{ "schema": "NEXT11_GENERIC_GRIP_NODE_REGRESSION_V1", "runtimeVersion": "NEXPROD01_RUNTIME_V339_TEMPORAL_RECEIVER_SECTOR_2026_08_20", "model": { "boneCount": 165, "skinnedMeshCount": 12 }, "summary": { "caseCount": 5, "passCount": 3, "failCount": 2 }, "results": [ { "caseId": "v94_left_full", "phase": 0.25, "expectedGripSide": "L", "runtimeVersion": "NEXPROD01_RUNTIME_V339_TEMPORAL_RECEIVER_SECTOR_2026_08_20", "solvePass": false, "oneWriter": true, "checks": { "oneWriter": true, "active": true, "side": true, "pass": true, "explicitSnap": true, "palmLine": true, "negativeZFacesCylinder": true, "twoPointCylinderContact": true, "allFiveDigits": false, "fingerPass": true, "noParentDrift": true, "singleAuthority": true }, "pass": false, "grip": { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": true, "side": "L", "status": "PALM_PLUS_FOUR_FINGERS_READY_FOR_VISUAL_QA", "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." }, "intent": { "side": "L", "axisA": "L_Foot", "axisB": "L_Calf", "targetLimb": "L_lower_shin_heel_cylinder", "ruleType": "v94_space_control_left_finger_grip", "capsuleRadiusM": 0.052, "receiverPolicy": "source_normalized_ik_palm_zone_projected_to_target_cylinder" }, "receiver": { "schema": "NEXPROD01_V339_TEMPORAL_RECEIVER_SECTOR", "ok": true, "source": "temporal_mediaPipe_plus_contact_semantics", "palmSeed": { "x": 0.09667, "y": 0.78528, "z": -0.28973 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "L_Foot", "axisB": "L_Calf", "sourceAxisLengthM": 0.39526, "sourceT": 0.185729, "centerT": 0.185729, "minT": 0.035729, "maxT": 0.335729, "halfWidthT": 0.15, "radialFrame": { "lateralWeight": -1, "forwardWeight": 0, "sourceRadialM": 0.098952, "fallbackUsed": false, "radialSemantic": "lateral_outside", "sectorHalfAngleDeg": 30, "angularSamples": 5 }, "temporalEvidence": { "schema": "NEXPROD01_TEMPORAL_RECEIVER_SECTOR_V1", "valid": true, "source": "mediapipe_pose_landmarker_full_17_frame_sequence", "sourceCycle": "L_01_to_L_10", "approachAndContactFrames": [ "L_03.jpeg", "L_04.jpeg", "L_05.jpeg", "L_06.jpeg" ], "anatomicalSide": "L", "radialSemantic": "lateral_outside", "sectorHalfAngleDeg": 30, "angularSamples": 5, "halfWidthT": 0.15, "confidence": "medium_mono_depth_occlusion", "policy": "Temporal MediaPipe establishes the approaching hand, contact interval and distal target segment. The exercise contact description resolves the monocular depth ambiguity to the outside-lateral cylinder sector; exact contact remains collision-cylinder authority." }, "ignoredLegacyRuleFields": [ "snapOffsetWorldYM", "snapRadialSide" ], "policy": "The exercise description/source rule declares grip intent and target limb. Normalized MediaPipe/IK places a broad receiving band along the limb and supplies the circumferential approach direction. The collision cylinder supplies the exact surface only at solve time.", "selection": { "selectedT": 0.185729, "selectedRadialAngleDeg": 30, "candidateCount": 55, "candidates": [ { "t": 0.185729, "radialAngleDeg": 30, "indexDistanceM": 0.102326, "pinkyDistanceM": 0.087139, "movementM": 0.087139, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.091139 }, { "t": 0.215729, "radialAngleDeg": 30, "indexDistanceM": 0.098406, "pinkyDistanceM": 0.086364, "movementM": 0.086364, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.092735 }, { "t": 0.155729, "radialAngleDeg": 30, "indexDistanceM": 0.107419, "pinkyDistanceM": 0.089494, "movementM": 0.089494, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.095865 }, { "t": 0.245729, "radialAngleDeg": 30, "indexDistanceM": 0.095801, "pinkyDistanceM": 0.087208, "movementM": 0.087208, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.004, "score": 0.095952 }, { "t": 0.275729, "radialAngleDeg": 30, "indexDistanceM": 0.094622, "pinkyDistanceM": 0.089628, "movementM": 0.089628, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.004, "score": 0.100743 }, { "t": 0.125729, "radialAngleDeg": 30, "indexDistanceM": 0.113526, "pinkyDistanceM": 0.093307, "movementM": 0.093307, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.004, "score": 0.10205 }, { "t": 0.185729, "radialAngleDeg": 15, "indexDistanceM": 0.114012, "pinkyDistanceM": 0.100608, "movementM": 0.100608, "centerPenaltyM": 0, "angularPenaltyM": 0.002, "score": 0.102608 }, { "t": 0.215729, "radialAngleDeg": 15, "indexDistanceM": 0.110507, "pinkyDistanceM": 0.099936, "movementM": 0.099936, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.104308 }, { "t": 0.305729, "radialAngleDeg": 30, "indexDistanceM": 0.094921, "pinkyDistanceM": 0.0935, "movementM": 0.0935, "centerPenaltyM": 0.009486, "angularPenaltyM": 0.004, "score": 0.106986 }, { "t": 0.155729, "radialAngleDeg": 15, "indexDistanceM": 0.118604, "pinkyDistanceM": 0.102653, "movementM": 0.102653, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.107025 }, { "t": 0.245729, "radialAngleDeg": 15, "indexDistanceM": 0.108194, "pinkyDistanceM": 0.100667, "movementM": 0.100667, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.002, "score": 0.10741 }, { "t": 0.095729, "radialAngleDeg": 30, "indexDistanceM": 0.120494, "pinkyDistanceM": 0.098409, "movementM": 0.098409, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.004, "score": 0.109524 }, { "t": 0.275729, "radialAngleDeg": 15, "indexDistanceM": 0.107152, "pinkyDistanceM": 0.10277, "movementM": 0.10277, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.002, "score": 0.111885 }, { "t": 0.335729, "radialAngleDeg": 30, "indexDistanceM": 0.096685, "pinkyDistanceM": 0.098653, "movementM": 0.096685, "centerPenaltyM": 0.011858, "angularPenaltyM": 0.004, "score": 0.112542 }, { "t": 0.125729, "radialAngleDeg": 15, "indexDistanceM": 0.124163, "pinkyDistanceM": 0.105994, "movementM": 0.105994, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.002, "score": 0.112737 }, { "t": 0.185729, "radialAngleDeg": 0, "indexDistanceM": 0.126783, "pinkyDistanceM": 0.113744, "movementM": 0.113744, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.113744 }, { "t": 0.215729, "radialAngleDeg": 0, "indexDistanceM": 0.123641, "pinkyDistanceM": 0.113151, "movementM": 0.113151, "centerPenaltyM": 0.002372, "angularPenaltyM": 0, "score": 0.115522 }, { "t": 0.305729, "radialAngleDeg": 15, "indexDistanceM": 0.107416, "pinkyDistanceM": 0.106164, "movementM": 0.106164, "centerPenaltyM": 0.009486, "angularPenaltyM": 0.002, "score": 0.11765 }, { "t": 0.155729, "radialAngleDeg": 0, "indexDistanceM": 0.130928, "pinkyDistanceM": 0.115557, "movementM": 0.115557, "centerPenaltyM": 0.002372, "angularPenaltyM": 0, "score": 0.117929 }, { "t": 0.065729, "radialAngleDeg": 30, "indexDistanceM": 0.128182, "pinkyDistanceM": 0.104613, "movementM": 0.104613, "centerPenaltyM": 0.009486, "angularPenaltyM": 0.004, "score": 0.118099 }, { "t": 0.245729, "radialAngleDeg": 0, "indexDistanceM": 0.121578, "pinkyDistanceM": 0.113797, "movementM": 0.113797, "centerPenaltyM": 0.004743, "angularPenaltyM": 0, "score": 0.11854 }, { "t": 0.095729, "radialAngleDeg": 15, "indexDistanceM": 0.130564, "pinkyDistanceM": 0.110512, "movementM": 0.110512, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.002, "score": 0.119627 }, { "t": 0.275729, "radialAngleDeg": 0, "indexDistanceM": 0.120651, "pinkyDistanceM": 0.115661, "movementM": 0.115661, "centerPenaltyM": 0.007115, "angularPenaltyM": 0, "score": 0.122776 }, { "t": 0.335729, "radialAngleDeg": 15, "indexDistanceM": 0.108977, "pinkyDistanceM": 0.11073, "movementM": 0.108977, "centerPenaltyM": 0.011858, "angularPenaltyM": 0.002, "score": 0.122835 }, { "t": 0.125729, "radialAngleDeg": 0, "indexDistanceM": 0.135984, "pinkyDistanceM": 0.118535, "movementM": 0.118535, "centerPenaltyM": 0.004743, "angularPenaltyM": 0, "score": 0.123278 }, { "t": 0.065729, "radialAngleDeg": 15, "indexDistanceM": 0.137691, "pinkyDistanceM": 0.116071, "movementM": 0.116071, "centerPenaltyM": 0.009486, "angularPenaltyM": 0.002, "score": 0.127557 }, { "t": 0.035729, "radialAngleDeg": 30, "indexDistanceM": 0.136469, "pinkyDistanceM": 0.111734, "movementM": 0.111734, "centerPenaltyM": 0.011858, "angularPenaltyM": 0.004, "score": 0.127592 }, { "t": 0.185729, "radialAngleDeg": -15, "indexDistanceM": 0.139595, "pinkyDistanceM": 0.125892, "movementM": 0.125892, "centerPenaltyM": 0, "angularPenaltyM": 0.002, "score": 0.127892 }, { "t": 0.305729, "radialAngleDeg": 0, "indexDistanceM": 0.120886, "pinkyDistanceM": 0.118687, "movementM": 0.118687, "centerPenaltyM": 0.009486, "angularPenaltyM": 0, "score": 0.128173 }, { "t": 0.095729, "radialAngleDeg": 0, "indexDistanceM": 0.141853, "pinkyDistanceM": 0.122592, "movementM": 0.122592, "centerPenaltyM": 0.007115, "angularPenaltyM": 0, "score": 0.129706 }, { "t": 0.215729, "radialAngleDeg": -15, "indexDistanceM": 0.136748, "pinkyDistanceM": 0.125356, "movementM": 0.125356, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.129728 }, { "t": 0.155729, "radialAngleDeg": -15, "indexDistanceM": 0.14337, "pinkyDistanceM": 0.127533, "movementM": 0.127533, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.131904 }, { "t": 0.245729, "radialAngleDeg": -15, "indexDistanceM": 0.134886, "pinkyDistanceM": 0.12594, "movementM": 0.12594, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.002, "score": 0.132683 }, { "t": 0.335729, "radialAngleDeg": 0, "indexDistanceM": 0.122275, "pinkyDistanceM": 0.122788, "movementM": 0.122275, "centerPenaltyM": 0.011858, "angularPenaltyM": 0, "score": 0.134133 }, { "t": 0.035729, "radialAngleDeg": 15, "indexDistanceM": 0.145437, "pinkyDistanceM": 0.122528, "movementM": 0.122528, "centerPenaltyM": 0.011858, "angularPenaltyM": 0.002, "score": 0.136386 }, { "t": 0.275729, "radialAngleDeg": -15, "indexDistanceM": 0.134051, "pinkyDistanceM": 0.127627, "movementM": 0.127627, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.002, "score": 0.136742 }, { "t": 0.125729, "radialAngleDeg": -15, "indexDistanceM": 0.148002, "pinkyDistanceM": 0.130237, "movementM": 0.130237, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.002, "score": 0.13698 }, { "t": 0.065729, "radialAngleDeg": 0, "indexDistanceM": 0.148439, "pinkyDistanceM": 0.127625, "movementM": 0.127625, "centerPenaltyM": 0.009486, "angularPenaltyM": 0, "score": 0.137111 }, { "t": 0.185729, "radialAngleDeg": -30, "indexDistanceM": 0.151673, "pinkyDistanceM": 0.13659, "movementM": 0.13659, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.14059 }, { "t": 0.305729, "radialAngleDeg": -15, "indexDistanceM": 0.134262, "pinkyDistanceM": 0.130375, "movementM": 0.130375, "centerPenaltyM": 0.009486, "angularPenaltyM": 0.002, "score": 0.141861 }, { "t": 0.215729, "radialAngleDeg": -30, "indexDistanceM": 0.149056, "pinkyDistanceM": 0.136096, "movementM": 0.136096, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.142468 }, { "t": 0.095729, "radialAngleDeg": -15, "indexDistanceM": 0.153411, "pinkyDistanceM": 0.13394, "movementM": 0.13394, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.002, "score": 0.143054 }, { "t": 0.155729, "radialAngleDeg": -30, "indexDistanceM": 0.155155, "pinkyDistanceM": 0.138104, "movementM": 0.138104, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.144475 }, { "t": 0.245729, "radialAngleDeg": -30, "indexDistanceM": 0.14735, "pinkyDistanceM": 0.136634, "movementM": 0.136634, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.004, "score": 0.145377 }, { "t": 0.035729, "radialAngleDeg": 0, "indexDistanceM": 0.155651, "pinkyDistanceM": 0.133525, "movementM": 0.133525, "centerPenaltyM": 0.011858, "angularPenaltyM": 0, "score": 0.145383 }, { "t": 0.335729, "radialAngleDeg": -15, "indexDistanceM": 0.135514, "pinkyDistanceM": 0.134119, "movementM": 0.134119, "centerPenaltyM": 0.011858, "angularPenaltyM": 0.002, "score": 0.147977 }, { "t": 0.275729, "radialAngleDeg": -30, "indexDistanceM": 0.146586, "pinkyDistanceM": 0.138191, "movementM": 0.138191, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.004, "score": 0.149305 }, { "t": 0.125729, "radialAngleDeg": -30, "indexDistanceM": 0.159444, "pinkyDistanceM": 0.140605, "movementM": 0.140605, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.004, "score": 0.149348 }, { "t": 0.065729, "radialAngleDeg": -15, "indexDistanceM": 0.159521, "pinkyDistanceM": 0.138562, "movementM": 0.138562, "centerPenaltyM": 0.009486, "angularPenaltyM": 0.002, "score": 0.150048 }, { "t": 0.305729, "radialAngleDeg": -30, "indexDistanceM": 0.146779, "pinkyDistanceM": 0.140733, "movementM": 0.140733, "centerPenaltyM": 0.009486, "angularPenaltyM": 0.004, "score": 0.154219 }, { "t": 0.095729, "radialAngleDeg": -30, "indexDistanceM": 0.164478, "pinkyDistanceM": 0.144041, "movementM": 0.144041, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.004, "score": 0.155156 }, { "t": 0.035729, "radialAngleDeg": -15, "indexDistanceM": 0.166253, "pinkyDistanceM": 0.144014, "movementM": 0.144014, "centerPenaltyM": 0.011858, "angularPenaltyM": 0.002, "score": 0.157872 }, { "t": 0.335729, "radialAngleDeg": -30, "indexDistanceM": 0.147926, "pinkyDistanceM": 0.144208, "movementM": 0.144208, "centerPenaltyM": 0.011858, "angularPenaltyM": 0.004, "score": 0.160066 }, { "t": 0.065729, "radialAngleDeg": -30, "indexDistanceM": 0.17019, "pinkyDistanceM": 0.148349, "movementM": 0.148349, "centerPenaltyM": 0.009486, "angularPenaltyM": 0.004, "score": 0.161835 }, { "t": 0.035729, "radialAngleDeg": -30, "indexDistanceM": 0.176516, "pinkyDistanceM": 0.153454, "movementM": 0.153454, "centerPenaltyM": 0.011858, "angularPenaltyM": 0.004, "score": 0.169311 } ] } }, "cylinder": { "axisA": "L_Foot", "axisB": "L_Calf", "axisPoint": { "x": 0.13405, "y": 0.74611, "z": -0.37226 }, "axis": { "x": -0.06945, "y": -0.91358, "z": 0.40069 }, "bodyRight": { "x": -0.98058, "y": 0.19612, "z": 0 }, "outward": { "x": 0.90075, "y": 0.1152, "z": 0.41878 }, "radiusM": 0.052, "selectedT": 0.185729, "radialAngleDeg": 30, "snapPoint": { "x": 0.18089, "y": 0.7521, "z": -0.35049 } }, "palm": { "firstPalm": "pinkyAnchor", "secondPalm": "indexAnchor", "indexSnapDistanceBeforeM": 0.102326, "pinkySnapDistanceBeforeM": 0.087139, "firstSnapErrorM": 0.001345, "lineAngleDeg": 0, "closeDirectionDot": 0.999809, "rollDeg": -35.2356, "indexAnchor": { "x": 0.17729, "y": 0.71107, "z": -0.33132 }, "pinkyAnchor": { "x": 0.18049, "y": 0.75319, "z": -0.34979 }, "palmNormal": { "x": -0.89922, "y": -0.09732, "z": -0.42653 }, "indexPlaneAnchor": { "x": 0.19157, "y": 0.7116, "z": -0.3196 }, "pinkyPlaneAnchor": { "x": 0.20715, "y": 0.74646, "z": -0.3604 }, "calibration": { "indexSurfaceDepthM": 0.020770615338696403, "pinkySurfaceDepthM": 0.020474906247311655, "indexSurfaceCount": 5, "pinkySurfaceCount": 11 }, "indexCylinder": { "radialM": 0.05207, "requiredRadialM": 0.052, "signedOutsideM": 0.05206, "outsideScore": 0.99975, "distanceToSurfaceM": 0.00007, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "radialM": 0.05207, "requiredRadialM": 0.052, "signedOutsideM": 0.05206, "outsideScore": 0.99975, "distanceToSurfaceM": 0.00007, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pass": true }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "lClavicle->lUpperarm->lForearm->lHand", "iterations": 64, "finalError": 0.00401, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lForearm", "angle": 6.632 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lUpperarm", "angle": 2.04 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lClavicle", "angle": 1.677 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lForearm", "angle": 0.493 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lUpperarm", "angle": 1.909 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lClavicle", "angle": 1.556 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lForearm", "angle": 0.443 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lUpperarm", "angle": 1.789 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lClavicle", "angle": 1.445 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lForearm", "angle": 0.404 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lUpperarm", "angle": 1.677 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lClavicle", "angle": 1.344 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lForearm", "angle": 0.372 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lUpperarm", "angle": 1.574 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lClavicle", "angle": 1.251 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lForearm", "angle": 0.346 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lUpperarm", "angle": 1.478 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lClavicle", "angle": 1.167 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lForearm", "angle": 0.324 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lUpperarm", "angle": 1.39 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lClavicle", "angle": 1.089 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lForearm", "angle": 0.305 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lUpperarm", "angle": 1.308 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lClavicle", "angle": 1.018 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lForearm", "angle": 0.289 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lUpperarm", "angle": 1.232 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lClavicle", "angle": 0.953 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lForearm", "angle": 0.274 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lUpperarm", "angle": 1.161 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lClavicle", "angle": 0.893 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lForearm", "angle": 0.261 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lUpperarm", "angle": 1.095 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lClavicle", "angle": 0.838 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lForearm", "angle": 0.249 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lUpperarm", "angle": 1.034 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lClavicle", "angle": 0.787 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lForearm", "angle": 0.237 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lUpperarm", "angle": 0.977 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lClavicle", "angle": 0.74 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lForearm", "angle": 0.227 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lUpperarm", "angle": 0.924 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lClavicle", "angle": 0.697 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lForearm", "angle": 0.217 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lUpperarm", "angle": 0.875 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lClavicle", "angle": 0.657 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lForearm", "angle": 0.208 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lUpperarm", "angle": 0.829 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lClavicle", "angle": 0.62 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lForearm", "angle": 0.199 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lUpperarm", "angle": 0.785 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lClavicle", "angle": 0.585 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lForearm", "angle": 0.191 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lUpperarm", "angle": 0.745 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lClavicle", "angle": 0.553 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lForearm", "angle": 0.183 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lUpperarm", "angle": 0.707 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lClavicle", "angle": 0.523 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lForearm", "angle": 0.175 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lUpperarm", "angle": 0.672 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lClavicle", "angle": 0.495 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lForearm", "angle": 0.168 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lUpperarm", "angle": 0.639 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lClavicle", "angle": 0.469 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lForearm", "angle": 0.161 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lUpperarm", "angle": 0.607 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lClavicle", "angle": 0.445 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lForearm", "angle": 0.155 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lUpperarm", "angle": 0.578 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lClavicle", "angle": 0.423 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lForearm", "angle": 0.149 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lUpperarm", "angle": 0.55 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lClavicle", "angle": 0.401 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lForearm", "angle": 0.143 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lUpperarm", "angle": 0.524 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lClavicle", "angle": 0.382 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lForearm", "angle": 0.137 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lUpperarm", "angle": 0.5 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lClavicle", "angle": 0.363 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lForearm", "angle": 0.132 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lUpperarm", "angle": 0.477 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lClavicle", "angle": 0.346 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lForearm", "angle": 0.126 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lUpperarm", "angle": 0.455 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lClavicle", "angle": 0.329 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lForearm", "angle": 0.122 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lUpperarm", "angle": 0.435 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lClavicle", "angle": 0.314 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lForearm", "angle": 0.117 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lUpperarm", "angle": 0.415 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lClavicle", "angle": 0.299 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lForearm", "angle": 0.112 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lUpperarm", "angle": 0.397 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lClavicle", "angle": 0.285 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lForearm", "angle": 0.108 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lUpperarm", "angle": 0.379 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lClavicle", "angle": 0.272 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lForearm", "angle": 0.104 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lUpperarm", "angle": 0.363 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lClavicle", "angle": 0.26 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lForearm", "angle": 0.1 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lUpperarm", "angle": 0.347 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lClavicle", "angle": 0.249 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lForearm", "angle": 0.096 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lUpperarm", "angle": 0.332 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lClavicle", "angle": 0.238 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lForearm", "angle": 0.092 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lUpperarm", "angle": 0.318 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lClavicle", "angle": 0.227 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lForearm", "angle": 0.089 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lUpperarm", "angle": 0.305 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lClavicle", "angle": 0.218 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lForearm", "angle": 0.085 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lUpperarm", "angle": 0.292 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lClavicle", "angle": 0.208 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lForearm", "angle": 0.082 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lUpperarm", "angle": 0.28 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lClavicle", "angle": 0.199 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lForearm", "angle": 0.079 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lUpperarm", "angle": 0.269 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lClavicle", "angle": 0.191 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lForearm", "angle": 0.076 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lUpperarm", "angle": 0.258 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lClavicle", "angle": 0.183 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lForearm", "angle": 0.073 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lUpperarm", "angle": 0.248 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lClavicle", "angle": 0.176 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lForearm", "angle": 0.071 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lUpperarm", "angle": 0.238 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lClavicle", "angle": 0.168 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lForearm", "angle": 0.068 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lUpperarm", "angle": 0.228 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lClavicle", "angle": 0.162 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lForearm", "angle": 0.066 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lUpperarm", "angle": 0.219 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lClavicle", "angle": 0.155 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lForearm", "angle": 0.063 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lUpperarm", "angle": 0.211 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lClavicle", "angle": 0.149 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "lForearm", "angle": 0.061 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "lUpperarm", "angle": 0.202 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "lClavicle", "angle": 0.143 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "lForearm", "angle": 0.059 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "lUpperarm", "angle": 0.195 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "lClavicle", "angle": 0.137 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "lForearm", "angle": 0.056 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "lUpperarm", "angle": 0.187 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "lClavicle", "angle": 0.132 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "lForearm", "angle": 0.054 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "lUpperarm", "angle": 0.18 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "lClavicle", "angle": 0.127 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "lForearm", "angle": 0.052 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "lUpperarm", "angle": 0.173 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "lClavicle", "angle": 0.122 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "lForearm", "angle": 0.051 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "lUpperarm", "angle": 0.167 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "lClavicle", "angle": 0.117 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "lForearm", "angle": 0.049 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "lUpperarm", "angle": 0.16 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "lClavicle", "angle": 0.113 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "lForearm", "angle": 0.047 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "lUpperarm", "angle": 0.154 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "lClavicle", "angle": 0.108 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "lForearm", "angle": 0.045 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "lUpperarm", "angle": 0.148 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "lClavicle", "angle": 0.104 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "lForearm", "angle": 0.044 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "lUpperarm", "angle": 0.143 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "lClavicle", "angle": 0.1 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "lForearm", "angle": 0.042 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "lUpperarm", "angle": 0.138 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "lClavicle", "angle": 0.097 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lForearm", "angle": 0.041 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lUpperarm", "angle": 0.133 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lClavicle", "angle": 0.093 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lForearm", "angle": 0.039 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lUpperarm", "angle": 0.128 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lClavicle", "angle": 0.09 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lForearm", "angle": 0.038 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lUpperarm", "angle": 0.123 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lClavicle", "angle": 0.086 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lForearm", "angle": 0.037 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lUpperarm", "angle": 0.119 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lClavicle", "angle": 0.083 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lForearm", "angle": 0.035 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lUpperarm", "angle": 0.114 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lClavicle", "angle": 0.08 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lForearm", "angle": 0.034 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lUpperarm", "angle": 0.11 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lClavicle", "angle": 0.077 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lForearm", "angle": 0.033 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lUpperarm", "angle": 0.106 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lClavicle", "angle": 0.074 } ] }, "relock": { "ok": true, "stage": "v335_arm_explicit_snap_relock", "chain": "lClavicle->lUpperarm->lForearm->lHand", "iterations": 32, "finalError": 0.00135, "rows": [ { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lForearm", "angle": 0.032 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lUpperarm", "angle": 0.103 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lClavicle", "angle": 0.072 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lForearm", "angle": 0.031 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lUpperarm", "angle": 0.099 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lClavicle", "angle": 0.069 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lForearm", "angle": 0.03 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lUpperarm", "angle": 0.095 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lClavicle", "angle": 0.067 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "lForearm", "angle": 0.029 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "lUpperarm", "angle": 0.092 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "lClavicle", "angle": 0.064 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "lForearm", "angle": 0.028 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "lUpperarm", "angle": 0.089 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "lClavicle", "angle": 0.062 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "lForearm", "angle": 0.027 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "lUpperarm", "angle": 0.086 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "lClavicle", "angle": 0.06 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "lForearm", "angle": 0.026 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "lUpperarm", "angle": 0.083 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "lClavicle", "angle": 0.058 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lForearm", "angle": 0.025 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lUpperarm", "angle": 0.08 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lClavicle", "angle": 0.056 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lForearm", "angle": 0.024 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lUpperarm", "angle": 0.077 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lClavicle", "angle": 0.054 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lForearm", "angle": 0.023 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lUpperarm", "angle": 0.074 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lClavicle", "angle": 0.052 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lForearm", "angle": 0.022 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lUpperarm", "angle": 0.072 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lClavicle", "angle": 0.05 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lForearm", "angle": 0.022 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lUpperarm", "angle": 0.069 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lClavicle", "angle": 0.048 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lForearm", "angle": 0.021 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lUpperarm", "angle": 0.067 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lClavicle", "angle": 0.047 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lForearm", "angle": 0.02 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lUpperarm", "angle": 0.065 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lClavicle", "angle": 0.045 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lForearm", "angle": 0.02 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lUpperarm", "angle": 0.062 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lClavicle", "angle": 0.043 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lForearm", "angle": 0.019 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lUpperarm", "angle": 0.06 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lClavicle", "angle": 0.042 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lForearm", "angle": 0.018 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lUpperarm", "angle": 0.058 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lClavicle", "angle": 0.04 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lForearm", "angle": 0.018 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lUpperarm", "angle": 0.056 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lClavicle", "angle": 0.039 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lForearm", "angle": 0.017 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lUpperarm", "angle": 0.054 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lClavicle", "angle": 0.038 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lForearm", "angle": 0.017 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lUpperarm", "angle": 0.052 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lClavicle", "angle": 0.036 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lForearm", "angle": 0.016 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lUpperarm", "angle": 0.051 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lClavicle", "angle": 0.035 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lForearm", "angle": 0.015 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lUpperarm", "angle": 0.049 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lClavicle", "angle": 0.034 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lForearm", "angle": 0.015 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lUpperarm", "angle": 0.047 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lClavicle", "angle": 0.033 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lForearm", "angle": 0.014 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lUpperarm", "angle": 0.046 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lClavicle", "angle": 0.032 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lForearm", "angle": 0.014 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lUpperarm", "angle": 0.044 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lClavicle", "angle": 0.031 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lForearm", "angle": 0.014 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lUpperarm", "angle": 0.043 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lClavicle", "angle": 0.03 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lForearm", "angle": 0.013 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lUpperarm", "angle": 0.041 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lClavicle", "angle": 0.029 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lForearm", "angle": 0.013 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lUpperarm", "angle": 0.04 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lClavicle", "angle": 0.028 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lForearm", "angle": 0.012 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lUpperarm", "angle": 0.038 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lClavicle", "angle": 0.027 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lForearm", "angle": 0.012 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lUpperarm", "angle": 0.037 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lClavicle", "angle": 0.026 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lForearm", "angle": 0.011 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lUpperarm", "angle": 0.036 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lClavicle", "angle": 0.025 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lForearm", "angle": 0.011 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lUpperarm", "angle": 0.035 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lClavicle", "angle": 0.024 } ] } }, "legMeet": { "active": false, "applied": false, "reason": "arm_reached_explicit_snap" }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": true, "blocked": false, "side": "L", "curlAxis": "z", "curlSign": -1, "pass": true, "fullGripComplete": false, "results": [ { "finger": "index", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 0.65333, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 0.36, "active": true } ], "rows": [ { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 0.65333, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00512, "prevDistanceToSurfaceM": 0.01947, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.65333, "score": 0.005773, "distanceToSurfaceM": 0.00512 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00441, "prevDistanceToSurfaceM": 0.00441, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00441, "distanceToSurfaceM": 0.00441 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0.36, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00659, "prevDistanceToSurfaceM": 0.00659, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.36, "score": 0.00659, "distanceToSurfaceM": 0.00659 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.07147, "requiredRadialM": 0.052, "signedOutsideM": 0.06975, "outsideScore": 0.97597, "distanceToSurfaceM": 0.01947, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.19936, "y": 0.69295, "z": -0.33157 }, "score": 0.01947 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.05641, "requiredRadialM": 0.052, "signedOutsideM": 0.04326, "outsideScore": 0.7669, "distanceToSurfaceM": 0.00441, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.18393, "y": 0.67638, "z": -0.35707 }, "score": 0.00441 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "middle", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0.24, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 0.36, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 0.84, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00908, "prevDistanceToSurfaceM": 0.02798, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.84, "score": 0.00992, "distanceToSurfaceM": 0.00908 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0.24, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00586, "prevDistanceToSurfaceM": 0.00868, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.24, "score": 0.0061, "distanceToSurfaceM": 0.00586 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0.36, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00671, "prevDistanceToSurfaceM": 0.00671, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.36, "score": 0.00671, "distanceToSurfaceM": 0.00671 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.07998, "requiredRadialM": 0.052, "signedOutsideM": 0.07434, "outsideScore": 0.92945, "distanceToSurfaceM": 0.02798, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.2105, "y": 0.70155, "z": -0.34693 }, "score": 0.02798 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.05786, "requiredRadialM": 0.052, "signedOutsideM": 0.0267, "outsideScore": 0.46149, "distanceToSurfaceM": 0.00586, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.17674, "y": 0.68497, "z": -0.38352 }, "score": 0.00586 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0.52, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 0, "active": true } ], "rows": [ { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 0.84, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01411, "prevDistanceToSurfaceM": 0.0294, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.84, "score": 0.01495, "distanceToSurfaceM": 0.01411 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0.52, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00591, "prevDistanceToSurfaceM": 0.01386, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.52, "score": 0.00643, "distanceToSurfaceM": 0.00591 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00453, "prevDistanceToSurfaceM": 0.00453, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00453, "distanceToSurfaceM": 0.00453 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.0814, "requiredRadialM": 0.052, "signedOutsideM": 0.0731, "outsideScore": 0.89802, "distanceToSurfaceM": 0.0294, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.21329, "y": 0.71482, "z": -0.35954 }, "score": 0.0294 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.05653, "requiredRadialM": 0.052, "signedOutsideM": 0.0136, "outsideScore": 0.24062, "distanceToSurfaceM": 0.00453, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": 0.16801, "y": 0.70245, "z": -0.40082 }, "score": 0.00453 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 0, "active": true } ], "rows": [ { "finger": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 0.84, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01786, "prevDistanceToSurfaceM": 0.02871, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.84, "score": 0.0187, "distanceToSurfaceM": 0.01786 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0.72, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00927, "prevDistanceToSurfaceM": 0.01727, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.72, "score": 0.00999, "distanceToSurfaceM": 0.00927 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00333, "prevDistanceToSurfaceM": 0.00333, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00333, "distanceToSurfaceM": 0.00333 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.08071, "requiredRadialM": 0.052, "signedOutsideM": 0.0708, "outsideScore": 0.87726, "distanceToSurfaceM": 0.02871, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.21377, "y": 0.7305, "z": -0.37038 }, "score": 0.02871 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.05533, "requiredRadialM": 0.052, "signedOutsideM": 0.02671, "outsideScore": 0.48277, "distanceToSurfaceM": 0.00333, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.17848, "y": 0.72501, "z": -0.39824 }, "score": 0.00333 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true } ], "thumb": { "active": false, "blocked": true, "reason": "thumb_requires_its_own_anatomical_opposition_axis_after_four_finger_visual_approval" }, "parentDrift": { "checked": 13, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 0.000088684, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Calf", "changed": false, "localQuatDeltaRad": 0.00009127, "worldPosDeltaM": 0 }, { "bone": "L_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Upperarm", "changed": false, "localQuatDeltaRad": 0.000923475, "worldPosDeltaM": 0 }, { "bone": "L_Forearm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 55, "reason": "mediaPipe_normalized_ik_receiving_zone_minimum_palm_correction" }, "singleAuthority": true, "supersedes": [ "genericGripCollectGeometry", "genericGripNearest", "genericGripChooseFirstContact", "genericGripLocalSkinClearance", "full_wrist_roll_search", "mesh_target_chasing" ], "policy": "V338: source description/contact metadata declares grip intent; normalized MediaPipe/IK derives a broad receiver zone and radial approach on the target segment; the posed collision cylinder resolves exact contact. The approved neutral hand, actual palm anchors and side-specific finger closure remain unchanged." } }, { "caseId": "v94_right_full", "phase": 0.75, "expectedGripSide": "R", "runtimeVersion": "NEXPROD01_RUNTIME_V339_TEMPORAL_RECEIVER_SECTOR_2026_08_20", "solvePass": false, "oneWriter": true, "checks": { "oneWriter": true, "active": true, "side": true, "pass": true, "explicitSnap": true, "palmLine": true, "negativeZFacesCylinder": true, "twoPointCylinderContact": true, "allFiveDigits": false, "fingerPass": true, "noParentDrift": true, "singleAuthority": true }, "pass": false, "grip": { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": true, "side": "R", "status": "PALM_PLUS_FOUR_FINGERS_READY_FOR_VISUAL_QA", "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." }, "intent": { "side": "R", "axisA": "R_Foot", "axisB": "R_Calf", "targetLimb": "R_lower_shin_heel_cylinder", "ruleType": "v94_space_control_right_finger_grip", "capsuleRadiusM": 0.052, "receiverPolicy": "source_normalized_ik_palm_zone_projected_to_target_cylinder" }, "receiver": { "schema": "NEXPROD01_V339_TEMPORAL_RECEIVER_SECTOR", "ok": true, "source": "temporal_mediaPipe_plus_contact_semantics", "palmSeed": { "x": -0.13519, "y": 0.75051, "z": -0.29936 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "R_Foot", "axisB": "R_Calf", "sourceAxisLengthM": 0.395374, "sourceT": 0.250484, "centerT": 0.250484, "minT": 0.100484, "maxT": 0.400484, "halfWidthT": 0.15, "radialFrame": { "lateralWeight": 1, "forwardWeight": 0, "sourceRadialM": 0.068817, "fallbackUsed": false, "radialSemantic": "lateral_outside", "sectorHalfAngleDeg": 30, "angularSamples": 5 }, "temporalEvidence": { "schema": "NEXPROD01_TEMPORAL_RECEIVER_SECTOR_V1", "valid": true, "source": "mediapipe_pose_landmarker_full_17_frame_sequence", "sourceCycle": "R_01_to_R_07", "approachAndContactFrames": [ "R_02.jpeg", "R_03.jpeg", "R_04.jpeg", "R_05.jpeg" ], "anatomicalSide": "R", "radialSemantic": "lateral_outside", "sectorHalfAngleDeg": 30, "angularSamples": 5, "halfWidthT": 0.15, "confidence": "medium_mono_depth_occlusion", "policy": "Temporal MediaPipe establishes the approaching hand, contact interval and distal target segment. The exercise contact description resolves the monocular depth ambiguity to the outside-lateral cylinder sector; exact contact remains collision-cylinder authority." }, "ignoredLegacyRuleFields": [ "snapOffsetWorldYM", "snapRadialSide" ], "policy": "The exercise description/source rule declares grip intent and target limb. Normalized MediaPipe/IK places a broad receiving band along the limb and supplies the circumferential approach direction. The collision cylinder supplies the exact surface only at solve time.", "selection": { "selectedT": 0.250484, "selectedRadialAngleDeg": -30, "candidateCount": 55, "candidates": [ { "t": 0.250484, "radialAngleDeg": -30, "indexDistanceM": 0.082515, "pinkyDistanceM": 0.055791, "movementM": 0.055791, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.059791 }, { "t": 0.280484, "radialAngleDeg": -30, "indexDistanceM": 0.075113, "pinkyDistanceM": 0.053723, "movementM": 0.053723, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.060095 }, { "t": 0.310484, "radialAngleDeg": -30, "indexDistanceM": 0.068968, "pinkyDistanceM": 0.054232, "movementM": 0.054232, "centerPenaltyM": 0.004744, "angularPenaltyM": 0.004, "score": 0.062977 }, { "t": 0.220484, "radialAngleDeg": -30, "indexDistanceM": 0.090867, "pinkyDistanceM": 0.06017, "movementM": 0.06017, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.066542 }, { "t": 0.340484, "radialAngleDeg": -30, "indexDistanceM": 0.06444, "pinkyDistanceM": 0.057249, "movementM": 0.057249, "centerPenaltyM": 0.007117, "angularPenaltyM": 0.004, "score": 0.068366 }, { "t": 0.250484, "radialAngleDeg": -15, "indexDistanceM": 0.09088, "pinkyDistanceM": 0.068491, "movementM": 0.068491, "centerPenaltyM": 0, "angularPenaltyM": 0.002, "score": 0.070491 }, { "t": 0.280484, "radialAngleDeg": -15, "indexDistanceM": 0.084216, "pinkyDistanceM": 0.066817, "movementM": 0.066817, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.071189 }, { "t": 0.310484, "radialAngleDeg": -15, "indexDistanceM": 0.078784, "pinkyDistanceM": 0.067227, "movementM": 0.067227, "centerPenaltyM": 0.004744, "angularPenaltyM": 0.002, "score": 0.073972 }, { "t": 0.190484, "radialAngleDeg": -30, "indexDistanceM": 0.099932, "pinkyDistanceM": 0.066405, "movementM": 0.066405, "centerPenaltyM": 0.004744, "angularPenaltyM": 0.004, "score": 0.075149 }, { "t": 0.370484, "radialAngleDeg": -30, "indexDistanceM": 0.061886, "pinkyDistanceM": 0.062411, "movementM": 0.061886, "centerPenaltyM": 0.009489, "angularPenaltyM": 0.004, "score": 0.075375 }, { "t": 0.220484, "radialAngleDeg": -15, "indexDistanceM": 0.098525, "pinkyDistanceM": 0.072102, "movementM": 0.072102, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.076475 }, { "t": 0.400484, "radialAngleDeg": -30, "indexDistanceM": 0.061551, "pinkyDistanceM": 0.06924, "movementM": 0.061551, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.004, "score": 0.077413 }, { "t": 0.340484, "radialAngleDeg": -15, "indexDistanceM": 0.074852, "pinkyDistanceM": 0.069684, "movementM": 0.069684, "centerPenaltyM": 0.007117, "angularPenaltyM": 0.002, "score": 0.0788 }, { "t": 0.250484, "radialAngleDeg": 0, "indexDistanceM": 0.101504, "pinkyDistanceM": 0.081767, "movementM": 0.081767, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.081767 }, { "t": 0.280484, "radialAngleDeg": 0, "indexDistanceM": 0.095584, "pinkyDistanceM": 0.080371, "movementM": 0.080371, "centerPenaltyM": 0.002372, "angularPenaltyM": 0, "score": 0.082743 }, { "t": 0.190484, "radialAngleDeg": -15, "indexDistanceM": 0.106943, "pinkyDistanceM": 0.077382, "movementM": 0.077382, "centerPenaltyM": 0.004744, "angularPenaltyM": 0.002, "score": 0.084126 }, { "t": 0.370484, "radialAngleDeg": -15, "indexDistanceM": 0.072665, "pinkyDistanceM": 0.073983, "movementM": 0.072665, "centerPenaltyM": 0.009489, "angularPenaltyM": 0.002, "score": 0.084154 }, { "t": 0.160484, "radialAngleDeg": -30, "indexDistanceM": 0.109532, "pinkyDistanceM": 0.074028, "movementM": 0.074028, "centerPenaltyM": 0.007117, "angularPenaltyM": 0.004, "score": 0.085145 }, { "t": 0.310484, "radialAngleDeg": 0, "indexDistanceM": 0.090834, "pinkyDistanceM": 0.080712, "movementM": 0.080712, "centerPenaltyM": 0.004744, "angularPenaltyM": 0, "score": 0.085456 }, { "t": 0.400484, "radialAngleDeg": -15, "indexDistanceM": 0.07238, "pinkyDistanceM": 0.079828, "movementM": 0.07238, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.002, "score": 0.086242 }, { "t": 0.220484, "radialAngleDeg": 0, "indexDistanceM": 0.108403, "pinkyDistanceM": 0.084815, "movementM": 0.084815, "centerPenaltyM": 0.002372, "angularPenaltyM": 0, "score": 0.087188 }, { "t": 0.340484, "radialAngleDeg": 0, "indexDistanceM": 0.087446, "pinkyDistanceM": 0.082769, "movementM": 0.082769, "centerPenaltyM": 0.007117, "angularPenaltyM": 0, "score": 0.089886 }, { "t": 0.160484, "radialAngleDeg": -15, "indexDistanceM": 0.115964, "pinkyDistanceM": 0.084015, "movementM": 0.084015, "centerPenaltyM": 0.007117, "angularPenaltyM": 0.002, "score": 0.093132 }, { "t": 0.190484, "radialAngleDeg": 0, "indexDistanceM": 0.116107, "pinkyDistanceM": 0.089347, "movementM": 0.089347, "centerPenaltyM": 0.004744, "angularPenaltyM": 0, "score": 0.094091 }, { "t": 0.370484, "radialAngleDeg": 0, "indexDistanceM": 0.085581, "pinkyDistanceM": 0.08642, "movementM": 0.085581, "centerPenaltyM": 0.009489, "angularPenaltyM": 0, "score": 0.09507 }, { "t": 0.130484, "radialAngleDeg": -30, "indexDistanceM": 0.119539, "pinkyDistanceM": 0.082656, "movementM": 0.082656, "centerPenaltyM": 0.009489, "angularPenaltyM": 0.004, "score": 0.096145 }, { "t": 0.250484, "radialAngleDeg": 15, "indexDistanceM": 0.113143, "pinkyDistanceM": 0.094664, "movementM": 0.094664, "centerPenaltyM": 0, "angularPenaltyM": 0.002, "score": 0.096664 }, { "t": 0.400484, "radialAngleDeg": 0, "indexDistanceM": 0.08534, "pinkyDistanceM": 0.091474, "movementM": 0.08534, "centerPenaltyM": 0.011861, "angularPenaltyM": 0, "score": 0.097201 }, { "t": 0.280484, "radialAngleDeg": 15, "indexDistanceM": 0.107863, "pinkyDistanceM": 0.093461, "movementM": 0.093461, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.097833 }, { "t": 0.310484, "radialAngleDeg": 15, "indexDistanceM": 0.103678, "pinkyDistanceM": 0.093754, "movementM": 0.093754, "centerPenaltyM": 0.004744, "angularPenaltyM": 0.002, "score": 0.100499 }, { "t": 0.220484, "radialAngleDeg": 15, "indexDistanceM": 0.119371, "pinkyDistanceM": 0.097309, "movementM": 0.097309, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.101682 }, { "t": 0.160484, "radialAngleDeg": 0, "indexDistanceM": 0.124466, "pinkyDistanceM": 0.095149, "movementM": 0.095149, "centerPenaltyM": 0.007117, "angularPenaltyM": 0, "score": 0.102266 }, { "t": 0.130484, "radialAngleDeg": -15, "indexDistanceM": 0.125459, "pinkyDistanceM": 0.091708, "movementM": 0.091708, "centerPenaltyM": 0.009489, "angularPenaltyM": 0.002, "score": 0.103197 }, { "t": 0.340484, "radialAngleDeg": 15, "indexDistanceM": 0.100723, "pinkyDistanceM": 0.095531, "movementM": 0.095531, "centerPenaltyM": 0.007117, "angularPenaltyM": 0.002, "score": 0.104648 }, { "t": 0.100484, "radialAngleDeg": -30, "indexDistanceM": 0.129859, "pinkyDistanceM": 0.092008, "movementM": 0.092008, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.004, "score": 0.107869 }, { "t": 0.190484, "radialAngleDeg": 15, "indexDistanceM": 0.126408, "pinkyDistanceM": 0.101283, "movementM": 0.101283, "centerPenaltyM": 0.004744, "angularPenaltyM": 0.002, "score": 0.108028 }, { "t": 0.370484, "radialAngleDeg": 15, "indexDistanceM": 0.099108, "pinkyDistanceM": 0.098711, "movementM": 0.098711, "centerPenaltyM": 0.009489, "angularPenaltyM": 0.002, "score": 0.1102 }, { "t": 0.250484, "radialAngleDeg": 30, "indexDistanceM": 0.124834, "pinkyDistanceM": 0.106594, "movementM": 0.106594, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.110594 }, { "t": 0.130484, "radialAngleDeg": 0, "indexDistanceM": 0.133357, "pinkyDistanceM": 0.102007, "movementM": 0.102007, "centerPenaltyM": 0.009489, "angularPenaltyM": 0, "score": 0.111495 }, { "t": 0.280484, "radialAngleDeg": 30, "indexDistanceM": 0.12007, "pinkyDistanceM": 0.105527, "movementM": 0.105527, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.111899 }, { "t": 0.400484, "radialAngleDeg": 15, "indexDistanceM": 0.0989, "pinkyDistanceM": 0.103165, "movementM": 0.0989, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.002, "score": 0.112761 }, { "t": 0.100484, "radialAngleDeg": -15, "indexDistanceM": 0.135328, "pinkyDistanceM": 0.100219, "movementM": 0.100219, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.002, "score": 0.11408 }, { "t": 0.310484, "radialAngleDeg": 30, "indexDistanceM": 0.116325, "pinkyDistanceM": 0.105787, "movementM": 0.105787, "centerPenaltyM": 0.004744, "angularPenaltyM": 0.004, "score": 0.114531 }, { "t": 0.220484, "radialAngleDeg": 30, "indexDistanceM": 0.130506, "pinkyDistanceM": 0.10895, "movementM": 0.10895, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.115322 }, { "t": 0.160484, "radialAngleDeg": 15, "indexDistanceM": 0.134127, "pinkyDistanceM": 0.106437, "movementM": 0.106437, "centerPenaltyM": 0.007117, "angularPenaltyM": 0.002, "score": 0.115554 }, { "t": 0.340484, "radialAngleDeg": 30, "indexDistanceM": 0.113699, "pinkyDistanceM": 0.107365, "movementM": 0.107365, "centerPenaltyM": 0.007117, "angularPenaltyM": 0.004, "score": 0.118481 }, { "t": 0.190484, "radialAngleDeg": 30, "indexDistanceM": 0.136972, "pinkyDistanceM": 0.112513, "movementM": 0.112513, "centerPenaltyM": 0.004744, "angularPenaltyM": 0.004, "score": 0.121258 }, { "t": 0.100484, "radialAngleDeg": 0, "indexDistanceM": 0.14268, "pinkyDistanceM": 0.109721, "movementM": 0.109721, "centerPenaltyM": 0.011861, "angularPenaltyM": 0, "score": 0.121582 }, { "t": 0.370484, "radialAngleDeg": 30, "indexDistanceM": 0.112271, "pinkyDistanceM": 0.110204, "movementM": 0.110204, "centerPenaltyM": 0.009489, "angularPenaltyM": 0.004, "score": 0.123693 }, { "t": 0.130484, "radialAngleDeg": 15, "indexDistanceM": 0.142416, "pinkyDistanceM": 0.112609, "movementM": 0.112609, "centerPenaltyM": 0.009489, "angularPenaltyM": 0.002, "score": 0.124098 }, { "t": 0.400484, "radialAngleDeg": 30, "indexDistanceM": 0.112087, "pinkyDistanceM": 0.11421, "movementM": 0.112087, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.004, "score": 0.127948 }, { "t": 0.160484, "radialAngleDeg": 30, "indexDistanceM": 0.144126, "pinkyDistanceM": 0.117174, "movementM": 0.117174, "centerPenaltyM": 0.007117, "angularPenaltyM": 0.004, "score": 0.128291 }, { "t": 0.100484, "radialAngleDeg": 15, "indexDistanceM": 0.151182, "pinkyDistanceM": 0.119642, "movementM": 0.119642, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.002, "score": 0.133503 }, { "t": 0.130484, "radialAngleDeg": 30, "indexDistanceM": 0.15187, "pinkyDistanceM": 0.122808, "movementM": 0.122808, "centerPenaltyM": 0.009489, "angularPenaltyM": 0.004, "score": 0.136297 }, { "t": 0.100484, "radialAngleDeg": 30, "indexDistanceM": 0.160119, "pinkyDistanceM": 0.129287, "movementM": 0.129287, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.004, "score": 0.145148 } ] } }, "cylinder": { "axisA": "R_Foot", "axisB": "R_Calf", "axisPoint": { "x": -0.13691, "y": 0.72277, "z": -0.36201 }, "axis": { "x": 0.06945, "y": -0.91358, "z": 0.40069 }, "bodyRight": { "x": -0.98058, "y": -0.19612, "z": 0 }, "outward": { "x": -0.90075, "y": 0.1152, "z": 0.41878 }, "radiusM": 0.052, "selectedT": 0.250484, "radialAngleDeg": -30, "snapPoint": { "x": -0.18375, "y": 0.72876, "z": -0.34024 } }, "palm": { "firstPalm": "pinkyAnchor", "secondPalm": "indexAnchor", "indexSnapDistanceBeforeM": 0.082515, "pinkySnapDistanceBeforeM": 0.055791, "firstSnapErrorM": 0.000938, "lineAngleDeg": 0, "closeDirectionDot": 0.999612, "rollDeg": 49.7659, "indexAnchor": { "x": -0.18029, "y": 0.68672, "z": -0.32098 }, "pinkyAnchor": { "x": -0.18355, "y": 0.72955, "z": -0.33976 }, "palmNormal": { "x": 0.89847, "y": -0.08972, "z": -0.42977 }, "indexPlaneAnchor": { "x": -0.1922, "y": 0.69202, "z": -0.3063 }, "pinkyPlaneAnchor": { "x": -0.20985, "y": 0.72238, "z": -0.34955 }, "calibration": { "indexSurfaceDepthM": 0.02052463669377506, "pinkySurfaceDepthM": 0.020500637025661392, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "radialM": 0.05211, "requiredRadialM": 0.052, "signedOutsideM": 0.0521, "outsideScore": 0.99989, "distanceToSurfaceM": 0.00011, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "radialM": 0.05211, "requiredRadialM": 0.052, "signedOutsideM": 0.0521, "outsideScore": 0.99989, "distanceToSurfaceM": 0.00011, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pass": true }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 64, "finalError": 0.0024, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 7.339 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 0.494 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 0.737 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rForearm", "angle": 2.39 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rUpperarm", "angle": 0.382 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rClavicle", "angle": 0.664 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rForearm", "angle": 2.06 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rUpperarm", "angle": 0.297 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rClavicle", "angle": 0.604 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rForearm", "angle": 1.799 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rUpperarm", "angle": 0.232 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rClavicle", "angle": 0.555 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rForearm", "angle": 1.587 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rUpperarm", "angle": 0.18 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rClavicle", "angle": 0.513 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rForearm", "angle": 1.413 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rUpperarm", "angle": 0.139 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rClavicle", "angle": 0.477 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rForearm", "angle": 1.268 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rUpperarm", "angle": 0.106 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rClavicle", "angle": 0.446 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rForearm", "angle": 1.145 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rUpperarm", "angle": 0.078 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rClavicle", "angle": 0.418 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rForearm", "angle": 1.039 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rUpperarm", "angle": 0.056 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rClavicle", "angle": 0.394 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rForearm", "angle": 0.948 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rUpperarm", "angle": 0.038 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rClavicle", "angle": 0.372 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rForearm", "angle": 0.868 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rUpperarm", "angle": 0.023 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rClavicle", "angle": 0.352 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rForearm", "angle": 0.799 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rUpperarm", "angle": 0.013 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rClavicle", "angle": 0.334 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rForearm", "angle": 0.737 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rUpperarm", "angle": 0.012 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rClavicle", "angle": 0.318 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rForearm", "angle": 0.682 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rUpperarm", "angle": 0.017 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rClavicle", "angle": 0.302 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rForearm", "angle": 0.633 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rUpperarm", "angle": 0.024 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rClavicle", "angle": 0.289 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rForearm", "angle": 0.589 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rUpperarm", "angle": 0.03 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rClavicle", "angle": 0.276 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rForearm", "angle": 0.549 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rUpperarm", "angle": 0.035 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rClavicle", "angle": 0.264 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rForearm", "angle": 0.513 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rUpperarm", "angle": 0.04 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rClavicle", "angle": 0.253 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rForearm", "angle": 0.48 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rUpperarm", "angle": 0.044 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rClavicle", "angle": 0.242 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rForearm", "angle": 0.45 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rUpperarm", "angle": 0.047 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rClavicle", "angle": 0.232 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rForearm", "angle": 0.423 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rUpperarm", "angle": 0.05 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rClavicle", "angle": 0.223 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rForearm", "angle": 0.398 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rUpperarm", "angle": 0.052 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rClavicle", "angle": 0.214 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rForearm", "angle": 0.375 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rUpperarm", "angle": 0.054 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rClavicle", "angle": 0.206 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rForearm", "angle": 0.354 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rUpperarm", "angle": 0.056 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rClavicle", "angle": 0.198 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rForearm", "angle": 0.334 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rUpperarm", "angle": 0.057 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rClavicle", "angle": 0.191 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rForearm", "angle": 0.316 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rUpperarm", "angle": 0.058 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rClavicle", "angle": 0.184 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rForearm", "angle": 0.299 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rUpperarm", "angle": 0.058 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rClavicle", "angle": 0.177 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rForearm", "angle": 0.283 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rUpperarm", "angle": 0.059 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rClavicle", "angle": 0.171 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rForearm", "angle": 0.268 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rUpperarm", "angle": 0.059 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rClavicle", "angle": 0.165 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rForearm", "angle": 0.255 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rUpperarm", "angle": 0.059 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rClavicle", "angle": 0.159 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rForearm", "angle": 0.242 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rUpperarm", "angle": 0.059 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rClavicle", "angle": 0.154 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rForearm", "angle": 0.23 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rUpperarm", "angle": 0.059 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rClavicle", "angle": 0.148 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rForearm", "angle": 0.219 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rUpperarm", "angle": 0.059 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rClavicle", "angle": 0.143 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rForearm", "angle": 0.208 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rUpperarm", "angle": 0.058 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rClavicle", "angle": 0.139 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rForearm", "angle": 0.198 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rUpperarm", "angle": 0.058 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rClavicle", "angle": 0.134 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rForearm", "angle": 0.189 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rUpperarm", "angle": 0.057 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rClavicle", "angle": 0.129 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rForearm", "angle": 0.18 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rUpperarm", "angle": 0.056 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rClavicle", "angle": 0.125 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rForearm", "angle": 0.172 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rUpperarm", "angle": 0.056 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rClavicle", "angle": 0.121 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rForearm", "angle": 0.164 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rUpperarm", "angle": 0.055 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rClavicle", "angle": 0.117 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rForearm", "angle": 0.157 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rUpperarm", "angle": 0.054 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rClavicle", "angle": 0.113 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rForearm", "angle": 0.15 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rUpperarm", "angle": 0.053 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rClavicle", "angle": 0.11 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rForearm", "angle": 0.144 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rUpperarm", "angle": 0.053 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rClavicle", "angle": 0.106 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "rForearm", "angle": 0.138 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "rUpperarm", "angle": 0.052 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "rClavicle", "angle": 0.103 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "rForearm", "angle": 0.132 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "rUpperarm", "angle": 0.051 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "rClavicle", "angle": 0.099 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "rForearm", "angle": 0.126 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "rUpperarm", "angle": 0.05 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "rClavicle", "angle": 0.096 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "rForearm", "angle": 0.121 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "rUpperarm", "angle": 0.049 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "rClavicle", "angle": 0.093 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "rForearm", "angle": 0.116 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "rUpperarm", "angle": 0.048 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "rClavicle", "angle": 0.09 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "rForearm", "angle": 0.111 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "rUpperarm", "angle": 0.047 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "rClavicle", "angle": 0.088 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "rForearm", "angle": 0.107 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "rUpperarm", "angle": 0.046 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "rClavicle", "angle": 0.085 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "rForearm", "angle": 0.102 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "rUpperarm", "angle": 0.045 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "rClavicle", "angle": 0.082 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "rForearm", "angle": 0.098 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "rUpperarm", "angle": 0.044 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "rClavicle", "angle": 0.08 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "rForearm", "angle": 0.094 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "rUpperarm", "angle": 0.043 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "rClavicle", "angle": 0.077 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "rForearm", "angle": 0.091 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "rUpperarm", "angle": 0.042 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "rClavicle", "angle": 0.075 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "rForearm", "angle": 0.087 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "rUpperarm", "angle": 0.042 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "rClavicle", "angle": 0.072 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "rForearm", "angle": 0.084 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "rUpperarm", "angle": 0.041 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "rClavicle", "angle": 0.07 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "rForearm", "angle": 0.081 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "rUpperarm", "angle": 0.04 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "rClavicle", "angle": 0.068 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "rForearm", "angle": 0.078 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "rUpperarm", "angle": 0.039 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "rClavicle", "angle": 0.066 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "rForearm", "angle": 0.075 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "rUpperarm", "angle": 0.038 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "rClavicle", "angle": 0.064 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "rForearm", "angle": 0.072 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "rUpperarm", "angle": 0.037 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "rClavicle", "angle": 0.062 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "rForearm", "angle": 0.069 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "rUpperarm", "angle": 0.036 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "rClavicle", "angle": 0.06 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "rForearm", "angle": 0.067 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "rUpperarm", "angle": 0.035 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "rClavicle", "angle": 0.058 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "rForearm", "angle": 0.064 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "rUpperarm", "angle": 0.034 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "rClavicle", "angle": 0.057 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "rForearm", "angle": 0.062 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "rUpperarm", "angle": 0.034 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "rClavicle", "angle": 0.055 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "rForearm", "angle": 0.06 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "rUpperarm", "angle": 0.033 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "rClavicle", "angle": 0.053 } ] }, "relock": { "ok": true, "stage": "v335_arm_explicit_snap_relock", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 32, "finalError": 0.00094, "rows": [ { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "rForearm", "angle": 0.057 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "rUpperarm", "angle": 0.032 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "rClavicle", "angle": 0.052 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "rForearm", "angle": 0.055 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "rUpperarm", "angle": 0.031 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "rClavicle", "angle": 0.05 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "rForearm", "angle": 0.053 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "rUpperarm", "angle": 0.03 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "rClavicle", "angle": 0.049 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "rForearm", "angle": 0.052 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "rUpperarm", "angle": 0.03 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "rClavicle", "angle": 0.047 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "rForearm", "angle": 0.05 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "rUpperarm", "angle": 0.029 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "rClavicle", "angle": 0.046 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "rForearm", "angle": 0.048 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "rUpperarm", "angle": 0.028 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "rClavicle", "angle": 0.044 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "rForearm", "angle": 0.046 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "rUpperarm", "angle": 0.028 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "rClavicle", "angle": 0.043 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "rForearm", "angle": 0.045 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "rUpperarm", "angle": 0.027 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "rClavicle", "angle": 0.042 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "rForearm", "angle": 0.043 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "rUpperarm", "angle": 0.026 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "rClavicle", "angle": 0.041 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "rForearm", "angle": 0.042 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "rUpperarm", "angle": 0.026 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "rClavicle", "angle": 0.039 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rForearm", "angle": 0.04 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rUpperarm", "angle": 0.025 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rClavicle", "angle": 0.038 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rForearm", "angle": 0.039 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rUpperarm", "angle": 0.024 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rClavicle", "angle": 0.037 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "rForearm", "angle": 0.038 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "rUpperarm", "angle": 0.024 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "rClavicle", "angle": 0.036 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "rForearm", "angle": 0.036 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "rUpperarm", "angle": 0.023 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "rClavicle", "angle": 0.035 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "rForearm", "angle": 0.035 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "rUpperarm", "angle": 0.022 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "rClavicle", "angle": 0.034 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "rForearm", "angle": 0.034 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "rUpperarm", "angle": 0.022 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "rClavicle", "angle": 0.033 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "rForearm", "angle": 0.033 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "rUpperarm", "angle": 0.021 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "rClavicle", "angle": 0.032 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rForearm", "angle": 0.032 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rUpperarm", "angle": 0.021 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rClavicle", "angle": 0.031 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rForearm", "angle": 0.031 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rUpperarm", "angle": 0.02 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rClavicle", "angle": 0.03 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rForearm", "angle": 0.03 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rUpperarm", "angle": 0.02 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rClavicle", "angle": 0.029 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rForearm", "angle": 0.029 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rUpperarm", "angle": 0.019 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rClavicle", "angle": 0.028 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rForearm", "angle": 0.028 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rUpperarm", "angle": 0.019 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rClavicle", "angle": 0.028 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rForearm", "angle": 0.027 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rUpperarm", "angle": 0.018 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rClavicle", "angle": 0.027 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rForearm", "angle": 0.026 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rUpperarm", "angle": 0.018 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rClavicle", "angle": 0.026 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rForearm", "angle": 0.025 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rUpperarm", "angle": 0.017 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rClavicle", "angle": 0.025 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rForearm", "angle": 0.024 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rUpperarm", "angle": 0.017 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rClavicle", "angle": 0.024 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rForearm", "angle": 0.024 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rUpperarm", "angle": 0.016 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rClavicle", "angle": 0.024 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rForearm", "angle": 0.023 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rUpperarm", "angle": 0.016 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rClavicle", "angle": 0.023 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rForearm", "angle": 0.022 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rUpperarm", "angle": 0.015 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rClavicle", "angle": 0.022 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rForearm", "angle": 0.021 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rUpperarm", "angle": 0.015 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rClavicle", "angle": 0.022 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rForearm", "angle": 0.021 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rUpperarm", "angle": 0.015 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rClavicle", "angle": 0.021 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rForearm", "angle": 0.02 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rUpperarm", "angle": 0.014 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rClavicle", "angle": 0.021 } ] } }, "legMeet": { "active": false, "applied": false, "reason": "arm_reached_explicit_snap" }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": true, "blocked": false, "side": "R", "curlAxis": "z", "curlSign": 1, "pass": true, "fullGripComplete": false, "results": [ { "finger": "index", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.51333, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true } ], "rows": [ { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.51333, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00552, "prevDistanceToSurfaceM": 0.01783, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.51333, "score": 0.006033, "distanceToSurfaceM": 0.00552 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0047, "prevDistanceToSurfaceM": 0.0047, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.0047, "distanceToSurfaceM": 0.0047 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0.36, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00631, "prevDistanceToSurfaceM": 0.00631, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.36, "score": 0.00631, "distanceToSurfaceM": 0.00631 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.06983, "requiredRadialM": 0.052, "signedOutsideM": 0.06921, "outsideScore": 0.99111, "distanceToSurfaceM": 0.01783, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.19905, "y": 0.67197, "z": -0.31641 }, "score": 0.01783 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.0567, "requiredRadialM": 0.052, "signedOutsideM": 0.04591, "outsideScore": 0.80959, "distanceToSurfaceM": 0.0047, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.1875, "y": 0.64886, "z": -0.34087 }, "score": 0.0047 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "middle", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.84, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00485, "prevDistanceToSurfaceM": 0.02583, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.84, "score": 0.00569, "distanceToSurfaceM": 0.00485 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00359, "prevDistanceToSurfaceM": 0.00359, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00359, "distanceToSurfaceM": 0.00359 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0.36, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00602, "prevDistanceToSurfaceM": 0.00602, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.36, "score": 0.00602, "distanceToSurfaceM": 0.00602 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.07783, "requiredRadialM": 0.052, "signedOutsideM": 0.07377, "outsideScore": 0.94782, "distanceToSurfaceM": 0.02583, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.21073, "y": 0.67857, "z": -0.33247 }, "score": 0.02583 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.05559, "requiredRadialM": 0.052, "signedOutsideM": 0.03349, "outsideScore": 0.60236, "distanceToSurfaceM": 0.00359, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.1824, "y": 0.66056, "z": -0.36276 }, "score": 0.00359 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.32, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ], "rows": [ { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.84, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.0109, "prevDistanceToSurfaceM": 0.02764, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.84, "score": 0.01174, "distanceToSurfaceM": 0.0109 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.32, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00545, "prevDistanceToSurfaceM": 0.01016, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.32, "score": 0.00577, "distanceToSurfaceM": 0.00545 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0053, "prevDistanceToSurfaceM": 0.0053, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.0053, "distanceToSurfaceM": 0.0053 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.07964, "requiredRadialM": 0.052, "signedOutsideM": 0.07264, "outsideScore": 0.91199, "distanceToSurfaceM": 0.02764, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.21423, "y": 0.6906, "z": -0.34603 }, "score": 0.02764 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.0573, "requiredRadialM": 0.052, "signedOutsideM": 0.02148, "outsideScore": 0.37489, "distanceToSurfaceM": 0.0053, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.17667, "y": 0.67331, "z": -0.38261 }, "score": 0.0053 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ], "rows": [ { "finger": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.84, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01632, "prevDistanceToSurfaceM": 0.02792, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.84, "score": 0.01716, "distanceToSurfaceM": 0.01632 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.72, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00694, "prevDistanceToSurfaceM": 0.01521, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.72, "score": 0.00766, "distanceToSurfaceM": 0.00694 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00103, "prevDistanceToSurfaceM": 0.00103, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00103, "distanceToSurfaceM": 0.00103 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.07992, "requiredRadialM": 0.052, "signedOutsideM": 0.07063, "outsideScore": 0.88379, "distanceToSurfaceM": 0.02792, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.21572, "y": 0.70514, "z": -0.358 }, "score": 0.02792 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "radialM": 0.05303, "requiredRadialM": 0.052, "signedOutsideM": 0.02505, "outsideScore": 0.47243, "distanceToSurfaceM": 0.00103, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.17884, "y": 0.69849, "z": -0.38569 }, "score": 0.00103 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true } ], "thumb": { "active": false, "blocked": true, "reason": "thumb_requires_its_own_anatomical_opposition_axis_after_four_finger_visual_approval" }, "parentDrift": { "checked": 13, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 0.000088684, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Calf", "changed": false, "localQuatDeltaRad": 0.000108878, "worldPosDeltaM": 0 }, { "bone": "R_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Upperarm", "changed": false, "localQuatDeltaRad": 0.000663613, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 55, "reason": "mediaPipe_normalized_ik_receiving_zone_minimum_palm_correction" }, "singleAuthority": true, "supersedes": [ "genericGripCollectGeometry", "genericGripNearest", "genericGripChooseFirstContact", "genericGripLocalSkinClearance", "full_wrist_roll_search", "mesh_target_chasing" ], "policy": "V338: source description/contact metadata declares grip intent; normalized MediaPipe/IK derives a broad receiver zone and radial approach on the target segment; the posed collision cylinder resolves exact contact. The approved neutral hand, actual palm anchors and side-specific finger closure remain unchanged." } }, { "caseId": "bodyweight_squat_bottom", "phase": 0.667, "expectedGripSide": null, "runtimeVersion": "NEXPROD01_RUNTIME_V339_TEMPORAL_RECEIVER_SECTOR_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_V339_TEMPORAL_RECEIVER_SECTOR_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_V339_TEMPORAL_RECEIVER_SECTOR_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" } } ] }