": { "x": -0.00337, "y": -0.00339, "z": -0.00194 } }, { "joint": "L_PalmPinkyBase", "ok": true, "distance": 0.00516, "target": { "x": 0.20901, "y": 0.68039, "z": -0.28926 }, "actual": { "x": 0.20565, "y": 0.677, "z": -0.2912 }, "delta": { "x": -0.00337, "y": -0.00339, "z": -0.00194 } }, { "joint": "L_Foot", "ok": true, "distance": 0.06881, "target": { "x": 0.14029, "y": 0.80903, "z": -0.36556 }, "actual": { "x": 0.14943, "y": 0.7585, "z": -0.41137 }, "delta": { "x": 0.00914, "y": -0.05053, "z": -0.04581 } }, { "joint": "L_ToeBase", "ok": true, "distance": 0.06881, "target": { "x": 0.06816, "y": 0.83548, "z": -0.46173 }, "actual": { "x": 0.0773, "y": 0.78495, "z": -0.50755 }, "delta": { "x": 0.00914, "y": -0.05053, "z": -0.04581 } } ] }, "comparisons": [ { "label": "raw_authored_to_final_normalized_target", "ok": true, "roll_mcp_about_target_forearm_deg": 116.63, "roll_palmray_about_target_forearm_deg": 67.23, "angle_forearm_deg": 5.96, "angle_palmray_deg": 43.26, "angle_mcp_axis_deg": 102.13, "angle_palm_normal_deg": 85.7 }, { "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": 0.06881, "maxPointErrorAfterFingerM": 0.06881, "firstBreak": "normalization/authoring-frame changes raw hand roll before runtime commit" }, "fingerLayer": { "schema": "NEXPROD01_V306_ZPLUS_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "active": false, "blocked": true, "ready": false, "releaseEnabled": false, "side": "L", "reason": "v306_actual_surface_or_entry_frame_gate_not_passed", "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": 0.04471, "firstPenetrationM": 0, "secondPenetrationM": 0.00035, "firstOutsideScore": 1, "secondOutsideScore": 0.81815 }, "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": "V306: fingers remain child-layer and cannot run unless solver side-surface gate AND actual skinned surface gate pass after one-writer commit.", "v306ActualSurfacePreFingerGate": { "schema": "NEXPROD01_V306_ACTUAL_SURFACE_PREFINGER_GATE", "active": true, "side": "L", "pass": false, "entryOk": true, "solverOk": true, "meshPass": false, "palmGapOk": false, "palmGapM": 0.02355, "entryFrameGate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." }, "entryRepair": { "schema": "NEXPROD01_V306_ENTRY_FRAME_NEUTRALIZE_ROTATION", "active": true, "applied": true, "pass": true, "reason": "rotated_entry_frame_repaired_orientation_continue_to_point_snap", "rollDeg": -180, "axis": { "x": 0.1393, "y": -0.91181, "z": -0.38625 }, "pivot": { "x": 0.1606, "y": 1.02401, "z": -0.25589 }, "before": { "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." }, "bestCandidate": { "deg": -180, "score": -986.04, "gate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." } }, "afterGate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." }, "policy": "V306 implements the recovered contract: when V297 says NEEDS_NEUTRALIZE_BEFORE_SOLVE_GRIP, rotate the handframe around the active forearm/wrist axis and re-run the entry-frame gate before point snap. If orientation/outside approach is repaired but residual reach remains, object/leg-meet may handle that in the next stage; if repair fails, stop." }, "sideSurfaceGate": { "pass": true, "status": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "checks": { "handPalmTowardObject": true, "firstPalmOnShiftedSurface": true, "secondPalmOnShiftedSurface": true, "outsideContact": true, "noGrossPenetration": true, "objectMeetWithinLimit": true, "firstSignedOutsideM": 0.055, "secondSignedOutsideM": 0.04471, "firstPenetrationM": 0, "secondPenetrationM": 0.00035, "firstOutsideScore": 1, "secondOutsideScore": 0.81815 } }, "v153MeshFeedbackPass": false, "policy": "V306 adds a post-commit actual-surface pre-finger gate. Solver targets and shifted-surface landmarks are not enough: actual skinned palm/hand must also pass mesh feedback before fingers may run." } } }, "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" }, "summary": { "hasModel": true, "boneCount": 165, "skinnedMeshCount": 12, "runtimeVersion": "V306_ENTRY_FRAME_STATE_MACHINE_ACTUAL_GATE", "side": "L", "gripApplied": true, "gripPass": true, "gripStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "gripReason": null, "nextPhase": "finger_child_layer_ready_but_deferred_to_v302_integration", "entryPass": false, "entryGate": "NEEDS_NEUTRALIZE_BEFORE_SOLVE_GRIP", "entryRequiredOutwardShiftM": 0.0136, "entrySignedOutsideM": 0.0414, "repairSchema": "NEXPROD01_V306_ENTRY_FRAME_NEUTRALIZE_ROTATION", "repairApplied": true, "repairPass": true, "repairReason": "rotated_entry_frame_repaired_orientation_continue_to_point_snap", "repairRollDeg": -180, "repairAfterGate": { "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": 0.0414, "palmBaseOutsideM": 0.04588, "requiredOutwardShiftM": 0.0136, "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." }, "sideSurfacePass": true, "sideSurfaceStatus": "GRIP_ENTRY_CONTRACT_PREFINGER_READY", "actualGatePass": false, "actualEntryOk": true, "actualSolverOk": true, "actualMeshPass": false, "actualPalmGapOk": false, "actualPalmGapM": 0.02355, "v153Pass": false, "fingerSchema": "NEXPROD01_V306_ZPLUS_SEQUENTIAL_FINGER_CONTACT_CHILD_LAYER", "fingerActive": false, "fingerBlocked": true, "fingerReason": "v306_actual_surface_or_entry_frame_gate_not_passed", "fingerReady": false, "fingerReleaseEnabled": false, "probeSide": "L", "meshTruthSide": null, "palmSourceGapM": 0.023550332758627113 }, "screenshot": "/mnt/data/nex_v306_entry_frame_state_machine/NEXT11_V306_ENTRY_FRAME_STATE_MACHINE_ROOT/diagnostics/v306/V306_left_canvas.png" } ], "passBrowserRuntime": true, "leftStoppedBeforeFalsePalmPass": true, "noFalseFingerReleaseWhenActualGateFails": true, "entryFrameStateMachinePresent": true }