{ "schema": "V364_FIGURE_FOUR_GENERIC_GRIP_PROBE", "rows": [ { "label": "right", "caseId": "v93_warmup_figure_four_walk_1", "phase": 0.25, "runtime": "NEXPROD01_RUNTIME_V346_COLLISION_RECEIVER_AXIS_CANONICALIZATION_2026_08_20", "genericGrip": { "schema": "NEXPROD01_GENERIC_MULTI_GRIP_SOLVER_V1", "version": "V342_LOCKED_SHARED_RECEIVER", "active": true, "applied": true, "ok": true, "pass": true, "gripCount": 2, "receiverSide": "R", "receiverLocked": true, "solves": [ { "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": -0.103700629, "y": -0.789710958, "z": 0.00260007, "w": 0.60464534 }, "restLocalQuat": { "x": -0.017111981, "y": 7.4568e-05, "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": "R_Foot", "axisB": "R_Calf", "targetLimb": "R_foot_ankle_receiver", "ruleType": "body_grip_contact", "capsuleRadiusM": null, "receiverPolicy": "source_normalized_ik_palm_zone_projected_to_target_cylinder", "receiverLocked": true }, "receiver": { "schema": "NEXPROD01_V339_TEMPORAL_RECEIVER_SECTOR", "ok": true, "source": "temporal_mediaPipe_radial_weights", "palmSeed": { "x": 0.13941, "y": 0.8328, "z": 0.45346 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "R_Foot", "axisB": "R_Calf", "sourceAxisLengthM": 0.395374, "sourceT": 0.15573, "centerT": 0.15573, "minT": 0.00573, "maxT": 0.30573, "halfWidthT": 0.15, "radialFrame": { "lateralWeight": -0.98621, "forwardWeight": -0.165499, "sourceRadialM": 0.018972, "fallbackUsed": false, "radialSemantic": null, "sectorHalfAngleDeg": 30, "angularSamples": 5 }, "temporalEvidence": { "schema": "NEXPROD01_TEMPORAL_RECEIVER_SECTOR_V1", "valid": true, "source": "v78_mediapipe_world_landmarks_ready_plus_peak", "sourceCycle": "ready_stance_to_right_figure_four_peak", "approachAndContactFrames": [ "01_ready_stance.jpg", "02_left_figure_four_ankle_grab.jpg" ], "sourceKeyposes": [ "ready_stance", "left_figure_four_ankle_grab" ], "anatomicalSide": "R", "contactRole": "foot_ankle", "lateralWeight": -0.98621, "forwardWeight": -0.165499, "sectorHalfAngleDeg": 30, "angularSamples": 5, "halfWidthT": 0.15, "confidence": "medium_mediapipe_world_single_peak_plus_approach", "derivation": { "lateralWeight": -0.98621, "forwardWeight": -0.165499, "mediaPipeSourceT": -0.364476, "mediaPipeClampedT": 0, "mediaPipePalmToAxisM": 0.066008, "mediaPipePalmSeedWorld": [ 0.222011, 0.010017, -0.329023 ], "readyPalmToReceiverM": 0.594232, "peakPalmToReceiverM": 0.129514, "approachDeltaM": 0.464717, "receiverLandmarks": [ "right_ankle", "right_knee" ] }, "policy": "V341 step 2 only. Existing MediaPipe world landmarks establish ready-to-peak approach and the circumferential radial vector in the target segment body-relative lateral/forward frame. Existing normalized IK remains longitudinal-band authority at runtime; existing collision cylinder remains exact surface authority. No grip solving is executed in this step." }, "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. 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"pinkyDistanceM": 0.06194, "movementM": 0.06194, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.002, "score": 0.075801 }, { "t": 0.00573, "radialAngleDeg": 15, "indexDistanceM": 0.105966, "pinkyDistanceM": 0.063025, "movementM": 0.063025, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.002, "score": 0.076886 }, { "t": 0.00573, "radialAngleDeg": -30, "indexDistanceM": 0.104878, "pinkyDistanceM": 0.062432, "movementM": 0.062432, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.004, "score": 0.078293 }, { "t": 0.00573, "radialAngleDeg": 30, "indexDistanceM": 0.106158, "pinkyDistanceM": 0.064515, "movementM": 0.064515, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.004, "score": 0.080377 } ] } }, "cylinder": { "axisA": "R_Foot", "axisB": "R_Calf", "axisPoint": { "x": 0.13083, "y": 0.83514, "z": 0.43639 }, "axis": { "x": 0.92483, "y": -0.33264, "z": 0.18448 }, "bodyRight": { "x": -0.98043, "y": 0.19642, "z": -0.01292 }, "outward": { "x": 0.32438, "y": 0.43643, "z": -0.83923 }, "radiusM": 0.02872, "selectedT": 0.18573, "radialAngleDeg": 0, "snapPoint": { "x": 0.14015, "y": 0.84768, "z": 0.41229 } }, "palm": { "firstPalm": "pinkyAnchor", "secondPalm": "indexAnchor", "indexSnapDistanceBeforeM": 0.049215, "pinkySnapDistanceBeforeM": 0.005824, "firstSnapErrorM": 0.000322, "lineAngleDeg": 0, "closeDirectionDot": 0.999809, "rollDeg": -113.492, "indexAnchor": { "x": 0.09748, "y": 0.8633, "z": 0.40365 }, "pinkyAnchor": { "x": 0.14011, "y": 0.84797, "z": 0.41215 }, "palmNormal": { "x": -0.30624, "y": -0.44285, "z": 0.84267 }, "indexPlaneAnchor": { "x": 0.09956, "y": 0.86912, "z": 0.38623 }, "pinkyPlaneAnchor": { "x": 0.15067, "y": 0.87516, "z": 0.40798 }, "calibration": { "indexSurfaceDepthM": 0.020770621892949395, "pinkySurfaceDepthM": 0.02047490663028921, "indexSurfaceCount": 5, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.02895, "requiredRadialM": 0.02871, "normalizedEllipticRadius": 1.00841, "signedDistanceM": 0.00024, "signedOutsideM": 0.02895, "outsideScore": 0.99998, "distanceToSurfaceM": 0.00024, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.02895, "requiredRadialM": 0.02871, "normalizedEllipticRadius": 1.00841, "signedDistanceM": 0.00024, "signedOutsideM": 0.02895, "outsideScore": 0.99998, "distanceToSurfaceM": 0.00024, "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": 0.00164, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lForearm", "angle": 16.7 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lUpperarm", "angle": 1.373 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lClavicle", "angle": 1.803 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lForearm", "angle": 5.32 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lUpperarm", "angle": 0.929 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lClavicle", "angle": 1.558 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lForearm", "angle": 4.264 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lUpperarm", "angle": 0.64 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lClavicle", "angle": 1.38 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lForearm", "angle": 3.516 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lUpperarm", "angle": 0.441 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lClavicle", "angle": 1.243 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lForearm", "angle": 2.96 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lUpperarm", "angle": 0.302 }, { "stage": "v335_arm_to_explicit_snap", "iter": 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"stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lUpperarm", "angle": 0.021 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lClavicle", "angle": 0.026 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lForearm", "angle": 0.016 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lUpperarm", "angle": 0.02 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lClavicle", "angle": 0.025 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lForearm", "angle": 0.015 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lUpperarm", "angle": 0.019 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lClavicle", "angle": 0.024 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lForearm", "angle": 0.014 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lUpperarm", "angle": 0.018 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lClavicle", "angle": 0.023 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lForearm", "angle": 0.014 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lUpperarm", "angle": 0.017 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lClavicle", "angle": 0.022 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lForearm", "angle": 0.013 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lUpperarm", "angle": 0.016 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lClavicle", "angle": 0.02 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lForearm", "angle": 0.012 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lUpperarm", "angle": 0.015 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lClavicle", "angle": 0.019 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lForearm", "angle": 0.012 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lUpperarm", "angle": 0.015 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lClavicle", "angle": 0.019 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lForearm", "angle": 0.011 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lUpperarm", "angle": 0.014 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lClavicle", "angle": 0.018 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lForearm", "angle": 0.011 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lUpperarm", "angle": 0.013 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lClavicle", "angle": 0.017 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lForearm", "angle": 0.01 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lUpperarm", "angle": 0.013 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lClavicle", "angle": 0.016 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lUpperarm", "angle": 0.017 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lClavicle", "angle": 0.015 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lUpperarm", "angle": 0.016 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lClavicle", "angle": 0.014 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lUpperarm", "angle": 0.015 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lClavicle", "angle": 0.013 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lUpperarm", "angle": 0.014 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lClavicle", "angle": 0.012 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lUpperarm", "angle": 0.013 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lClavicle", "angle": 0.012 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lUpperarm", "angle": 0.012 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lClavicle", "angle": 0.011 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lUpperarm", "angle": 0.011 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lClavicle", "angle": 0.01 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lUpperarm", "angle": 0.011 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lForearm", "angle": 0.015 } ] } }, "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": 0.80556, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 0.80556, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0036, "prevDistanceToSurfaceM": 0.02085, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.80556, "score": 0.004406, "distanceToSurfaceM": 0.0036 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00293, "prevDistanceToSurfaceM": 0.00293, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00293, "distanceToSurfaceM": 0.00293 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.0075, "prevDistanceToSurfaceM": 0.0075, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.0075, "distanceToSurfaceM": 0.0075 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.0496, "requiredRadialM": 0.02875, "normalizedEllipticRadius": 1.72521, "signedDistanceM": 0.02085, "signedOutsideM": 0.04664, "outsideScore": 0.9402, "distanceToSurfaceM": 0.02085, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.09274, "y": 0.88997, "z": 0.39461 }, "score": 0.02085 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.0372, "requiredRadialM": 0.03427, "normalizedEllipticRadius": 1.08557, "signedDistanceM": 0.00293, "signedOutsideM": 0.01528, "outsideScore": 0.41069, "distanceToSurfaceM": 0.00293, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.08296, "y": 0.89159, "z": 0.42903 }, "score": 0.00293 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "middle", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.12778, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.12778, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00377, "prevDistanceToSurfaceM": 0.03035, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.12778, "score": 0.004898, "distanceToSurfaceM": 0.00377 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00292, "prevDistanceToSurfaceM": 0.00292, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00292, "distanceToSurfaceM": 0.00292 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01108, "prevDistanceToSurfaceM": 0.01108, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.01108, "distanceToSurfaceM": 0.01108 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.05979, "requiredRadialM": 0.02944, "normalizedEllipticRadius": 2.03119, "signedDistanceM": 0.03035, "signedOutsideM": 0.05123, "outsideScore": 0.85678, "distanceToSurfaceM": 0.03035, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.11067, "y": 0.89871, "z": 0.40061 }, "score": 0.03035 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03903, "requiredRadialM": 0.03611, "normalizedEllipticRadius": 1.08078, "signedDistanceM": 0.00292, "signedOutsideM": 0.00911, "outsideScore": 0.23352, "distanceToSurfaceM": 0.00292, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": 0.10215, "y": 0.88494, "z": 0.44034 }, "score": 0.00292 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.28889, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "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": 1.28889, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00501, "prevDistanceToSurfaceM": 0.03232, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.28889, "score": 0.006299, "distanceToSurfaceM": 0.00501 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0029, "prevDistanceToSurfaceM": 0.0029, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.0029, "distanceToSurfaceM": 0.0029 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00585, "prevDistanceToSurfaceM": 0.00585, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00585, "distanceToSurfaceM": 0.00585 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06227, "requiredRadialM": 0.02995, "normalizedEllipticRadius": 2.0789, "signedDistanceM": 0.03232, "signedOutsideM": 0.04999, "outsideScore": 0.80273, "distanceToSurfaceM": 0.03232, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.12759, "y": 0.89765, "z": 0.40808 }, "score": 0.03232 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.04002, "requiredRadialM": 0.03712, "normalizedEllipticRadius": 1.07825, "signedDistanceM": 0.0029, "signedOutsideM": 0.00463, "outsideScore": 0.11565, "distanceToSurfaceM": 0.0029, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": 0.12041, "y": 0.87753, "z": 0.44889 }, "score": 0.0029 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.45, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "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": 1.45, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00954, "prevDistanceToSurfaceM": 0.03195, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.45, "score": 0.01099, "distanceToSurfaceM": 0.00954 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00329, "prevDistanceToSurfaceM": 0.00329, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00329, "distanceToSurfaceM": 0.00329 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00205, "prevDistanceToSurfaceM": 0.00205, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00205, "distanceToSurfaceM": 0.00205 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06228, "requiredRadialM": 0.03033, "normalizedEllipticRadius": 2.05361, "signedDistanceM": 0.03195, "signedOutsideM": 0.04769, "outsideScore": 0.76566, "distanceToSurfaceM": 0.03195, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.14471, "y": 0.89288, "z": 0.41496 }, "score": 0.03195 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03965, "requiredRadialM": 0.0376, "normalizedEllipticRadius": 1.05465, "signedDistanceM": 0.00205, "signedOutsideM": 0.00176, "outsideScore": 0.04443, "distanceToSurfaceM": 0.00205, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": 0.13846, "y": 0.86932, "z": 0.45501 }, "score": 0.00205 }, "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": 5.8511e-05, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thigh", "changed": false, "localQuatDeltaRad": 7.1755e-05, "worldPosDeltaM": 0 }, { "bone": "L_Calf", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Upperarm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Forearm", "changed": false, "localQuatDeltaRad": 0.000349025, "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." }, { "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": 0.302322017, "y": 0.89147391, "z": -0.049207298, "w": 0.33384778 }, "restLocalQuat": { "x": -0.017111864, "y": -7.4397e-05, "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_Calf", "axisB": "R_Thigh", "targetLimb": "R_knee_proximal_shin_receiver", "ruleType": "body_grip_contact", "capsuleRadiusM": null, "receiverPolicy": "source_normalized_ik_palm_zone_projected_to_target_cylinder", "receiverLocked": true }, "receiver": { "schema": "NEXPROD01_V339_TEMPORAL_RECEIVER_SECTOR", "ok": true, "source": "temporal_mediaPipe_radial_weights", "palmSeed": { "x": -0.0757, "y": 0.87196, "z": 0.37998 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "R_Calf", "axisB": "R_Thigh", "sourceAxisLengthM": 0.385852, "sourceT": 0.079625, "centerT": 0.079625, "minT": 0, "maxT": 0.229625, "halfWidthT": 0.15, "radialFrame": { "lateralWeight": 0.031371, "forwardWeight": -0.999508, "sourceRadialM": 0.10959, "fallbackUsed": false, "radialSemantic": null, "sectorHalfAngleDeg": 30, "angularSamples": 5 }, "temporalEvidence": { "schema": "NEXPROD01_TEMPORAL_RECEIVER_SECTOR_V1", "valid": true, "source": "v78_mediapipe_world_landmarks_ready_plus_peak", "sourceCycle": "ready_stance_to_right_figure_four_peak", "approachAndContactFrames": [ "01_ready_stance.jpg", "02_left_figure_four_ankle_grab.jpg" ], "sourceKeyposes": [ "ready_stance", "left_figure_four_ankle_grab" ], "anatomicalSide": "R", "contactRole": "knee_proximal_shin", "lateralWeight": 0.031371, "forwardWeight": -0.999508, "sectorHalfAngleDeg": 30, "angularSamples": 5, "halfWidthT": 0.15, "confidence": "medium_mediapipe_world_single_peak_plus_approach", "derivation": { "lateralWeight": 0.031371, "forwardWeight": -0.999508, "mediaPipeSourceT": -0.018902, "mediaPipeClampedT": 0, "mediaPipePalmToAxisM": 0.104263, "mediaPipePalmSeedWorld": [ -0.210067, -0.001641, -0.334213 ], "readyPalmToReceiverM": 0.303194, "peakPalmToReceiverM": 0.104448, "approachDeltaM": 0.198746, "receiverLandmarks": [ "right_knee", "right_hip" ] }, "policy": "V341 step 2 only. Existing MediaPipe world landmarks establish ready-to-peak approach and the circumferential radial vector in the target segment body-relative lateral/forward frame. Existing normalized IK remains longitudinal-band authority at runtime; existing collision cylinder remains exact surface authority. No grip solving is executed in this step." }, "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": 0.09185, "selectedRadialAngleDeg": 0, "candidateCount": 55, "candidates": [ { "t": 0.09185, "radialAngleDeg": 0, "indexDistanceM": 0.10339, "pinkyDistanceM": 0.075362, "movementM": 0.075362, "centerPenaltyM": 0.000967, "angularPenaltyM": 0, "score": 0.076329 }, { "t": 0.09185, "radialAngleDeg": -15, "indexDistanceM": 0.099428, "pinkyDistanceM": 0.074558, "movementM": 0.074558, "centerPenaltyM": 0.000967, "angularPenaltyM": 0.002, "score": 0.077524 }, { "t": 0.068887, "radialAngleDeg": -15, "indexDistanceM": 0.103005, "pinkyDistanceM": 0.07476, "movementM": 0.07476, "centerPenaltyM": 0.000849, "angularPenaltyM": 0.002, "score": 0.077609 }, { "t": 0.114812, "radialAngleDeg": 0, "indexDistanceM": 0.099512, "pinkyDistanceM": 0.074844, "movementM": 0.074844, "centerPenaltyM": 0.002782, "angularPenaltyM": 0, "score": 0.077626 }, { "t": 0.068887, "radialAngleDeg": 0, "indexDistanceM": 0.107856, "pinkyDistanceM": 0.076959, "movementM": 0.076959, "centerPenaltyM": 0.000849, "angularPenaltyM": 0, "score": 0.077809 }, { "t": 0.068887, "radialAngleDeg": -30, "indexDistanceM": 0.099684, "pinkyDistanceM": 0.0735, "movementM": 0.0735, "centerPenaltyM": 0.000849, "angularPenaltyM": 0.004, "score": 0.078349 }, { "t": 0.09185, "radialAngleDeg": -30, "indexDistanceM": 0.096921, "pinkyDistanceM": 0.07448, "movementM": 0.07448, "centerPenaltyM": 0.000967, "angularPenaltyM": 0.004, "score": 0.079447 }, { "t": 0.114812, "radialAngleDeg": 15, "indexDistanceM": 0.103573, "pinkyDistanceM": 0.07479, "movementM": 0.07479, "centerPenaltyM": 0.002782, "angularPenaltyM": 0.002, "score": 0.079572 }, { "t": 0.09185, "radialAngleDeg": 15, "indexDistanceM": 0.108411, "pinkyDistanceM": 0.07685, "movementM": 0.07685, "centerPenaltyM": 0.000967, "angularPenaltyM": 0.002, "score": 0.079817 }, { "t": 0.137775, "radialAngleDeg": 0, "indexDistanceM": 0.096305, "pinkyDistanceM": 0.075433, "movementM": 0.075433, "centerPenaltyM": 0.004598, "angularPenaltyM": 0, "score": 0.080031 }, { "t": 0.045925, "radialAngleDeg": -30, "indexDistanceM": 0.103117, "pinkyDistanceM": 0.07355, "movementM": 0.07355, "centerPenaltyM": 0.002665, "angularPenaltyM": 0.004, "score": 0.080215 }, { "t": 0.114812, "radialAngleDeg": -15, "indexDistanceM": 0.09651, "pinkyDistanceM": 0.07545, "movementM": 0.07545, "centerPenaltyM": 0.002782, "angularPenaltyM": 0.002, "score": 0.080232 }, { "t": 0.137775, "radialAngleDeg": 15, "indexDistanceM": 0.09931, "pinkyDistanceM": 0.073808, "movementM": 0.073808, "centerPenaltyM": 0.004598, "angularPenaltyM": 0.002, "score": 0.080407 }, { "t": 0.045925, "radialAngleDeg": -15, "indexDistanceM": 0.107195, "pinkyDistanceM": 0.075994, "movementM": 0.075994, "centerPenaltyM": 0.002665, "angularPenaltyM": 0.002, "score": 0.080658 }, { "t": 0.137775, "radialAngleDeg": 30, "indexDistanceM": 0.103083, "pinkyDistanceM": 0.072704, "movementM": 0.072704, "centerPenaltyM": 0.004598, "angularPenaltyM": 0.004, "score": 0.081302 }, { "t": 0.160737, "radialAngleDeg": 30, "indexDistanceM": 0.098394, "pinkyDistanceM": 0.071162, "movementM": 0.071162, "centerPenaltyM": 0.006414, "angularPenaltyM": 0.004, "score": 0.081576 }, { "t": 0.114812, "radialAngleDeg": 30, "indexDistanceM": 0.108336, "pinkyDistanceM": 0.075322, "movementM": 0.075322, "centerPenaltyM": 0.002782, "angularPenaltyM": 0.004, "score": 0.082105 }, { "t": 0.045925, "radialAngleDeg": 0, "indexDistanceM": 0.112853, "pinkyDistanceM": 0.079531, "movementM": 0.079531, "centerPenaltyM": 0.002665, "angularPenaltyM": 0, "score": 0.082196 }, { "t": 0.160737, "radialAngleDeg": 15, "indexDistanceM": 0.095714, "pinkyDistanceM": 0.073925, "movementM": 0.073925, "centerPenaltyM": 0.006414, "angularPenaltyM": 0.002, "score": 0.082339 }, { "t": 0.022963, "radialAngleDeg": -30, "indexDistanceM": 0.105726, "pinkyDistanceM": 0.074152, "movementM": 0.074152, "centerPenaltyM": 0.004481, "angularPenaltyM": 0.004, "score": 0.082633 }, { "t": 0.068887, "radialAngleDeg": 15, "indexDistanceM": 0.113746, "pinkyDistanceM": 0.079905, "movementM": 0.079905, "centerPenaltyM": 0.000849, "angularPenaltyM": 0.002, "score": 0.082754 }, { "t": 0.1837, "radialAngleDeg": 30, "indexDistanceM": 0.094353, "pinkyDistanceM": 0.070766, "movementM": 0.070766, "centerPenaltyM": 0.00823, "angularPenaltyM": 0.004, "score": 0.082996 }, { "t": 0.114812, "radialAngleDeg": -30, "indexDistanceM": 0.094859, "pinkyDistanceM": 0.076519, "movementM": 0.076519, "centerPenaltyM": 0.002782, "angularPenaltyM": 0.004, "score": 0.083302 }, { "t": 0.160737, "radialAngleDeg": 0, "indexDistanceM": 0.093855, "pinkyDistanceM": 0.07707, "movementM": 0.07707, "centerPenaltyM": 0.006414, "angularPenaltyM": 0, "score": 0.083484 }, { "t": 0.022963, "radialAngleDeg": -15, "indexDistanceM": 0.110268, "pinkyDistanceM": 0.077355, "movementM": 0.077355, "centerPenaltyM": 0.004481, "angularPenaltyM": 0.002, "score": 0.083836 }, { "t": 0.09185, "radialAngleDeg": 30, "indexDistanceM": 0.114057, "pinkyDistanceM": 0.078915, "movementM": 0.078915, "centerPenaltyM": 0.000967, "angularPenaltyM": 0.004, "score": 0.083881 }, { "t": 0.137775, "radialAngleDeg": -15, "indexDistanceM": 0.094335, "pinkyDistanceM": 0.077414, "movementM": 0.077414, "centerPenaltyM": 0.004598, "angularPenaltyM": 0.002, "score": 0.084012 }, { "t": 0, "radialAngleDeg": -30, "indexDistanceM": 0.105726, "pinkyDistanceM": 0.074152, "movementM": 0.074152, "centerPenaltyM": 0.006296, "angularPenaltyM": 0.004, "score": 0.084449 }, { "t": 0.1837, "radialAngleDeg": 15, "indexDistanceM": 0.092862, "pinkyDistanceM": 0.075135, "movementM": 0.075135, "centerPenaltyM": 0.00823, "angularPenaltyM": 0.002, "score": 0.085365 }, { "t": 0.206662, "radialAngleDeg": 30, "indexDistanceM": 0.091121, "pinkyDistanceM": 0.071588, "movementM": 0.071588, "centerPenaltyM": 0.010045, "angularPenaltyM": 0.004, "score": 0.085634 }, { "t": 0, "radialAngleDeg": -15, "indexDistanceM": 0.110268, "pinkyDistanceM": 0.077355, "movementM": 0.077355, "centerPenaltyM": 0.006296, "angularPenaltyM": 0.002, "score": 0.085652 }, { "t": 0.022963, "radialAngleDeg": 0, "indexDistanceM": 0.116417, "pinkyDistanceM": 0.081724, "movementM": 0.081724, "centerPenaltyM": 0.004481, "angularPenaltyM": 0, "score": 0.086204 }, { "t": 0.1837, "radialAngleDeg": 0, "indexDistanceM": 0.092218, "pinkyDistanceM": 0.07969, "movementM": 0.07969, "centerPenaltyM": 0.00823, "angularPenaltyM": 0, "score": 0.08792 }, { "t": 0, "radialAngleDeg": 0, "indexDistanceM": 0.116417, "pinkyDistanceM": 0.081724, "movementM": 0.081724, "centerPenaltyM": 0.006296, "angularPenaltyM": 0, "score": 0.08802 }, { "t": 0.137775, "radialAngleDeg": -30, "indexDistanceM": 0.093581, "pinkyDistanceM": 0.079565, "movementM": 0.079565, "centerPenaltyM": 0.004598, "angularPenaltyM": 0.004, "score": 0.088163 }, { "t": 0.068887, "radialAngleDeg": 30, "indexDistanceM": 0.120173, "pinkyDistanceM": 0.083353, "movementM": 0.083353, "centerPenaltyM": 0.000849, "angularPenaltyM": 0.004, "score": 0.088202 }, { "t": 0.045925, "radialAngleDeg": 15, "indexDistanceM": 0.119523, "pinkyDistanceM": 0.08382, "movementM": 0.08382, "centerPenaltyM": 0.002665, "angularPenaltyM": 0.002, "score": 0.088484 }, { "t": 0.160737, "radialAngleDeg": -15, "indexDistanceM": 0.092977, "pinkyDistanceM": 0.080332, "movementM": 0.080332, "centerPenaltyM": 0.006414, "angularPenaltyM": 0.002, "score": 0.088746 }, { "t": 0.206662, "radialAngleDeg": 15, "indexDistanceM": 0.090894, "pinkyDistanceM": 0.077434, "movementM": 0.077434, "centerPenaltyM": 0.010045, "angularPenaltyM": 0.002, "score": 0.089479 }, { "t": 0.229625, "radialAngleDeg": 30, "indexDistanceM": 0.089599, "pinkyDistanceM": 0.074097, "movementM": 0.074097, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.004, "score": 0.089958 }, { "t": 0.206662, "radialAngleDeg": 0, "indexDistanceM": 0.09151, "pinkyDistanceM": 0.083246, "movementM": 0.083246, "centerPenaltyM": 0.010045, "angularPenaltyM": 0, "score": 0.093291 }, { "t": 0.022963, "radialAngleDeg": 15, "indexDistanceM": 0.123556, "pinkyDistanceM": 0.086825, "movementM": 0.086825, "centerPenaltyM": 0.004481, "angularPenaltyM": 0.002, "score": 0.093306 }, { "t": 0.160737, "radialAngleDeg": -30, "indexDistanceM": 0.093151, "pinkyDistanceM": 0.083462, "movementM": 0.083462, "centerPenaltyM": 0.006414, "angularPenaltyM": 0.004, "score": 0.093876 }, { "t": 0.1837, "radialAngleDeg": -15, "indexDistanceM": 0.09247, "pinkyDistanceM": 0.084102, "movementM": 0.084102, "centerPenaltyM": 0.00823, "angularPenaltyM": 0.002, "score": 0.094331 }, { "t": 0.229625, "radialAngleDeg": 15, "indexDistanceM": 0.090663, "pinkyDistanceM": 0.081236, "movementM": 0.081236, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.002, "score": 0.095097 }, { "t": 0, "radialAngleDeg": 15, "indexDistanceM": 0.123556, "pinkyDistanceM": 0.086825, "movementM": 0.086825, "centerPenaltyM": 0.006296, "angularPenaltyM": 0.002, "score": 0.095121 }, { "t": 0.045925, "radialAngleDeg": 30, "indexDistanceM": 0.126644, "pinkyDistanceM": 0.088502, "movementM": 0.088502, "centerPenaltyM": 0.002665, "angularPenaltyM": 0.004, "score": 0.095167 }, { "t": 0.229625, "radialAngleDeg": 0, "indexDistanceM": 0.092554, "pinkyDistanceM": 0.088154, "movementM": 0.088154, "centerPenaltyM": 0.011861, "angularPenaltyM": 0, "score": 0.100015 }, { "t": 0.1837, "radialAngleDeg": -30, "indexDistanceM": 0.09358, "pinkyDistanceM": 0.088093, "movementM": 0.088093, "centerPenaltyM": 0.00823, "angularPenaltyM": 0.004, "score": 0.100322 }, { "t": 0.206662, "radialAngleDeg": -15, "indexDistanceM": 0.092901, "pinkyDistanceM": 0.088664, "movementM": 0.088664, "centerPenaltyM": 0.010045, "angularPenaltyM": 0.002, "score": 0.100709 }, { "t": 0.022963, "radialAngleDeg": 30, "indexDistanceM": 0.131093, "pinkyDistanceM": 0.092239, "movementM": 0.092239, "centerPenaltyM": 0.004481, "angularPenaltyM": 0.004, "score": 0.100719 }, { "t": 0, "radialAngleDeg": 30, "indexDistanceM": 0.131093, "pinkyDistanceM": 0.092239, "movementM": 0.092239, "centerPenaltyM": 0.006296, "angularPenaltyM": 0.004, "score": 0.102535 }, { "t": 0.206662, "radialAngleDeg": -30, "indexDistanceM": 0.094929, "pinkyDistanceM": 0.093401, "movementM": 0.093401, "centerPenaltyM": 0.010045, "angularPenaltyM": 0.004, "score": 0.107447 }, { "t": 0.229625, "radialAngleDeg": -15, "indexDistanceM": 0.095086, "pinkyDistanceM": 0.094468, "movementM": 0.094468, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.002, "score": 0.108329 }, { "t": 0.229625, "radialAngleDeg": -30, "indexDistanceM": 0.098034, "pinkyDistanceM": 0.099882, "movementM": 0.098034, "centerPenaltyM": 0.011861, "angularPenaltyM": 0.004, "score": 0.113895 } ] } }, "cylinder": { "axisA": "R_Calf", "axisB": "R_Thigh", "axisPoint": { "x": -0.1352, "y": 0.9252, "z": 0.37944 }, "axis": { "x": 0.92483, "y": -0.33264, "z": 0.18448 }, "bodyRight": { "x": -0.98043, "y": 0.19642, "z": -0.01292 }, "outward": { "x": -0.22503, "y": -0.9568, "z": 0.18412 }, "radiusM": 0.05182, "selectedT": 0.09185, "radialAngleDeg": 0, "snapPoint": { "x": -0.14686, "y": 0.87562, "z": 0.38898 } }, "palm": { "firstPalm": "pinkyAnchor", "secondPalm": "indexAnchor", "indexSnapDistanceBeforeM": 0.10339, "pinkySnapDistanceBeforeM": 0.075362, "firstSnapErrorM": 0.000198, "lineAngleDeg": 0, "closeDirectionDot": 0.993188, "rollDeg": -91.3127, "indexAnchor": { "x": -0.10343, "y": 0.86019, "z": 0.39754 }, "pinkyAnchor": { "x": -0.14679, "y": 0.87578, "z": 0.3889 }, "palmNormal": { "x": 0.33621, "y": 0.92735, "z": -0.16427 }, "indexPlaneAnchor": { "x": -0.1106, "y": 0.84597, "z": 0.40902 }, "pinkyPlaneAnchor": { "x": -0.15027, "y": 0.85356, "z": 0.37065 }, "calibration": { "indexSurfaceDepthM": 0.020524630301030626, "pinkySurfaceDepthM": 0.020500639800522462, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.05109, "requiredRadialM": 0.05182, "normalizedEllipticRadius": 0.98578, "signedDistanceM": -0.00074, "signedOutsideM": 0.05055, "outsideScore": 0.98956, "distanceToSurfaceM": 0.00074, "penetrationM": 0.00074, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.05109, "requiredRadialM": 0.05182, "normalizedEllipticRadius": 0.98578, "signedDistanceM": -0.00074, "signedOutsideM": 0.05055, "outsideScore": 0.98956, "distanceToSurfaceM": 0.00074, "penetrationM": 0.00074, "surfaceOk": true, "sideOk": true }, "pass": true }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 64, "finalError": 0.0002, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 22.666 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 7.163 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 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"amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00871, "prevDistanceToSurfaceM": 0.00871, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.00871, "distanceToSurfaceM": 0.00871 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07714, "requiredRadialM": 0.05427, "normalizedEllipticRadius": 1.4214, "signedDistanceM": 0.02287, "signedOutsideM": 0.07199, "outsideScore": 0.93325, "distanceToSurfaceM": 0.02287, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.10762, "y": 0.83457, "z": 0.37631 }, "score": 0.02287 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06044, "requiredRadialM": 0.05647, "normalizedEllipticRadius": 1.07018, "signedDistanceM": 0.00396, "signedOutsideM": 0.04093, "outsideScore": 0.67732, "distanceToSurfaceM": 0.00396, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.08758, "y": 0.85711, "z": 0.35476 }, "score": 0.00396 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.88611, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "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": 0.88611, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00487, "prevDistanceToSurfaceM": 0.02413, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.88611, "score": 0.005756, "distanceToSurfaceM": 0.00487 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00395, "prevDistanceToSurfaceM": 0.00395, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00395, "distanceToSurfaceM": 0.00395 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00594, "prevDistanceToSurfaceM": 0.00594, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00594, "distanceToSurfaceM": 0.00594 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07907, "requiredRadialM": 0.05494, "normalizedEllipticRadius": 1.43928, "signedDistanceM": 0.02413, "signedOutsideM": 0.07087, "outsideScore": 0.8963, "distanceToSurfaceM": 0.02413, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.12171, "y": 0.83947, "z": 0.36543 }, "score": 0.02413 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06044, "requiredRadialM": 0.05649, "normalizedEllipticRadius": 1.0699, "signedDistanceM": 0.00395, "signedOutsideM": 0.03632, "outsideScore": 0.60099, "distanceToSurfaceM": 0.00395, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.10453, "y": 0.86741, "z": 0.34638 }, "score": 0.00395 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 1.12778, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "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": 1.12778, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00557, "prevDistanceToSurfaceM": 0.02409, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.12778, "score": 0.006698, "distanceToSurfaceM": 0.00557 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "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" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00047, "prevDistanceToSurfaceM": 0.00047, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00047, "distanceToSurfaceM": 0.00047 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07942, "requiredRadialM": 0.05533, "normalizedEllipticRadius": 1.43537, "signedDistanceM": 0.02409, "signedOutsideM": 0.06889, "outsideScore": 0.86737, "distanceToSurfaceM": 0.02409, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.13725, "y": 0.84635, "z": 0.35718 }, "score": 0.02409 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.05658, "requiredRadialM": 0.05611, "normalizedEllipticRadius": 1.00844, "signedDistanceM": 0.00047, "signedOutsideM": 0.02594, "outsideScore": 0.45843, "distanceToSurfaceM": 0.00047, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.12059, "y": 0.88383, "z": 0.33863 }, "score": 0.00047 }, "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": 5.8511e-05, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Calf", "changed": false, "localQuatDeltaRad": 0.000896185, "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, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 0.0003314, "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." } ], "perSolveReceiverDrift": [ { "order": 0, "side": "L", "drift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "R_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] } }, { "order": 1, "side": "R", "drift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "R_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] } } ], "sharedReceiverDrift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "R_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] }, "policy": "V342 step 3: consume the ordered source grips[] collection with the existing generic single-hand grip capability. Each hand solves independently. The shared lifted-leg receiver is locked for every solve, so the existing leg-meet fallback is forbidden. No exercise-name branch, fallback geometry or guessed snap point is introduced." }, "actualSample": null }, { "label": "left", "caseId": "v93_warmup_figure_four_walk_2", "phase": 0.75, "runtime": "NEXPROD01_RUNTIME_V346_COLLISION_RECEIVER_AXIS_CANONICALIZATION_2026_08_20", "genericGrip": { "schema": "NEXPROD01_GENERIC_MULTI_GRIP_SOLVER_V1", "version": "V342_LOCKED_SHARED_RECEIVER", "active": true, "applied": true, "ok": true, "pass": true, "gripCount": 2, "receiverSide": "L", "receiverLocked": true, "solves": [ { "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": -0.09989261, "y": 0.791825993, "z": -0.007053478, "w": 0.602480956 }, "restLocalQuat": { "x": -0.017111864, "y": -7.4397e-05, "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": "L_Foot", "axisB": "L_Calf", "targetLimb": "L_foot_ankle_receiver", "ruleType": "body_grip_contact", "capsuleRadiusM": null, "receiverPolicy": "source_normalized_ik_palm_zone_projected_to_target_cylinder", "receiverLocked": true }, "receiver": { "schema": "NEXPROD01_V339_TEMPORAL_RECEIVER_SECTOR", "ok": true, "source": "temporal_mediaPipe_radial_weights", "palmSeed": { "x": -0.13511, "y": 0.81451, "z": 0.42828 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "L_Foot", "axisB": "L_Calf", "sourceAxisLengthM": 0.39526, "sourceT": 0.329173, "centerT": 0.329173, "minT": 0.179173, "maxT": 0.479173, "halfWidthT": 0.15, "radialFrame": { "lateralWeight": 0.725102, "forwardWeight": -0.688641, "sourceRadialM": 0.004337, "fallbackUsed": true, "radialSemantic": null, "sectorHalfAngleDeg": 30, "angularSamples": 5 }, "temporalEvidence": { "schema": "NEXPROD01_TEMPORAL_RECEIVER_SECTOR_V1", "valid": true, "source": "v78_mediapipe_world_landmarks_ready_plus_peak", "sourceCycle": "ready_stance_to_left_figure_four_peak", "approachAndContactFrames": [ "01_ready_stance.jpg", "03_right_figure_four_ankle_grab.jpg" ], "sourceKeyposes": [ "ready_stance", "right_figure_four_ankle_grab" ], "anatomicalSide": "L", "contactRole": "foot_ankle", "lateralWeight": 0.725102, "forwardWeight": -0.688641, "sectorHalfAngleDeg": 30, "angularSamples": 5, "halfWidthT": 0.15, "confidence": "medium_mediapipe_world_single_peak_plus_approach", "derivation": { "lateralWeight": 0.725102, "forwardWeight": -0.688641, "mediaPipeSourceT": -0.59153, "mediaPipeClampedT": 0, "mediaPipePalmToAxisM": 0.207553, "mediaPipePalmSeedWorld": [ -0.261932, 0.036702, -0.229227 ], "readyPalmToReceiverM": 0.631422, "peakPalmToReceiverM": 0.253745, "approachDeltaM": 0.377677, "receiverLandmarks": [ "left_ankle", "left_knee" ] }, "policy": "V341 step 2 only. Existing MediaPipe world landmarks establish ready-to-peak approach and the circumferential radial vector in the target segment body-relative lateral/forward frame. Existing normalized IK remains longitudinal-band authority at runtime; existing collision cylinder remains exact surface authority. No grip solving is executed in this step." }, "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": 0.359173, "selectedRadialAngleDeg": 0, "candidateCount": 55, "candidates": [ { "t": 0.359173, "radialAngleDeg": 0, "indexDistanceM": 0.052853, "pinkyDistanceM": 0.007386, "movementM": 0.007386, "centerPenaltyM": 0.002372, "angularPenaltyM": 0, "score": 0.009758 }, { "t": 0.359173, "radialAngleDeg": 15, "indexDistanceM": 0.05358, "pinkyDistanceM": 0.008365, "movementM": 0.008365, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.012737 }, { "t": 0.389173, "radialAngleDeg": 0, "indexDistanceM": 0.047172, "pinkyDistanceM": 0.010653, "movementM": 0.010653, "centerPenaltyM": 0.004743, "angularPenaltyM": 0, "score": 0.015396 }, { "t": 0.389173, "radialAngleDeg": 15, "indexDistanceM": 0.047594, "pinkyDistanceM": 0.009529, "movementM": 0.009529, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.002, "score": 0.016272 }, { "t": 0.329173, "radialAngleDeg": 0, "indexDistanceM": 0.06046, "pinkyDistanceM": 0.01701, "movementM": 0.01701, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.01701 }, { "t": 0.359173, "radialAngleDeg": -15, "indexDistanceM": 0.052251, "pinkyDistanceM": 0.014979, "movementM": 0.014979, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.019351 }, { "t": 0.329173, "radialAngleDeg": 15, "indexDistanceM": 0.061378, "pinkyDistanceM": 0.018438, "movementM": 0.018438, "centerPenaltyM": 0, "angularPenaltyM": 0.002, "score": 0.020438 }, { "t": 0.359173, "radialAngleDeg": 30, "indexDistanceM": 0.054559, "pinkyDistanceM": 0.015491, "movementM": 0.015491, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.021862 }, { "t": 0.329173, "radialAngleDeg": -15, "indexDistanceM": 0.059614, "pinkyDistanceM": 0.020345, "movementM": 0.020345, "centerPenaltyM": 0, "angularPenaltyM": 0.002, "score": 0.022345 }, { "t": 0.389173, "radialAngleDeg": 30, "indexDistanceM": 0.048375, "pinkyDistanceM": 0.015267, "movementM": 0.015267, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.004, "score": 0.024011 }, { "t": 0.389173, "radialAngleDeg": -15, "indexDistanceM": 0.046942, "pinkyDistanceM": 0.018216, "movementM": 0.018216, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.002, "score": 0.024959 }, { "t": 0.329173, "radialAngleDeg": 30, "indexDistanceM": 0.062462, "pinkyDistanceM": 0.023135, "movementM": 0.023135, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.027135 }, { "t": 0.419173, "radialAngleDeg": 0, "indexDistanceM": 0.044854, "pinkyDistanceM": 0.021701, "movementM": 0.021701, "centerPenaltyM": 0.007115, "angularPenaltyM": 0, "score": 0.028816 }, { "t": 0.419173, "radialAngleDeg": 15, "indexDistanceM": 0.04523, "pinkyDistanceM": 0.020479, "movementM": 0.020479, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.002, "score": 0.029594 }, { "t": 0.359173, "radialAngleDeg": -30, "indexDistanceM": 0.051441, "pinkyDistanceM": 0.024346, "movementM": 0.024346, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.030717 }, { "t": 0.299173, "radialAngleDeg": 0, "indexDistanceM": 0.069368, "pinkyDistanceM": 0.028598, "movementM": 0.028598, "centerPenaltyM": 0.002372, "angularPenaltyM": 0, "score": 0.03097 }, { "t": 0.329173, "radialAngleDeg": -30, "indexDistanceM": 0.058606, "pinkyDistanceM": 0.027043, "movementM": 0.027043, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.031043 }, { "t": 0.299173, "radialAngleDeg": -15, "indexDistanceM": 0.068377, "pinkyDistanceM": 0.030005, "movementM": 0.030005, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.034377 }, { "t": 0.299173, "radialAngleDeg": 15, "indexDistanceM": 0.070395, "pinkyDistanceM": 0.03002, "movementM": 0.03002, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.002, "score": 0.034391 }, { "t": 0.419173, "radialAngleDeg": 30, "indexDistanceM": 0.045937, "pinkyDistanceM": 0.023319, "movementM": 0.023319, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.004, "score": 0.034434 }, { "t": 0.419173, "radialAngleDeg": -15, "indexDistanceM": 0.044602, "pinkyDistanceM": 0.026876, "movementM": 0.026876, "centerPenaltyM": 0.007115, "angularPenaltyM": 0.002, "score": 0.035991 }, { "t": 0.389173, "radialAngleDeg": -30, "indexDistanceM": 0.046453, "pinkyDistanceM": 0.027465, "movementM": 0.027465, "centerPenaltyM": 0.004743, "angularPenaltyM": 0.004, "score": 0.036208 }, { "t": 0.299173, "radialAngleDeg": 30, "indexDistanceM": 0.071527, "pinkyDistanceM": 0.03346, "movementM": 0.03346, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.039832 }, { "t": 0.299173, "radialAngleDeg": -30, "indexDistanceM": 0.067265, "pinkyDistanceM": 0.034207, "movementM": 0.034207, "centerPenaltyM": 0.002372, "angularPenaltyM": 0.004, "score": 0.040578 }, { "t": 0.449173, "radialAngleDeg": 0, "indexDistanceM": 0.046097, "pinkyDistanceM": 0.033575, "movementM": 0.033575, "centerPenaltyM": 0.009486, "angularPenaltyM": 0, "score": 0.043062 }, { "t": 0.449173, "radialAngleDeg": 15, "indexDistanceM": 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1.12778, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 1.12778, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00395, "prevDistanceToSurfaceM": 0.03025, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.12778, "score": 0.005078, "distanceToSurfaceM": 0.00395 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00161, "prevDistanceToSurfaceM": 0.00161, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00161, "distanceToSurfaceM": 0.00161 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00358, "prevDistanceToSurfaceM": 0.00358, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00358, "distanceToSurfaceM": 0.00358 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06453, "requiredRadialM": 0.03428, "normalizedEllipticRadius": 1.88243, "signedDistanceM": 0.03025, "signedOutsideM": 0.0591, "outsideScore": 0.9159, "distanceToSurfaceM": 0.03025, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.11699, "y": 0.87404, "z": 0.36652 }, "score": 0.03025 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03752, "requiredRadialM": 0.0359, "normalizedEllipticRadius": 1.04491, "signedDistanceM": 0.00161, "signedOutsideM": 0.00747, "outsideScore": 0.19918, "distanceToSurfaceM": 0.00161, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": -0.1042, "y": 0.87323, "z": 0.41774 }, "score": 0.00161 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 1.36944, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "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": 1.36944, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00437, "prevDistanceToSurfaceM": 0.03324, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.36944, "score": 0.005739, "distanceToSurfaceM": 0.00437 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00019, "prevDistanceToSurfaceM": 0.00019, "worstPenetrationM": 0.0019, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.02299, "distanceToSurfaceM": 0.00019 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00032, "prevDistanceToSurfaceM": 0.00032, "worstPenetrationM": 0.00199, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.0242, "distanceToSurfaceM": 0.00032 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06709, "requiredRadialM": 0.03385, "normalizedEllipticRadius": 1.98209, "signedDistanceM": 0.03324, "signedOutsideM": 0.05797, "outsideScore": 0.86414, "distanceToSurfaceM": 0.03324, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.13371, "y": 0.87187, "z": 0.37403 }, "score": 0.03324 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0.00199, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03518, "requiredRadialM": 0.03499, "normalizedEllipticRadius": 1.00546, "signedDistanceM": 0.00019, "signedOutsideM": 0.01148, "outsideScore": 0.32645, "distanceToSurfaceM": 0.00019, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.12408, "y": 0.85859, "z": 0.41848 }, "score": 0.00019 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 1.45, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "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": 1.45, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01264, "prevDistanceToSurfaceM": 0.03427, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.45, "score": 0.01409, "distanceToSurfaceM": 0.01264 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00583, "prevDistanceToSurfaceM": 0.00583, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00583, "distanceToSurfaceM": 0.00583 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00257, "prevDistanceToSurfaceM": 0.00257, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00257, "distanceToSurfaceM": 0.00257 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06792, "requiredRadialM": 0.03365, "normalizedEllipticRadius": 2.01825, "signedDistanceM": 0.03427, "signedOutsideM": 0.05597, "outsideScore": 0.82401, "distanceToSurfaceM": 0.03427, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.15003, "y": 0.86614, "z": 0.38164 }, "score": 0.03427 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03923, "requiredRadialM": 0.03666, "normalizedEllipticRadius": 1.07002, "signedDistanceM": 0.00257, "signedOutsideM": 0.0042, "outsideScore": 0.10709, "distanceToSurfaceM": 0.00257, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": -0.13935, "y": 0.85251, "z": 0.43138 }, "score": 0.00257 }, "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, "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": 3.2499e-05, "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, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 0.000527173, "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." }, { "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": 0.29962898, "y": -0.883636049, "z": 0.04550597, "w": 0.35684593 }, "restLocalQuat": { "x": -0.017111981, "y": 7.4568e-05, "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_Calf", "axisB": "L_Thigh", "targetLimb": "L_knee_proximal_shin_receiver", "ruleType": "body_grip_contact", "capsuleRadiusM": null, "receiverPolicy": "source_normalized_ik_palm_zone_projected_to_target_cylinder", "receiverLocked": true }, "receiver": { "schema": "NEXPROD01_V339_TEMPORAL_RECEIVER_SECTOR", "ok": true, "source": "temporal_mediaPipe_radial_weights", "palmSeed": { "x": 0.07815, "y": 0.85455, "z": 0.35507 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "L_Calf", "axisB": "L_Thigh", "sourceAxisLengthM": 0.385897, "sourceT": 0.118227, "centerT": 0.118227, "minT": 0, "maxT": 0.268227, "halfWidthT": 0.15, "radialFrame": { "lateralWeight": -0.203716, "forwardWeight": -0.97903, "sourceRadialM": 0.089924, "fallbackUsed": false, "radialSemantic": null, "sectorHalfAngleDeg": 30, "angularSamples": 5 }, "temporalEvidence": { "schema": "NEXPROD01_TEMPORAL_RECEIVER_SECTOR_V1", "valid": true, "source": "v78_mediapipe_world_landmarks_ready_plus_peak", "sourceCycle": "ready_stance_to_left_figure_four_peak", "approachAndContactFrames": [ "01_ready_stance.jpg", "03_right_figure_four_ankle_grab.jpg" ], "sourceKeyposes": [ "ready_stance", "right_figure_four_ankle_grab" ], "anatomicalSide": "L", "contactRole": "knee_proximal_shin", "lateralWeight": -0.203716, "forwardWeight": -0.97903, "sectorHalfAngleDeg": 30, "angularSamples": 5, "halfWidthT": 0.15, "confidence": "medium_mediapipe_world_single_peak_plus_approach", "derivation": { "lateralWeight": -0.203716, "forwardWeight": -0.97903, "mediaPipeSourceT": 0.211893, "mediaPipeClampedT": 0.211893, "mediaPipePalmToAxisM": 0.127963, "mediaPipePalmSeedWorld": [ 0.190806, 0.006165, -0.254456 ], "readyPalmToReceiverM": 0.217398, "peakPalmToReceiverM": 0.127963, "approachDeltaM": 0.089436, "receiverLandmarks": [ "left_knee", "left_hip" ] }, "policy": "V341 step 2 only. Existing MediaPipe world landmarks establish ready-to-peak approach and the circumferential radial vector in the target segment body-relative lateral/forward frame. Existing normalized IK remains longitudinal-band authority at runtime; existing collision cylinder remains exact surface authority. No grip solving is executed in this step." }, "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": 0.107291, "selectedRadialAngleDeg": -30, "candidateCount": 55, "candidates": [ { "t": 0.107291, "radialAngleDeg": -30, "indexDistanceM": 0.116096, "pinkyDistanceM": 0.09657, "movementM": 0.09657, "centerPenaltyM": 0.000865, "angularPenaltyM": 0.004, "score": 0.101434 }, { "t": 0.080468, "radialAngleDeg": -30, "indexDistanceM": 0.118517, "pinkyDistanceM": 0.094919, "movementM": 0.094919, "centerPenaltyM": 0.002985, "angularPenaltyM": 0.004, "score": 0.101904 }, { "t": 0.080468, "radialAngleDeg": -15, "indexDistanceM": 0.117209, "pinkyDistanceM": 0.098389, "movementM": 0.098389, "centerPenaltyM": 0.002985, "angularPenaltyM": 0.002, "score": 0.103374 }, { "t": 0.053645, "radialAngleDeg": -30, "indexDistanceM": 0.121764, "pinkyDistanceM": 0.094367, "movementM": 0.094367, "centerPenaltyM": 0.005105, "angularPenaltyM": 0.004, "score": 0.103473 }, { "t": 0.053645, "radialAngleDeg": -15, "indexDistanceM": 0.119323, "pinkyDistanceM": 0.096494, "movementM": 0.096494, "centerPenaltyM": 0.005105, "angularPenaltyM": 0.002, "score": 0.1036 }, { "t": 0.107291, "radialAngleDeg": -15, "indexDistanceM": 0.115938, "pinkyDistanceM": 0.101272, "movementM": 0.101272, "centerPenaltyM": 0.000865, "angularPenaltyM": 0.002, "score": 0.104137 }, { "t": 0.134113, "radialAngleDeg": -30, "indexDistanceM": 0.114266, "pinkyDistanceM": 0.098915, "movementM": 0.098915, "centerPenaltyM": 0.001256, "angularPenaltyM": 0.004, "score": 0.104171 }, { "t": 0.026823, "radialAngleDeg": -15, "indexDistanceM": 0.121823, "pinkyDistanceM": 0.095767, "movementM": 0.095767, "centerPenaltyM": 0.007226, "angularPenaltyM": 0.002, "score": 0.104993 }, { "t": 0.053645, "radialAngleDeg": 0, "indexDistanceM": 0.118575, "pinkyDistanceM": 0.100739, "movementM": 0.100739, "centerPenaltyM": 0.005105, "angularPenaltyM": 0, "score": 0.105844 }, { "t": 0.026823, "radialAngleDeg": -30, "indexDistanceM": 0.125202, "pinkyDistanceM": 0.09486, "movementM": 0.09486, "centerPenaltyM": 0.007226, "angularPenaltyM": 0.004, "score": 0.106086 }, { "t": 0.026823, "radialAngleDeg": 0, "indexDistanceM": 0.120109, "pinkyDistanceM": 0.098919, "movementM": 0.098919, "centerPenaltyM": 0.007226, "angularPenaltyM": 0, "score": 0.106145 }, { "t": 0.080468, "radialAngleDeg": 0, "indexDistanceM": 0.1176, "pinkyDistanceM": 0.103786, "movementM": 0.103786, "centerPenaltyM": 0.002985, "angularPenaltyM": 0, "score": 0.106771 }, { "t": 0, "radialAngleDeg": -15, "indexDistanceM": 0.121823, "pinkyDistanceM": 0.095767, "movementM": 0.095767, "centerPenaltyM": 0.009346, "angularPenaltyM": 0.002, "score": 0.107113 }, { "t": 0.134113, "radialAngleDeg": -15, "indexDistanceM": 0.115278, "pinkyDistanceM": 0.104816, "movementM": 0.104816, "centerPenaltyM": 0.001256, "angularPenaltyM": 0.002, "score": 0.108072 }, { "t": 0, "radialAngleDeg": -30, "indexDistanceM": 0.125202, "pinkyDistanceM": 0.09486, "movementM": 0.09486, "centerPenaltyM": 0.009346, "angularPenaltyM": 0.004, "score": 0.108206 }, { "t": 0, "radialAngleDeg": 0, "indexDistanceM": 0.120109, "pinkyDistanceM": 0.098919, "movementM": 0.098919, "centerPenaltyM": 0.009346, "angularPenaltyM": 0, "score": 0.108265 }, { "t": 0.107291, "radialAngleDeg": 0, "indexDistanceM": 0.117457, "pinkyDistanceM": 0.107692, "movementM": 0.107692, "centerPenaltyM": 0.000865, "angularPenaltyM": 0, "score": 0.108557 }, { "t": 0.160936, "radialAngleDeg": -30, "indexDistanceM": 0.113398, "pinkyDistanceM": 0.102308, "movementM": 0.102308, "centerPenaltyM": 0.003376, "angularPenaltyM": 0.004, "score": 0.109684 }, { "t": 0.026823, "radialAngleDeg": 15, "indexDistanceM": 0.120251, "pinkyDistanceM": 0.103913, "movementM": 0.103913, "centerPenaltyM": 0.007226, "angularPenaltyM": 0.002, "score": 0.113138 }, { "t": 0.134113, "radialAngleDeg": 0, "indexDistanceM": 0.117937, "pinkyDistanceM": 0.112234, "movementM": 0.112234, "centerPenaltyM": 0.001256, "angularPenaltyM": 0, "score": 0.11349 }, { "t": 0.053645, "radialAngleDeg": 15, "indexDistanceM": 0.119607, "pinkyDistanceM": 0.106585, "movementM": 0.106585, "centerPenaltyM": 0.005105, "angularPenaltyM": 0.002, "score": 0.11369 }, { "t": 0.160936, "radialAngleDeg": -15, "indexDistanceM": 0.115594, "pinkyDistanceM": 0.109281, "movementM": 0.109281, "centerPenaltyM": 0.003376, "angularPenaltyM": 0.002, "score": 0.114657 }, { "t": 0, "radialAngleDeg": 15, "indexDistanceM": 0.120251, "pinkyDistanceM": 0.103913, "movementM": 0.103913, "centerPenaltyM": 0.009346, "angularPenaltyM": 0.002, "score": 0.115259 }, { "t": 0.080468, "radialAngleDeg": 15, "indexDistanceM": 0.119649, "pinkyDistanceM": 0.110497, "movementM": 0.110497, "centerPenaltyM": 0.002985, "angularPenaltyM": 0.002, "score": 0.115481 }, { "t": 0.187759, "radialAngleDeg": -30, "indexDistanceM": 0.113515, "pinkyDistanceM": 0.106648, "movementM": 0.106648, "centerPenaltyM": 0.005497, "angularPenaltyM": 0.004, "score": 0.116145 }, { "t": 0.107291, "radialAngleDeg": 15, "indexDistanceM": 0.12049, "pinkyDistanceM": 0.115149, "movementM": 0.115149, "centerPenaltyM": 0.000865, "angularPenaltyM": 0.002, "score": 0.118014 }, { "t": 0.160936, "radialAngleDeg": 0, "indexDistanceM": 0.119371, "pinkyDistanceM": 0.117569, "movementM": 0.117569, "centerPenaltyM": 0.003376, "angularPenaltyM": 0, "score": 0.120945 }, { "t": 0.026823, "radialAngleDeg": 30, "indexDistanceM": 0.122233, "pinkyDistanceM": 0.110189, "movementM": 0.110189, "centerPenaltyM": 0.007226, "angularPenaltyM": 0.004, "score": 0.121414 }, { "t": 0.187759, "radialAngleDeg": -15, "indexDistanceM": 0.116878, "pinkyDistanceM": 0.11456, "movementM": 0.11456, "centerPenaltyM": 0.005497, "angularPenaltyM": 0.002, "score": 0.122057 }, { "t": 0.053645, "radialAngleDeg": 30, "indexDistanceM": 0.122305, "pinkyDistanceM": 0.113425, "movementM": 0.113425, "centerPenaltyM": 0.005105, "angularPenaltyM": 0.004, "score": 0.12253 }, { "t": 0, "radialAngleDeg": 30, "indexDistanceM": 0.122233, 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"active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 0.80556, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00556, "prevDistanceToSurfaceM": 0.02461, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.80556, "score": 0.006366, "distanceToSurfaceM": 0.00556 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00508, "prevDistanceToSurfaceM": 0.00508, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00508, "distanceToSurfaceM": 0.00508 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.0096, "prevDistanceToSurfaceM": 0.0096, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.0096, "distanceToSurfaceM": 0.0096 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07549, "requiredRadialM": 0.05088, "normalizedEllipticRadius": 1.48358, "signedDistanceM": 0.02461, "signedOutsideM": 0.06579, "outsideScore": 0.87154, "distanceToSurfaceM": 0.02461, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.06057, "y": 0.84968, "z": 0.37379 }, "score": 0.02461 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.05971, "requiredRadialM": 0.05462, "normalizedEllipticRadius": 1.09307, "signedDistanceM": 0.00508, "signedOutsideM": 0.03365, "outsideScore": 0.56364, "distanceToSurfaceM": 0.00508, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.0385, "y": 0.86771, "z": 0.34853 }, "score": 0.00508 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 0.96667, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "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": 0.96667, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00505, "prevDistanceToSurfaceM": 0.02576, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.96667, "score": 0.006017, "distanceToSurfaceM": 0.00505 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00351, "prevDistanceToSurfaceM": 0.00351, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00351, "distanceToSurfaceM": 0.00351 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00478, "prevDistanceToSurfaceM": 0.00478, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00478, "distanceToSurfaceM": 0.00478 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07718, "requiredRadialM": 0.05142, "normalizedEllipticRadius": 1.50103, "signedDistanceM": 0.02576, "signedOutsideM": 0.06461, "outsideScore": 0.83719, "distanceToSurfaceM": 0.02576, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.07403, "y": 0.85725, "z": 0.36356 }, "score": 0.02576 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.05915, "requiredRadialM": 0.05563, "normalizedEllipticRadius": 1.06312, "signedDistanceM": 0.00351, "signedOutsideM": 0.02529, "outsideScore": 0.42765, "distanceToSurfaceM": 0.00351, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.05029, "y": 0.88325, "z": 0.3369 }, "score": 0.00351 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.20833, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "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": 1.20833, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00512, "prevDistanceToSurfaceM": 0.0249, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.20833, "score": 0.006328, "distanceToSurfaceM": 0.00512 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 4e-05, "prevDistanceToSurfaceM": 4e-05, "worstPenetrationM": 0.00049, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00592, "distanceToSurfaceM": 4e-05 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0009, "prevDistanceToSurfaceM": 0.0009, "worstPenetrationM": 0.00238, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.02946, "distanceToSurfaceM": 0.0009 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07665, "requiredRadialM": 0.05175, "normalizedEllipticRadius": 1.48125, "signedDistanceM": 0.0249, "signedOutsideM": 0.06242, "outsideScore": 0.81432, "distanceToSurfaceM": 0.0249, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.08809, "y": 0.86755, "z": 0.35585 }, "score": 0.0249 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0.00238, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.05493, "requiredRadialM": 0.0549, "normalizedEllipticRadius": 1.00066, "signedDistanceM": 4e-05, "signedOutsideM": 0.02921, "outsideScore": 0.53165, "distanceToSurfaceM": 4e-05, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.07159, "y": 0.89445, "z": 0.33957 }, "score": 4e-05 }, "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, "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": 0.000181965, "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, "worldPosDeltaM": 0 }, { "bone": "L_Forearm", "changed": false, "localQuatDeltaRad": 0.000367169, "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." } ], "perSolveReceiverDrift": [ { "order": 0, "side": "R", "drift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "L_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] } }, { "order": 1, "side": "L", "drift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "L_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] } } ], "sharedReceiverDrift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "L_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] }, "policy": "V342 step 3: consume the ordered source grips[] collection with the existing generic single-hand grip capability. Each hand solves independently. The shared lifted-leg receiver is locked for every solve, so the existing leg-meet fallback is forbidden. No exercise-name branch, fallback geometry or guessed snap point is introduced." }, "actualSample": null } ] }