{ "schema": "NEXT11_GENERIC_GRIP_NODE_REGRESSION_V1", "runtimeVersion": "NEXPROD01_RUNTIME_V334_GENERIC_GRIP_SINGLE_AUTHORITY_2026_08_20", "model": { "boneCount": 165, "skinnedMeshCount": 12 }, "summary": { "caseCount": 5, "passCount": 5, "failCount": 0 }, "results": [ { "caseId": "v94_left_full", "phase": 0.25, "expectedGripSide": "L", "runtimeVersion": "NEXPROD01_RUNTIME_V334_GENERIC_GRIP_SINGLE_AUTHORITY_2026_08_20", "solvePass": false, "oneWriter": true, "checks": { "oneWriter": true, "active": true, "side": true, "pass": true, "localSkin": true, "twoPointContact": true, "palmFacing": true, "elbowPole": true, "noFingerMutation": true, "singleAuthority": true }, "pass": true, "grip": { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "1.0.0", "active": true, "applied": true, "ok": true, "pass": true, "side": "L", "status": "PALM_CONTACT_READY_FOR_FINGER_CHILD_LAYER", "intent": { "side": "L", "axisA": "L_Foot", "axisB": "L_Calf", "targetLimb": "L_lower_shin_heel_cylinder", "ruleType": "v94_space_control_left_finger_grip", "clearanceM": 0.002 }, "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "L", "resetFingerBones": [ "L_Thumb1", "L_Thumb2", "L_Thumb3", "L_Index1", "L_Index2", "L_Index3", "L_Mid1", "L_Mid2", "L_Mid3", "L_Ring1", "L_Ring2", "L_Ring3", "L_Pinky1", "L_Pinky2", "L_Pinky3" ], "beforeLocalQuat": { "x": -0.453377963, "y": 0.052941947, "z": -0.392835407, "w": 0.798326896 }, "restLocalQuat": { "x": -0.017111981, "y": 0.000074568, "z": 0.010081891, "w": 0.999802746 }, "policy": "Only the active hand and its finger children are reset to captured rig rest before the one grip solve." }, "geometry": { "counts": { "skinnedMeshes": 12, "targetVertices": 3678, "outsideVertices": 2023, "searchVoxels": 195, "indexPatchVertices": 1628, "pinkyPatchVertices": 1672 }, "axis": { "x": -0.06945, "y": -0.91358, "z": 0.40069 }, "outside": { "x": 0.34473, "y": -0.3989, "z": -0.84973 }, "contactT": 0.187765 }, "search": { "domainDeg": [ -180, 180 ], "coarseStepDeg": 10, "refineStepDeg": 2, "candidateCount": 114, "firstContactChoices": [ "index", "pinky" ], "forcedCandidate": false, "topCandidates": [ { "rollDeg": 58, "firstPalm": "index", "pass": true, "score": -999887.863331, "indexDistanceM": 0.005603, "pinkyDistanceM": 0.002812, "palmFacesTarget": 0.218294, "elbowPoleDot": 0.910922, "skinQ10M": -0.002963, "skinQ90M": 0.002027 }, { "rollDeg": 56, "firstPalm": "index", "pass": true, "score": -999885.726608, "indexDistanceM": 0.005634, "pinkyDistanceM": 0.002954, "palmFacesTarget": 0.251169, "elbowPoleDot": 0.910437, "skinQ10M": -0.002768, "skinQ90M": 0.001928 }, { "rollDeg": 54, "firstPalm": "index", "pass": true, "score": -999883.531849, "indexDistanceM": 0.005666, "pinkyDistanceM": 0.00313, "palmFacesTarget": 0.281897, "elbowPoleDot": 0.910012, "skinQ10M": -0.002826, "skinQ90M": 0.001827 }, { "rollDeg": 52, "firstPalm": "index", "pass": true, "score": -999881.384474, "indexDistanceM": 0.0057, "pinkyDistanceM": 0.003336, "palmFacesTarget": 0.310447, "elbowPoleDot": 0.90965, "skinQ10M": -0.002979, "skinQ90M": 0.001724 }, { "rollDeg": 50, "firstPalm": "index", "pass": true, "score": -999879.057708, "indexDistanceM": 0.005734, "pinkyDistanceM": 0.003566, "palmFacesTarget": 0.336825, "elbowPoleDot": 0.90935, "skinQ10M": -0.003239, "skinQ90M": 0.001382 }, { "rollDeg": 48, "firstPalm": "index", "pass": true, "score": -999876.602889, "indexDistanceM": 0.005769, "pinkyDistanceM": 0.003815, "palmFacesTarget": 0.36107, "elbowPoleDot": 0.909116, "skinQ10M": -0.003632, "skinQ90M": 0.000888 }, { "rollDeg": 46, "firstPalm": "index", "pass": true, "score": -999873.997526, "indexDistanceM": 0.005805, "pinkyDistanceM": 0.00408, "palmFacesTarget": 0.383245, "elbowPoleDot": 0.908947, "skinQ10M": -0.003551, "skinQ90M": 0.00077 }, { "rollDeg": 44, "firstPalm": "index", "pass": true, "score": -999871.495681, "indexDistanceM": 0.005842, "pinkyDistanceM": 0.004358, "palmFacesTarget": 0.403431, "elbowPoleDot": 0.908846, "skinQ10M": -0.003617, "skinQ90M": 0.000652 } ] }, "bestCandidate": { "rollDeg": 58, "firstPalm": "index", "pass": true, "score": -999887.863331, "contactPass": true, "orientationPass": true, "armPass": true, "indexDistanceM": 0.005603, "pinkyDistanceM": 0.002812, "palmFacesTarget": 0.218294, "armResidualM": 0.02587, "elbowPoleDot": 0.910922, "elbowPolePass": true, "elbowDriftM": 0.060878, "skinClearance": { "schema": "NEXPROD01_GENERIC_LOCAL_PALM_SKIN_CLEARANCE_V1", "pass": true, "sampleCount": 31, "q10M": -0.002963, "medianM": 0.000292, "q90M": 0.002027, "pairs": [ { "palm": { "x": 0.15956, "y": 0.76599, "z": -0.39146 }, "target": { "x": 0.16061, "y": 0.77078, "z": -0.38869 }, "signedGapM": 0.000111, "distanceM": 0.00563, "targetVertexId": "Body:63625" }, { "palm": { "x": 0.1596, "y": 0.77262, "z": -0.3886 }, "target": { "x": 0.16061, "y": 0.77078, "z": -0.38869 }, "signedGapM": -0.001273, "distanceM": 0.002096, "targetVertexId": "Body:63625" }, { "palm": { "x": 0.16147, "y": 0.76777, "z": -0.39353 }, "target": { "x": 0.16061, "y": 0.77078, "z": -0.38869 }, "signedGapM": 0.002054, "distanceM": 0.005765, "targetVertexId": "Body:63625" }, { "palm": { "x": 0.16093, "y": 0.77109, "z": -0.39155 }, "target": { "x": 0.16061, "y": 0.77078, "z": -0.38869 }, "signedGapM": 0.000728, "distanceM": 0.002886, "targetVertexId": "Body:63625" }, { "palm": { "x": 0.15521, "y": 0.77537, "z": -0.37951 }, "target": { "x": 0.15876, "y": 0.7737, "z": -0.37731 }, "signedGapM": -0.003933, "distanceM": 0.004494, "targetVertexId": "Body:63705" }, { "palm": { "x": 0.16238, "y": 0.76357, "z": -0.39676 }, "target": { "x": 0.15723, "y": 0.76658, "z": -0.40355 }, "signedGapM": 0.000453, "distanceM": 0.009041, "targetVertexId": "Body:61911" }, { "palm": { "x": 0.16164, "y": 0.77253, "z": -0.39311 }, "target": { "x": 0.16061, "y": 0.77078, "z": -0.38869 }, "signedGapM": 0.001463, "distanceM": 0.004857, "targetVertexId": "Body:63625" }, { "palm": { "x": 0.16239, "y": 0.76994, "z": -0.3958 }, "target": { "x": 0.16049, "y": 0.77357, "z": -0.39895 }, "signedGapM": 0.001231, "distanceM": 0.005163, "targetVertexId": "Body:63621" }, { "palm": { "x": 0.16347, "y": 0.76614, "z": -0.3994 }, "target": { "x": 0.15723, "y": 0.76658, "z": -0.40355 }, "signedGapM": 0.002027, "distanceM": 0.007509, "targetVertexId": "Body:61911" }, { "palm": { "x": 0.16155, "y": 0.77658, "z": -0.3926 }, "target": { "x": 0.16061, "y": 0.77078, "z": -0.38869 }, "signedGapM": 0.000704, "distanceM": 0.007055, "targetVertexId": "Body:63625" }, { "palm": { "x": 0.1588, "y": 0.77927, "z": -0.38325 }, "target": { "x": 0.15876, "y": 0.7737, "z": -0.37731 }, "signedGapM": -0.001333, "distanceM": 0.008138, "targetVertexId": "Body:63705" }, { "palm": { "x": 0.15069, "y": 0.77725, "z": -0.37147 }, "target": { "x": 0.15876, "y": 0.7737, "z": -0.37731 }, "signedGapM": -0.005956, "distanceM": 0.010573, "targetVertexId": "Body:63705" } ] }, "firstTarget": { "x": 0.16061, "y": 0.77078, "z": -0.38869 }, "secondTarget": { "x": 0.16252, "y": 0.78468, "z": -0.39667 }, "firstContactShiftM": 0.135381, "predictedSecondErrorM": 0.002079, "contacts": { "indexPalmSkin": { "x": 0.15895, "y": 0.77563, "z": -0.38642 }, "pinkyPalmSkin": { "x": 0.16142, "y": 0.78992, "z": -0.38876 }, "indexMcp10Anchor": { "x": 0.14366, "y": 0.76097, "z": -0.38803 }, "pinkyMcp10Anchor": { "x": 0.15444, "y": 0.79508, "z": -0.42204 }, "indexTarget": { "x": 0.16061, "y": 0.77078, "z": -0.38869 }, "pinkyTarget": { "x": 0.1612, "y": 0.78781, "z": -0.38692 } }, "arm1": { "ok": true, "finalError": 0.02587, "iterations": 18 } }, "fingerChildLayer": { "active": false, "blocked": false, "ready": true, "reason": "palm_passed_child_layer_may_run_inside_same_writer_when_enabled" }, "fingerMutation": { "side": "L", "pass": true, "changed": [] }, "singleAuthority": true, "supersedes": [ "gripV1ApplyPalmContract", "v327ProximalPalmPatchCollisionSearchSolve", "v324ActualCalfObjectMeetRestartSolve", "V332_explicit_A_B_branch" ], "policy": "One symmetric actual-rig solver. MCP10 anchors select two local anatomical palm-skin patches; those actual skin surfaces contact the actual intended-side target-limb skin. Every wrist candidate starts from rig rest, locks one contact, rolls about the forearm axis for the second, and is verified without any second solver, post-commit reset, hard-coded side, exercise-name patch, forced A/B branch, finger write or unconditional leg move." } }, { "caseId": "v94_right_full", "phase": 0.75, "expectedGripSide": "R", "runtimeVersion": "NEXPROD01_RUNTIME_V334_GENERIC_GRIP_SINGLE_AUTHORITY_2026_08_20", "solvePass": false, "oneWriter": true, "checks": { "oneWriter": true, "active": true, "side": true, "pass": true, "localSkin": true, "twoPointContact": true, "palmFacing": true, "elbowPole": true, "noFingerMutation": true, "singleAuthority": true }, "pass": true, "grip": { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "1.0.0", "active": true, "applied": true, "ok": true, "pass": true, "side": "R", "status": "PALM_CONTACT_READY_FOR_FINGER_CHILD_LAYER", "intent": { "side": "R", "axisA": "R_Foot", "axisB": "R_Calf", "targetLimb": "R_lower_shin_heel_cylinder", "ruleType": "v94_space_control_right_finger_grip", "clearanceM": 0.002 }, "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "R", "resetFingerBones": [ "R_Thumb1", "R_Thumb2", "R_Thumb3", "R_Index1", "R_Index2", "R_Index3", "R_Mid1", "R_Mid2", "R_Mid3", "R_Ring1", "R_Ring2", "R_Ring3", "R_Pinky1", "R_Pinky2", "R_Pinky3" ], "beforeLocalQuat": { "x": -0.326231171, "y": -0.083486911, "z": 0.519714616, "w": 0.785175067 }, "restLocalQuat": { "x": -0.017111864, "y": -0.000074397, "z": -0.010081958, "w": 0.999802747 }, "policy": "Only the active hand and its finger children are reset to captured rig rest before the one grip solve." }, "geometry": { "counts": { "skinnedMeshes": 12, "targetVertices": 3658, "outsideVertices": 409, "searchVoxels": 68, "indexPatchVertices": 1618, "pinkyPatchVertices": 1671 }, "axis": { "x": 0.06945, "y": -0.91358, "z": 0.40069 }, "outside": { "x": -0.34393, "y": -0.39896, "z": -0.85002 }, "contactT": 0.31634 }, "search": { "domainDeg": [ -180, 180 ], "coarseStepDeg": 10, "refineStepDeg": 2, "candidateCount": 106, "firstContactChoices": [ "index", "pinky" ], "forcedCandidate": false, "topCandidates": [ { "rollDeg": 132, "firstPalm": "pinky", "pass": true, "score": -999847.481607, "indexDistanceM": 0.008665, "pinkyDistanceM": 0.002366, "palmFacesTarget": 0.273577, "elbowPoleDot": 0.9864, "skinQ10M": -0.00227, "skinQ90M": 0.006872 }, { "rollDeg": 134, "firstPalm": "pinky", "pass": true, "score": -999847.175207, "indexDistanceM": 0.008691, "pinkyDistanceM": 0.002352, "palmFacesTarget": 0.31812, "elbowPoleDot": 0.986597, "skinQ10M": -0.002673, "skinQ90M": 0.005758 }, { "rollDeg": 130, "firstPalm": "pinky", "pass": true, "score": -999846.515128, "indexDistanceM": 0.008692, "pinkyDistanceM": 0.002379, "palmFacesTarget": 0.227936, "elbowPoleDot": 0.986193, "skinQ10M": -0.002034, "skinQ90M": 0.006987 }, { "rollDeg": 136, "firstPalm": "pinky", "pass": true, "score": -999846.458968, "indexDistanceM": 0.008769, "pinkyDistanceM": 0.002338, "palmFacesTarget": 0.361048, "elbowPoleDot": 0.986783, "skinQ10M": -0.003081, "skinQ90M": 0.005478 }, { "rollDeg": 138, "firstPalm": "pinky", "pass": true, "score": -999844.174698, "indexDistanceM": 0.008899, "pinkyDistanceM": 0.002322, "palmFacesTarget": 0.401927, "elbowPoleDot": 0.986961, "skinQ10M": -0.003049, "skinQ90M": 0.004849 }, { "rollDeg": 140, "firstPalm": "pinky", "pass": true, "score": -999840.840682, "indexDistanceM": 0.009078, "pinkyDistanceM": 0.002306, "palmFacesTarget": 0.440419, "elbowPoleDot": 0.987128, "skinQ10M": -0.003197, "skinQ90M": 0.004343 }, { "rollDeg": 142, "firstPalm": "pinky", "pass": true, "score": -999836.602875, "indexDistanceM": 0.009304, "pinkyDistanceM": 0.002289, "palmFacesTarget": 0.476288, "elbowPoleDot": 0.987286, "skinQ10M": -0.003576, "skinQ90M": 0.004018 }, { "rollDeg": 144, "firstPalm": "pinky", "pass": false, "score": 173.915526, "indexDistanceM": 0.009572, "pinkyDistanceM": 0.002271, "palmFacesTarget": 0.509397, "elbowPoleDot": 0.987435, "skinQ10M": -0.004187, "skinQ90M": 0.003437 } ] }, "bestCandidate": { "rollDeg": 132, "firstPalm": "pinky", "pass": true, "score": -999847.481607, "contactPass": true, "orientationPass": true, "armPass": true, "indexDistanceM": 0.008665, "pinkyDistanceM": 0.002366, "palmFacesTarget": 0.273577, "armResidualM": 0.00484, "elbowPoleDot": 0.9864, "elbowPolePass": true, "elbowDriftM": 0.02915, "skinClearance": { "schema": "NEXPROD01_GENERIC_LOCAL_PALM_SKIN_CLEARANCE_V1", "pass": true, "sampleCount": 32, "q10M": -0.00227, "medianM": 0.002321, "q90M": 0.006872, "pairs": [ { "palm": { "x": -0.16965, "y": 0.78399, "z": -0.41219 }, "target": { "x": -0.16716, "y": 0.78476, "z": -0.39665 }, "signedGapM": 0.005826, "distanceM": 0.015757, "targetVertexId": "Body:70397" }, { "palm": { "x": -0.16858, "y": 0.77789, "z": -0.4185 }, "target": { "x": -0.16189, "y": 0.76665, "z": -0.40354 }, "signedGapM": 0.010372, "distanceM": 0.019873, "targetVertexId": "Body:68685" }, { "palm": { "x": -0.16717, "y": 0.77988, "z": -0.40693 }, "target": { "x": -0.16513, "y": 0.77364, "z": -0.39893 }, "signedGapM": 0.003592, "distanceM": 0.010352, "targetVertexId": "Body:70395" }, { "palm": { "x": -0.1662, "y": 0.77408, "z": -0.41375 }, "target": { "x": -0.16189, "y": 0.76665, "z": -0.40354 }, "signedGapM": 0.006978, "distanceM": 0.013348, "targetVertexId": "Body:68685" }, { "palm": { "x": -0.16826, "y": 0.78689, "z": -0.39993 }, "target": { "x": -0.16716, "y": 0.78476, "z": -0.39665 }, "signedGapM": 0.001402, "distanceM": 0.004062, "targetVertexId": "Body:70397" }, { "palm": { "x": -0.1761, "y": 0.80196, "z": -0.40239 }, "target": { "x": -0.16716, "y": 0.78476, "z": -0.39665 }, "signedGapM": 0.006971, "distanceM": 0.020216, "targetVertexId": "Body:70397" }, { "palm": { "x": -0.16493, "y": 0.77581, "z": -0.40206 }, "target": { "x": -0.16513, "y": 0.77364, "z": -0.39893 }, "signedGapM": 0.000609, "distanceM": 0.003815, "targetVertexId": "Body:70395" }, { "palm": { "x": -0.16307, "y": 0.76646, "z": -0.41645 }, "target": { "x": -0.15782, "y": 0.75809, "z": -0.40902 }, "signedGapM": 0.005259, "distanceM": 0.012359, "targetVertexId": "Body:68689" }, { "palm": { "x": -0.16374, "y": 0.76927, "z": -0.40978 }, "target": { "x": -0.16189, "y": 0.76665, "z": -0.40354 }, "signedGapM": 0.00432, "distanceM": 0.007013, "targetVertexId": "Body:68685" }, { "palm": { "x": -0.16662, "y": 0.78232, "z": -0.39448 }, "target": { "x": -0.16716, "y": 0.78476, "z": -0.39665 }, "signedGapM": -0.000574, "distanceM": 0.003315, "targetVertexId": "Body:70397" }, { "palm": { "x": -0.17106, "y": 0.79386, "z": -0.39226 }, "target": { "x": -0.16583, "y": 0.78789, "z": -0.3869 }, "signedGapM": 0.004294, "distanceM": 0.009577, "targetVertexId": "Body:71333" }, { "palm": { "x": -0.1768, "y": 0.80101, "z": -0.39507 }, "target": { "x": -0.16583, "y": 0.78789, "z": -0.3869 }, "signedGapM": 0.009476, "distanceM": 0.018954, "targetVertexId": "Body:71333" } ] }, "firstTarget": { "x": -0.16341, "y": 0.77372, "z": -0.37729 }, "secondTarget": { "x": -0.16189, "y": 0.76665, "z": -0.40354 }, "firstContactShiftM": 0.126418, "predictedSecondErrorM": 0.005795, "contacts": { "indexPalmSkin": { "x": -0.16688, "y": 0.77859, "z": -0.40582 }, "pinkyPalmSkin": { "x": -0.16284, "y": 0.77378, "z": -0.37959 }, "indexMcp10Anchor": { "x": -0.15835, "y": 0.7972, "z": -0.42513 }, "pinkyMcp10Anchor": { "x": -0.1437, "y": 0.76725, "z": -0.38881 }, "indexTarget": { "x": -0.16513, "y": 0.77364, "z": -0.39893 }, "pinkyTarget": { "x": -0.16341, "y": 0.77372, "z": -0.37729 } }, "arm1": { "ok": true, "finalError": 0.00484, "iterations": 18 } }, "fingerChildLayer": { "active": false, "blocked": false, "ready": true, "reason": "palm_passed_child_layer_may_run_inside_same_writer_when_enabled" }, "fingerMutation": { "side": "R", "pass": true, "changed": [] }, "singleAuthority": true, "supersedes": [ "gripV1ApplyPalmContract", "v327ProximalPalmPatchCollisionSearchSolve", "v324ActualCalfObjectMeetRestartSolve", "V332_explicit_A_B_branch" ], "policy": "One symmetric actual-rig solver. MCP10 anchors select two local anatomical palm-skin patches; those actual skin surfaces contact the actual intended-side target-limb skin. Every wrist candidate starts from rig rest, locks one contact, rolls about the forearm axis for the second, and is verified without any second solver, post-commit reset, hard-coded side, exercise-name patch, forced A/B branch, finger write or unconditional leg move." } }, { "caseId": "bodyweight_squat_bottom", "phase": 0.667, "expectedGripSide": null, "runtimeVersion": "NEXPROD01_RUNTIME_V334_GENERIC_GRIP_SINGLE_AUTHORITY_2026_08_20", "solvePass": true, "oneWriter": true, "checks": { "oneWriter": true, "inactiveWithoutGripIntent": true }, "pass": true, "grip": { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "active": false, "applied": false, "pass": false, "ok": true, "reason": "no_complete_nonfloor_grip_rule" } }, { "caseId": "high_knee_tuck_left", "phase": 0.25, "expectedGripSide": null, "runtimeVersion": "NEXPROD01_RUNTIME_V334_GENERIC_GRIP_SINGLE_AUTHORITY_2026_08_20", "solvePass": true, "oneWriter": true, "checks": { "oneWriter": true, "inactiveWithoutGripIntent": true }, "pass": true, "grip": { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "active": false, "applied": false, "pass": false, "ok": true, "reason": "no_complete_nonfloor_grip_rule" } }, { "caseId": "high_knee_tuck_right", "phase": 0.75, "expectedGripSide": null, "runtimeVersion": "NEXPROD01_RUNTIME_V334_GENERIC_GRIP_SINGLE_AUTHORITY_2026_08_20", "solvePass": true, "oneWriter": true, "checks": { "oneWriter": true, "inactiveWithoutGripIntent": true }, "pass": true, "grip": { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "active": false, "applied": false, "pass": false, "ok": true, "reason": "no_complete_nonfloor_grip_rule" } } ] }