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"stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lForearm", "angle": 0.043 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lUpperarm", "angle": 0.138 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lClavicle", "angle": 0.095 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lForearm", "angle": 0.042 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lUpperarm", "angle": 0.134 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lClavicle", "angle": 0.093 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lForearm", "angle": 0.041 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lUpperarm", "angle": 0.13 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lClavicle", "angle": 0.09 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lForearm", "angle": 0.04 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lUpperarm", "angle": 0.126 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lClavicle", "angle": 0.087 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lForearm", "angle": 0.039 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lUpperarm", "angle": 0.123 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lClavicle", "angle": 0.085 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lForearm", "angle": 0.038 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lUpperarm", "angle": 0.119 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lClavicle", "angle": 0.082 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lForearm", "angle": 0.037 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lUpperarm", "angle": 0.116 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lClavicle", "angle": 0.08 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lForearm", "angle": 0.036 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lUpperarm", "angle": 0.113 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lClavicle", "angle": 0.078 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lForearm", "angle": 0.035 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lUpperarm", "angle": 0.11 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lClavicle", "angle": 0.075 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lForearm", "angle": 0.034 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lUpperarm", "angle": 0.106 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lClavicle", "angle": 0.073 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lForearm", "angle": 0.033 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lUpperarm", "angle": 0.104 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lClavicle", "angle": 0.071 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lForearm", "angle": 0.032 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lUpperarm", "angle": 0.101 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lClavicle", "angle": 0.069 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lForearm", "angle": 0.031 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lUpperarm", "angle": 0.098 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lClavicle", "angle": 0.067 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lForearm", "angle": 0.031 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lUpperarm", "angle": 0.095 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lClavicle", "angle": 0.065 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lForearm", "angle": 0.03 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lUpperarm", "angle": 0.093 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lClavicle", "angle": 0.064 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lForearm", "angle": 0.029 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lUpperarm", "angle": 0.09 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lClavicle", "angle": 0.062 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lForearm", "angle": 0.028 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lUpperarm", "angle": 0.088 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lClavicle", "angle": 0.06 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lForearm", "angle": 0.027 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lUpperarm", "angle": 0.085 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lClavicle", "angle": 0.059 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lForearm", "angle": 0.027 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lUpperarm", "angle": 0.083 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lClavicle", "angle": 0.057 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lForearm", "angle": 0.026 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lUpperarm", "angle": 0.081 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lClavicle", "angle": 0.055 } ] } }, "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": 0.725, "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": 0.725, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00481, "prevDistanceToSurfaceM": 0.01695, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.725, "score": 0.005535, "distanceToSurfaceM": 0.00481 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00503, "prevDistanceToSurfaceM": 0.00503, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00503, "distanceToSurfaceM": 0.00503 }, "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": 0.01065, "prevDistanceToSurfaceM": 0.01065, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.01065, "distanceToSurfaceM": 0.01065 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.05724, "requiredRadialM": 0.04029, "normalizedEllipticRadius": 1.42076, "signedDistanceM": 0.01695, "signedOutsideM": 0.05541, "outsideScore": 0.968, "distanceToSurfaceM": 0.01695, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.16393, "y": 0.78005, "z": 0.59032 }, "score": 0.01695 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.04261, "requiredRadialM": 0.0378, "normalizedEllipticRadius": 1.12721, "signedDistanceM": 0.00481, "signedOutsideM": 0.03456, "outsideScore": 0.81114, "distanceToSurfaceM": 0.00481, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.14819, "y": 0.76706, "z": 0.57867 }, "score": 0.00481 }, "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": 0.00352, "prevDistanceToSurfaceM": 0.0274, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.12778, "score": 0.004648, "distanceToSurfaceM": 0.00352 }, "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": 0.00687, "prevDistanceToSurfaceM": 0.00687, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.00687, "distanceToSurfaceM": 0.00687 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06631, "requiredRadialM": 0.03891, "normalizedEllipticRadius": 1.70428, "signedDistanceM": 0.0274, "signedOutsideM": 0.06, "outsideScore": 0.9048, "distanceToSurfaceM": 0.0274, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.17856, "y": 0.76877, "z": 0.58069 }, "score": 0.0274 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.03956, "requiredRadialM": 0.03664, "normalizedEllipticRadius": 1.0796, "signedDistanceM": 0.00292, "signedOutsideM": 0.01792, "outsideScore": 0.4529, "distanceToSurfaceM": 0.00292, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.14876, "y": 0.75778, "z": 0.55186 }, "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": 0.00479, "prevDistanceToSurfaceM": 0.02982, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.28889, "score": 0.006079, "distanceToSurfaceM": 0.00479 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00236, "prevDistanceToSurfaceM": 0.00236, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00236, "distanceToSurfaceM": 0.00236 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00284, "prevDistanceToSurfaceM": 0.00284, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00284, "distanceToSurfaceM": 0.00284 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06815, "requiredRadialM": 0.03832, "normalizedEllipticRadius": 1.77825, "signedDistanceM": 0.02982, "signedOutsideM": 0.05876, "outsideScore": 0.86221, "distanceToSurfaceM": 0.02982, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.18883, "y": 0.76474, "z": 0.56581 }, "score": 0.02982 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.03949, "requiredRadialM": 0.03713, "normalizedEllipticRadius": 1.06369, "signedDistanceM": 0.00236, "signedOutsideM": 0.00823, "outsideScore": 0.20841, "distanceToSurfaceM": 0.00236, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": 0.15411, "y": 0.75626, "z": 0.52895 }, "score": 0.00236 }, "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": 0.00872, "prevDistanceToSurfaceM": 0.02974, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.45, "score": 0.01017, "distanceToSurfaceM": 0.00872 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00328, "prevDistanceToSurfaceM": 0.00328, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00328, "distanceToSurfaceM": 0.00328 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00088, "prevDistanceToSurfaceM": 0.00088, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00088, "distanceToSurfaceM": 0.00088 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06775, "requiredRadialM": 0.03801, "normalizedEllipticRadius": 1.7823, "signedDistanceM": 0.02974, "signedOutsideM": 0.05646, "outsideScore": 0.83343, "distanceToSurfaceM": 0.02974, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.19849, "y": 0.7641, "z": 0.54939 }, "score": 0.02974 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.03818, "requiredRadialM": 0.0373, "normalizedEllipticRadius": 1.02361, "signedDistanceM": 0.00088, "signedOutsideM": 0.00617, "outsideScore": 0.16153, "distanceToSurfaceM": 0.00088, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": 0.16454, "y": 0.75973, "z": 0.51115 }, "score": 0.00088 }, "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": 4.2e-08, "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, "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": 0.083961123, "y": 0.833601854, "z": 0.031310526, "w": 0.545048722 }, "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_Foot", "axisB": "R_Calf", "targetLimb": "R_front_lower_shin_above_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": 0.05099, "y": 0.82678, "z": 0.40124 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "R_Foot", "axisB": "R_Calf", "sourceAxisLengthM": 0.395374, "sourceT": 0.381862, "centerT": 0.381862, "minT": 0.326862, "maxT": 0.436862, "halfWidthT": 0.055, "radialFrame": { "lateralWeight": 0.023352, "forwardWeight": 0.999727, "sourceRadialM": 0.036474, "fallbackUsed": false, "radialSemantic": null, "sectorHalfAngleDeg": 20, "angularSamples": 5 }, "temporalEvidence": { "schema": "NEXPROD01_TEMPORAL_RECEIVER_SECTOR_V1", "valid": true, "source": "user_selected_frame_702C2E25", "sourceCycle": "right_figure_four_peak", "anatomicalSide": "R", "contactRole": "front_lower_shin_above_ankle", "lateralWeight": 0.023352, "forwardWeight": 0.999727, "sectorHalfAngleDeg": 20, "angularSamples": 5, "halfWidthT": 0.055, "confidence": "high_user_corrected_snap_point", "derivation": { "sourceT": 0.097189, "centerT": 0.097189, "sourceRadialM": 0.092696, "palmSeed": [ -0.076298, 1.020498, 0.414343 ], "receiverAxis": [ "R_Foot", "R_Calf" ], "sourceImage": "702C2E25-B59F-4A0C-B15D-6A80408FA397.jpeg" }, "policy": "User-corrected snap point." }, "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": 0.381862, "selectedRadialAngleDeg": 20, "candidateCount": 55, "candidates": [ { "t": 0.381862, "radialAngleDeg": 20, "indexDistanceM": 0.097212, "pinkyDistanceM": 0.101076, "movementM": 0.097212, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.101212 }, { "t": 0.370862, "radialAngleDeg": 20, "indexDistanceM": 0.096834, "pinkyDistanceM": 0.102697, "movementM": 0.096834, "centerPenaltyM": 0.00087, "angularPenaltyM": 0.004, "score": 0.101704 }, { "t": 0.359862, "radialAngleDeg": 20, "indexDistanceM": 0.09665, "pinkyDistanceM": 0.104474, "movementM": 0.09665, "centerPenaltyM": 0.00174, "angularPenaltyM": 0.004, "score": 0.10239 }, { "t": 0.392862, "radialAngleDeg": 20, "indexDistanceM": 0.097782, "pinkyDistanceM": 0.099618, "movementM": 0.097782, "centerPenaltyM": 0.00087, "angularPenaltyM": 0.004, "score": 0.102651 }, { "t": 0.348862, "radialAngleDeg": 20, "indexDistanceM": 0.096663, "pinkyDistanceM": 0.106399, "movementM": 0.096663, "centerPenaltyM": 0.002609, "angularPenaltyM": 0.004, "score": 0.103272 }, { "t": 0.381862, "radialAngleDeg": 10, "indexDistanceM": 0.10148, "pinkyDistanceM": 0.104679, "movementM": 0.10148, "centerPenaltyM": 0, "angularPenaltyM": 0.002, "score": 0.10348 }, { "t": 0.370862, "radialAngleDeg": 10, "indexDistanceM": 0.101047, "pinkyDistanceM": 0.106184, "movementM": 0.101047, "centerPenaltyM": 0.00087, "angularPenaltyM": 0.002, "score": 0.103917 }, { "t": 0.414862, "radialAngleDeg": 20, "indexDistanceM": 0.099562, "pinkyDistanceM": 0.097324, "movementM": 0.097324, "centerPenaltyM": 0.002609, "angularPenaltyM": 0.004, "score": 0.103933 }, { "t": 0.425862, "radialAngleDeg": 20, "indexDistanceM": 0.100735, "pinkyDistanceM": 0.096468, "movementM": 0.096468, "centerPenaltyM": 0.003479, "angularPenaltyM": 0.004, "score": 0.103948 }, { "t": 0.403862, "radialAngleDeg": 20, "indexDistanceM": 0.098562, "pinkyDistanceM": 0.098359, "movementM": 0.098359, "centerPenaltyM": 0.00174, "angularPenaltyM": 0.004, "score": 0.104098 }, { "t": 0.436862, "radialAngleDeg": 20, "indexDistanceM": 0.102076, "pinkyDistanceM": 0.095798, "movementM": 0.095798, "centerPenaltyM": 0.004349, "angularPenaltyM": 0.004, "score": 0.104147 }, { "t": 0.337862, "radialAngleDeg": 20, "indexDistanceM": 0.09687, "pinkyDistanceM": 0.108465, "movementM": 0.09687, "centerPenaltyM": 0.003479, "angularPenaltyM": 0.004, "score": 0.104349 }, { "t": 0.381862, "radialAngleDeg": 0, "indexDistanceM": 0.104373, "pinkyDistanceM": 0.106974, "movementM": 0.104373, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.104373 }, { "t": 0.359862, "radialAngleDeg": 10, "indexDistanceM": 0.100801, "pinkyDistanceM": 0.107845, "movementM": 0.100801, "centerPenaltyM": 0.00174, "angularPenaltyM": 0.002, "score": 0.104541 }, { "t": 0.370862, "radialAngleDeg": 0, "indexDistanceM": 0.103897, "pinkyDistanceM": 0.108401, "movementM": 0.103897, "centerPenaltyM": 0.00087, "angularPenaltyM": 0, "score": 0.104766 }, { "t": 0.392862, "radialAngleDeg": 10, "indexDistanceM": 0.102096, "pinkyDistanceM": 0.103334, "movementM": 0.102096, "centerPenaltyM": 0.00087, "angularPenaltyM": 0.002, "score": 0.104966 }, { "t": 0.359862, "radialAngleDeg": 0, "indexDistanceM": 0.103601, "pinkyDistanceM": 0.109982, "movementM": 0.103601, "centerPenaltyM": 0.00174, "angularPenaltyM": 0, "score": 0.105341 }, { "t": 0.348862, "radialAngleDeg": 10, "indexDistanceM": 0.100742, "pinkyDistanceM": 0.109653, "movementM": 0.100742, "centerPenaltyM": 0.002609, "angularPenaltyM": 0.002, "score": 0.105352 }, { "t": 0.326862, "radialAngleDeg": 20, "indexDistanceM": 0.097272, "pinkyDistanceM": 0.110663, "movementM": 0.097272, "centerPenaltyM": 0.004349, "angularPenaltyM": 0.004, "score": 0.105621 }, { "t": 0.425862, "radialAngleDeg": 10, "indexDistanceM": 0.104833, "pinkyDistanceM": 0.100183, "movementM": 0.100183, "centerPenaltyM": 0.003479, "angularPenaltyM": 0.002, "score": 0.105662 }, { "t": 0.414862, "radialAngleDeg": 10, "indexDistanceM": 0.103764, "pinkyDistanceM": 0.101072, "movementM": 0.101072, "centerPenaltyM": 0.002609, "angularPenaltyM": 0.002, "score": 0.105681 }, { "t": 0.436862, "radialAngleDeg": 10, "indexDistanceM": 0.106068, "pinkyDistanceM": 0.099475, "movementM": 0.099475, "centerPenaltyM": 0.004349, "angularPenaltyM": 0.002, "score": 0.105824 }, { "t": 0.403862, "radialAngleDeg": 10, "indexDistanceM": 0.102867, "pinkyDistanceM": 0.102137, "movementM": 0.102137, "centerPenaltyM": 0.00174, "angularPenaltyM": 0.002, "score": 0.105876 }, { "t": 0.392862, "radialAngleDeg": 0, "indexDistanceM": 0.105029, "pinkyDistanceM": 0.105707, "movementM": 0.105029, "centerPenaltyM": 0.00087, "angularPenaltyM": 0, "score": 0.105898 }, { "t": 0.348862, "radialAngleDeg": 0, "indexDistanceM": 0.103488, "pinkyDistanceM": 0.111711, "movementM": 0.103488, "centerPenaltyM": 0.002609, "angularPenaltyM": 0, "score": 0.106098 }, { "t": 0.425862, "radialAngleDeg": 0, 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"movementM": 0.103559, "centerPenaltyM": 0.003479, "angularPenaltyM": 0, "score": 0.107038 }, { "t": 0.326862, "radialAngleDeg": 10, "indexDistanceM": 0.101188, "pinkyDistanceM": 0.113683, "movementM": 0.101188, "centerPenaltyM": 0.004349, "angularPenaltyM": 0.002, "score": 0.107537 }, { "t": 0.381862, "radialAngleDeg": -10, "indexDistanceM": 0.105691, "pinkyDistanceM": 0.107781, "movementM": 0.105691, "centerPenaltyM": 0, "angularPenaltyM": 0.002, "score": 0.107691 }, { "t": 0.370862, "radialAngleDeg": -10, "indexDistanceM": 0.105184, "pinkyDistanceM": 0.10917, "movementM": 0.105184, "centerPenaltyM": 0.00087, "angularPenaltyM": 0.002, "score": 0.108054 }, { "t": 0.326862, "radialAngleDeg": 0, "indexDistanceM": 0.103812, "pinkyDistanceM": 0.115585, "movementM": 0.103812, "centerPenaltyM": 0.004349, "angularPenaltyM": 0, "score": 0.108161 }, { "t": 0.359862, "radialAngleDeg": -10, "indexDistanceM": 0.104857, "pinkyDistanceM": 0.110713, "movementM": 0.104857, "centerPenaltyM": 0.00174, "angularPenaltyM": 0.002, "score": 0.108596 }, { "t": 0.414862, "radialAngleDeg": -10, "indexDistanceM": 0.108106, "pinkyDistanceM": 0.104473, "movementM": 0.104473, "centerPenaltyM": 0.002609, "angularPenaltyM": 0.002, "score": 0.109083 }, { "t": 0.425862, "radialAngleDeg": -10, "indexDistanceM": 0.109182, "pinkyDistanceM": 0.103657, "movementM": 0.103657, "centerPenaltyM": 0.003479, "angularPenaltyM": 0.002, "score": 0.109136 }, { "t": 0.403862, "radialAngleDeg": -10, "indexDistanceM": 0.107193, "pinkyDistanceM": 0.10546, "movementM": 0.10546, "centerPenaltyM": 0.00174, "angularPenaltyM": 0.002, "score": 0.1092 }, { "t": 0.392862, "radialAngleDeg": -10, "indexDistanceM": 0.106375, "pinkyDistanceM": 0.106554, "movementM": 0.106375, "centerPenaltyM": 0.00087, "angularPenaltyM": 0.002, "score": 0.109245 }, { "t": 0.348862, "radialAngleDeg": -10, "indexDistanceM": 0.10471, "pinkyDistanceM": 0.112404, "movementM": 0.10471, "centerPenaltyM": 0.002609, "angularPenaltyM": 0.002, "score": 0.10932 }, { "t": 0.436862, "radialAngleDeg": -10, "indexDistanceM": 0.110416, "pinkyDistanceM": 0.103015, "movementM": 0.103015, "centerPenaltyM": 0.004349, "angularPenaltyM": 0.002, "score": 0.109365 }, { "t": 0.381862, "radialAngleDeg": -20, "indexDistanceM": 0.105517, "pinkyDistanceM": 0.107196, "movementM": 0.105517, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.109517 }, { "t": 0.370862, "radialAngleDeg": -20, "indexDistanceM": 0.104993, "pinkyDistanceM": 0.108582, "movementM": 0.104993, "centerPenaltyM": 0.00087, "angularPenaltyM": 0.004, "score": 0.109863 }, { "t": 0.337862, "radialAngleDeg": -10, "indexDistanceM": 0.104745, "pinkyDistanceM": 0.114237, "movementM": 0.104745, "centerPenaltyM": 0.003479, "angularPenaltyM": 0.002, "score": 0.110225 }, { "t": 0.359862, "radialAngleDeg": -20, "indexDistanceM": 0.104649, "pinkyDistanceM": 0.110123, "movementM": 0.104649, "centerPenaltyM": 0.00174, "angularPenaltyM": 0.004, "score": 0.110389 }, { "t": 0.414862, "radialAngleDeg": -20, "indexDistanceM": 0.108128, "pinkyDistanceM": 0.104049, "movementM": 0.104049, "centerPenaltyM": 0.002609, "angularPenaltyM": 0.004, "score": 0.110659 }, { "t": 0.403862, "radialAngleDeg": -20, "indexDistanceM": 0.107093, "pinkyDistanceM": 0.104923, "movementM": 0.104923, "centerPenaltyM": 0.00174, "angularPenaltyM": 0.004, "score": 0.110663 }, { "t": 0.425862, "radialAngleDeg": -20, "indexDistanceM": 0.109319, "pinkyDistanceM": 0.103343, "movementM": 0.103343, "centerPenaltyM": 0.003479, "angularPenaltyM": 0.004, "score": 0.110822 }, { "t": 0.392862, "radialAngleDeg": -20, "indexDistanceM": 0.106219, "pinkyDistanceM": 0.105973, "movementM": 0.105973, "centerPenaltyM": 0.00087, "angularPenaltyM": 0.004, "score": 0.110843 }, { "t": 0.348862, "radialAngleDeg": -20, "indexDistanceM": 0.104488, "pinkyDistanceM": 0.111815, "movementM": 0.104488, "centerPenaltyM": 0.002609, "angularPenaltyM": 0.004, "score": 0.111097 }, { "t": 0.436862, "radialAngleDeg": -20, "indexDistanceM": 0.110661, "pinkyDistanceM": 0.102809, "movementM": 0.102809, "centerPenaltyM": 0.004349, "angularPenaltyM": 0.004, "score": 0.111159 }, { "t": 0.326862, "radialAngleDeg": -10, "indexDistanceM": 0.104962, "pinkyDistanceM": 0.116205, "movementM": 0.104962, "centerPenaltyM": 0.004349, "angularPenaltyM": 0.002, "score": 0.111311 }, { "t": 0.337862, "radialAngleDeg": -20, "indexDistanceM": 0.104508, "pinkyDistanceM": 0.11365, "movementM": 0.104508, "centerPenaltyM": 0.003479, "angularPenaltyM": 0.004, "score": 0.111988 }, { "t": 0.326862, "radialAngleDeg": -20, "indexDistanceM": 0.104712, "pinkyDistanceM": 0.11562, "movementM": 0.104712, "centerPenaltyM": 0.004349, "angularPenaltyM": 0.004, "score": 0.113061 } ] } }, "cylinder": { "axisA": "R_Foot", "axisB": "R_Calf", "axisPoint": { "x": 0.05544, "y": 0.84875, "z": 0.41854 }, "axis": { "x": 0.92483, "y": -0.33264, "z": 0.18448 }, "bodyRight": { "x": -0.98043, "y": 0.19642, "z": -0.01292 }, "outward": { "x": 0.24763, "y": 0.89468, "z": 0.37179 }, "radiusM": 0.04296, "selectedT": 0.381862, "radialAngleDeg": 20, "snapPoint": { "x": 0.06608, "y": 0.88719, "z": 0.43451 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.097212, "pinkySnapDistanceBeforeM": 0.101076, "firstSnapErrorM": 0.000131, "lineAngleDeg": 0, "closeDirectionDot": 0.999612, "rollDeg": 48.8449, "indexAnchor": { "x": 0.06615, "y": 0.88709, "z": 0.43455 }, "pinkyAnchor": { "x": 0.0228, "y": 0.90268, "z": 0.42591 }, "palmNormal": { "x": -0.27328, "y": -0.88507, "z": -0.37678 }, "indexPlaneAnchor": { "x": 0.07326, "y": 0.90532, "z": 0.43298 }, "pinkyPlaneAnchor": { "x": 0.02182, "y": 0.91264, "z": 0.45309 }, "calibration": { "indexSurfaceDepthM": 0.0205246436932275, "pinkySurfaceDepthM": 0.020500638563502697, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.04291, "requiredRadialM": 0.04297, "normalizedEllipticRadius": 0.99864, "signedDistanceM": -6e-05, "signedOutsideM": 0.04291, "outsideScore": 1, "distanceToSurfaceM": 6e-05, "penetrationM": 6e-05, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.04291, "requiredRadialM": 0.04297, "normalizedEllipticRadius": 0.99864, "signedDistanceM": -6e-05, "signedOutsideM": 0.04291, "outsideScore": 1, "distanceToSurfaceM": 6e-05, "penetrationM": 6e-05, "surfaceOk": true, "sideOk": true }, "pass": true }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 64, "finalError": 0.00013, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 13.233 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 0.319 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 1.219 }, { "stage": 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"surfaceOk": false, "sideOk": true, "point": { "x": 0.02816, "y": 0.90364, "z": 0.46988 }, "score": 0.02873 }, "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": 0.04086, "requiredRadialM": 0.03791, "normalizedEllipticRadius": 1.07792, "signedDistanceM": 0.00295, "signedOutsideM": 0.01557, "outsideScore": 0.38094, "distanceToSurfaceM": 0.00295, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.00847, "y": 0.86577, "z": 0.45074 }, "score": 0.00295 }, "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": 0, "worldPosDeltaM": 0 }, { "bone": "R_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Upperarm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 3e-08, "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": false, "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": false, "side": "R", "status": "PALM_SNAP_BLOCKED", "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": -0.104725956, "y": 0.824919415, "z": -0.004261018, "w": 0.555447677 }, "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_ToeBase", "targetLimb": "L_foot_underside_sole_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": -0.08338, "y": 0.83939, "z": 0.44841 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "L_Foot", "axisB": "L_ToeBase", "sourceAxisLengthM": 0.123089, "sourceT": 0.550564, "centerT": 0.550564, "minT": 0.495564, "maxT": 0.605564, "halfWidthT": 0.055, "radialFrame": { "lateralWeight": 0.920135, "forwardWeight": -0.391601, "sourceRadialM": 0.171188, "fallbackUsed": false, "radialSemantic": null, "sectorHalfAngleDeg": 20, "angularSamples": 5 }, "temporalEvidence": { "schema": "NEXPROD01_TEMPORAL_RECEIVER_SECTOR_V1", "valid": true, "source": "direct_left_semantic_mirror", "sourceCycle": "left_figure_four_peak", "anatomicalSide": "L", "contactRole": "foot_underside_sole", "lateralWeight": 0.920135, "forwardWeight": -0.391601, "sectorHalfAngleDeg": 20, "angularSamples": 5, "halfWidthT": 0.055, "confidence": "high_user_corrected_snap_point", "derivation": { "sourceT": 0.113844, "centerT": 0.113844, "sourceRadialM": 0.040603, "palmSeed": [ 0.137133, 1.083699, 0.509491 ], "receiverAxis": [ "L_Foot", "L_ToeBase" ] } }, "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": 0.539564, "selectedRadialAngleDeg": -20, "candidateCount": 55, "candidates": [ { "t": 0.539564, "radialAngleDeg": -20, "indexDistanceM": 0.241029, "pinkyDistanceM": 0.215236, "movementM": 0.215236, "centerPenaltyM": 0.000309, "angularPenaltyM": 0.004, "score": 0.219546 }, { "t": 0.528564, "radialAngleDeg": -20, "indexDistanceM": 0.240983, "pinkyDistanceM": 0.214927, "movementM": 0.214927, "centerPenaltyM": 0.000619, "angularPenaltyM": 0.004, "score": 0.219546 }, { "t": 0.550564, "radialAngleDeg": -20, "indexDistanceM": 0.241081, "pinkyDistanceM": 0.215552, "movementM": 0.215552, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.219552 }, { "t": 0.517564, "radialAngleDeg": -20, "indexDistanceM": 0.240943, "pinkyDistanceM": 0.214625, "movementM": 0.214625, "centerPenaltyM": 0.000928, "angularPenaltyM": 0.004, "score": 0.219554 }, { "t": 0.506564, "radialAngleDeg": -20, "indexDistanceM": 0.240909, "pinkyDistanceM": 0.21433, "movementM": 0.21433, "centerPenaltyM": 0.001238, "angularPenaltyM": 0.004, "score": 0.219568 }, { "t": 0.495564, "radialAngleDeg": -20, "indexDistanceM": 0.240882, "pinkyDistanceM": 0.214042, "movementM": 0.214042, "centerPenaltyM": 0.001547, "angularPenaltyM": 0.004, "score": 0.21959 }, { "t": 0.561564, "radialAngleDeg": -20, "indexDistanceM": 0.241138, "pinkyDistanceM": 0.215875, "movementM": 0.215875, "centerPenaltyM": 0.000309, "angularPenaltyM": 0.004, "score": 0.220184 }, { "t": 0.572564, "radialAngleDeg": -20, "indexDistanceM": 0.241202, "pinkyDistanceM": 0.216204, "movementM": 0.216204, "centerPenaltyM": 0.000619, "angularPenaltyM": 0.004, "score": 0.220823 }, { "t": 0.583564, "radialAngleDeg": -20, "indexDistanceM": 0.241271, "pinkyDistanceM": 0.21654, "movementM": 0.21654, "centerPenaltyM": 0.000928, "angularPenaltyM": 0.004, "score": 0.221469 }, { "t": 0.495564, "radialAngleDeg": -10, "indexDistanceM": 0.245196, "pinkyDistanceM": 0.218443, "movementM": 0.218443, "centerPenaltyM": 0.001547, "angularPenaltyM": 0.002, "score": 0.221991 }, { "t": 0.506564, "radialAngleDeg": -10, "indexDistanceM": 0.245303, "pinkyDistanceM": 0.218803, "movementM": 0.218803, "centerPenaltyM": 0.001238, "angularPenaltyM": 0.002, "score": 0.222041 }, { "t": 0.517564, "radialAngleDeg": -10, "indexDistanceM": 0.245417, "pinkyDistanceM": 0.219171, "movementM": 0.219171, "centerPenaltyM": 0.000928, "angularPenaltyM": 0.002, "score": 0.222099 }, { "t": 0.594564, "radialAngleDeg": -20, "indexDistanceM": 0.241346, "pinkyDistanceM": 0.216882, "movementM": 0.216882, "centerPenaltyM": 0.001238, "angularPenaltyM": 0.004, "score": 0.22212 }, { "t": 0.528564, "radialAngleDeg": -10, "indexDistanceM": 0.245539, "pinkyDistanceM": 0.219547, "movementM": 0.219547, "centerPenaltyM": 0.000619, "angularPenaltyM": 0.002, "score": 0.222165 }, { "t": 0.539564, "radialAngleDeg": -10, "indexDistanceM": 0.245668, "pinkyDistanceM": 0.21993, 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0.000619, "angularPenaltyM": 0.002, "score": 0.223746 }, { "t": 0.506564, "radialAngleDeg": 0, "indexDistanceM": 0.24898, "pinkyDistanceM": 0.222594, "movementM": 0.222594, "centerPenaltyM": 0.001238, "angularPenaltyM": 0, "score": 0.223832 }, { "t": 0.517564, "radialAngleDeg": 0, "indexDistanceM": 0.249159, "pinkyDistanceM": 0.22302, "movementM": 0.22302, "centerPenaltyM": 0.000928, "angularPenaltyM": 0, "score": 0.223949 }, { "t": 0.528564, "radialAngleDeg": 0, "indexDistanceM": 0.249346, "pinkyDistanceM": 0.223456, "movementM": 0.223456, "centerPenaltyM": 0.000619, "angularPenaltyM": 0, "score": 0.224075 }, { "t": 0.539564, "radialAngleDeg": 0, "indexDistanceM": 0.249541, "pinkyDistanceM": 0.223901, "movementM": 0.223901, "centerPenaltyM": 0.000309, "angularPenaltyM": 0, "score": 0.22421 }, { "t": 0.550564, "radialAngleDeg": 0, "indexDistanceM": 0.249746, "pinkyDistanceM": 0.224355, "movementM": 0.224355, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.224355 }, { "t": 0.583564, "radialAngleDeg": -10, "indexDistanceM": 0.246252, "pinkyDistanceM": 0.221541, "movementM": 0.221541, "centerPenaltyM": 0.000928, "angularPenaltyM": 0.002, "score": 0.224469 }, { "t": 0.561564, "radialAngleDeg": 0, "indexDistanceM": 0.249959, "pinkyDistanceM": 0.224817, "movementM": 0.224817, "centerPenaltyM": 0.000309, "angularPenaltyM": 0, "score": 0.225127 }, { "t": 0.594564, "radialAngleDeg": -10, "indexDistanceM": 0.246416, "pinkyDistanceM": 0.221962, "movementM": 0.221962, "centerPenaltyM": 0.001238, "angularPenaltyM": 0.002, "score": 0.2252 }, { "t": 0.572564, "radialAngleDeg": 0, "indexDistanceM": 0.250181, "pinkyDistanceM": 0.225289, "movementM": 0.225289, "centerPenaltyM": 0.000619, "angularPenaltyM": 0, "score": 0.225908 }, { "t": 0.605564, "radialAngleDeg": -10, "indexDistanceM": 0.24662, "pinkyDistanceM": 0.222424, "movementM": 0.222424, "centerPenaltyM": 0.001547, "angularPenaltyM": 0.002, "score": 0.225971 }, { "t": 0.583564, "radialAngleDeg": 0, 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"movementM": 0.226174, "centerPenaltyM": 0.000928, "angularPenaltyM": 0.002, "score": 0.229102 }, { "t": 0.528564, "radialAngleDeg": 10, "indexDistanceM": 0.252389, "pinkyDistanceM": 0.226642, "movementM": 0.226642, "centerPenaltyM": 0.000619, "angularPenaltyM": 0.002, "score": 0.229261 }, { "t": 0.539564, "radialAngleDeg": 10, "indexDistanceM": 0.252622, "pinkyDistanceM": 0.227119, "movementM": 0.227119, "centerPenaltyM": 0.000309, "angularPenaltyM": 0.002, "score": 0.229429 }, { "t": 0.550564, "radialAngleDeg": 10, "indexDistanceM": 0.252863, "pinkyDistanceM": 0.227607, "movementM": 0.227607, "centerPenaltyM": 0, "angularPenaltyM": 0.002, "score": 0.229607 }, { "t": 0.561564, "radialAngleDeg": 10, "indexDistanceM": 0.253115, "pinkyDistanceM": 0.228104, "movementM": 0.228104, "centerPenaltyM": 0.000309, "angularPenaltyM": 0.002, "score": 0.230413 }, { "t": 0.572564, "radialAngleDeg": 10, "indexDistanceM": 0.253375, "pinkyDistanceM": 0.228611, "movementM": 0.228611, "centerPenaltyM": 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"score": 0.233526 }, { "t": 0.528564, "radialAngleDeg": 20, "indexDistanceM": 0.254632, "pinkyDistanceM": 0.229065, "movementM": 0.229065, "centerPenaltyM": 0.000619, "angularPenaltyM": 0.004, "score": 0.233684 }, { "t": 0.605564, "radialAngleDeg": 10, "indexDistanceM": 0.254257, "pinkyDistanceM": 0.230231, "movementM": 0.230231, "centerPenaltyM": 0.001547, "angularPenaltyM": 0.002, "score": 0.233779 }, { "t": 0.539564, "radialAngleDeg": 20, "indexDistanceM": 0.254865, "pinkyDistanceM": 0.229543, "movementM": 0.229543, "centerPenaltyM": 0.000309, "angularPenaltyM": 0.004, "score": 0.233852 }, { "t": 0.550564, "radialAngleDeg": 20, "indexDistanceM": 0.255107, "pinkyDistanceM": 0.230029, "movementM": 0.230029, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.234029 }, { "t": 0.561564, "radialAngleDeg": 20, "indexDistanceM": 0.255358, "pinkyDistanceM": 0.230525, "movementM": 0.230525, "centerPenaltyM": 0.000309, "angularPenaltyM": 0.004, "score": 0.234834 }, { "t": 0.572564, 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"angle": 0.274 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "rForearm", "angle": 0.151 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "rUpperarm", "angle": 0.407 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "rClavicle", "angle": 0.268 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "rForearm", "angle": 0.148 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "rUpperarm", "angle": 0.398 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "rClavicle", "angle": 0.262 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "rForearm", "angle": 0.145 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "rUpperarm", "angle": 0.39 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "rClavicle", "angle": 0.256 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "rForearm", "angle": 0.143 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "rUpperarm", "angle": 0.381 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "rClavicle", "angle": 0.25 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "rForearm", "angle": 0.14 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "rUpperarm", "angle": 0.373 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "rClavicle", "angle": 0.244 } ] }, "relock": { "ok": true, "stage": "v335_arm_explicit_snap_relock", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 32, "finalError": 0.01913, "rows": [ { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "rForearm", "angle": 0.137 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "rUpperarm", "angle": 0.365 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "rClavicle", "angle": 0.239 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "rForearm", "angle": 0.135 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, 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"rUpperarm", "angle": 0.311 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "rClavicle", "angle": 0.202 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "rForearm", "angle": 0.117 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "rUpperarm", "angle": 0.305 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "rClavicle", "angle": 0.199 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rForearm", "angle": 0.115 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rUpperarm", "angle": 0.299 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rClavicle", "angle": 0.195 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rForearm", "angle": 0.113 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rUpperarm", "angle": 0.294 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rClavicle", "angle": 0.191 }, { "stage": 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"stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rForearm", "angle": 0.099 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rUpperarm", "angle": 0.256 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rClavicle", "angle": 0.166 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rForearm", "angle": 0.098 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rUpperarm", "angle": 0.251 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rClavicle", "angle": 0.163 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rForearm", "angle": 0.096 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rUpperarm", "angle": 0.247 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rClavicle", "angle": 0.16 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rForearm", "angle": 0.095 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rUpperarm", "angle": 0.243 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rClavicle", "angle": 0.158 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rForearm", "angle": 0.093 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rUpperarm", "angle": 0.24 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rClavicle", "angle": 0.155 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rForearm", "angle": 0.092 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rUpperarm", "angle": 0.236 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rClavicle", "angle": 0.152 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rForearm", "angle": 0.091 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rUpperarm", "angle": 0.232 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rClavicle", "angle": 0.15 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rForearm", "angle": 0.089 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rUpperarm", "angle": 0.229 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rClavicle", "angle": 0.148 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rForearm", "angle": 0.088 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rUpperarm", "angle": 0.225 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rClavicle", "angle": 0.145 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rForearm", "angle": 0.087 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rUpperarm", "angle": 0.222 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rClavicle", "angle": 0.143 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rForearm", "angle": 0.086 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rUpperarm", "angle": 0.218 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rClavicle", "angle": 0.141 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rForearm", "angle": 0.084 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rUpperarm", "angle": 0.215 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rClavicle", "angle": 0.139 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rForearm", "angle": 0.083 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rUpperarm", "angle": 0.212 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rClavicle", "angle": 0.137 } ] } }, "legMeet": { "active": false, "applied": false, "reason": "receiver_locked__leg_meet_forbidden", "preMeetErrorM": 0.019129 }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": false, "blocked": true, "side": "R", "pass": false, "reason": "palm_contract_blocked" }, "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": 0.140150843, "y": -0.878835452, "z": 0.004727983, "w": 0.456052221 }, "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_Foot", "axisB": "L_Calf", "targetLimb": "L_front_lower_shin_above_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": -0.03349, "y": 0.8317, "z": 0.39586 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "L_Foot", "axisB": "L_Calf", "sourceAxisLengthM": 0.39526, "sourceT": 0.582844, "centerT": 0.582844, "minT": 0.527844, "maxT": 0.637844, "halfWidthT": 0.055, "radialFrame": { "lateralWeight": -0.668284, "forwardWeight": 0.743907, "sourceRadialM": 0.044556, "fallbackUsed": false, "radialSemantic": null, "sectorHalfAngleDeg": 20, "angularSamples": 5 }, "temporalEvidence": { "schema": "NEXPROD01_TEMPORAL_RECEIVER_SECTOR_V1", "valid": true, "source": "direct_left_semantic_mirror", "sourceCycle": "left_figure_four_peak", "anatomicalSide": "L", "contactRole": "front_lower_shin_above_ankle", "lateralWeight": -0.668284, "forwardWeight": 0.743907, "sectorHalfAngleDeg": 20, "angularSamples": 5, "halfWidthT": 0.055, "confidence": "high_user_corrected_snap_point", "derivation": { "sourceT": 0.097162, "centerT": 0.097162, "sourceRadialM": 0.093135, "palmSeed": [ 0.054501, 1.051147, 0.437882 ], "receiverAxis": [ "L_Foot", "L_Calf" ] } }, "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": 0.637844, "selectedRadialAngleDeg": 20, "candidateCount": 55, "candidates": [ { "t": 0.637844, "radialAngleDeg": 20, "indexDistanceM": 0.098725, "pinkyDistanceM": 0.083423, "movementM": 0.083423, "centerPenaltyM": 0.004348, "angularPenaltyM": 0.004, "score": 0.091771 }, { "t": 0.626844, "radialAngleDeg": 20, "indexDistanceM": 0.097786, "pinkyDistanceM": 0.084508, "movementM": 0.084508, "centerPenaltyM": 0.003478, "angularPenaltyM": 0.004, "score": 0.091986 }, { "t": 0.615844, "radialAngleDeg": 20, "indexDistanceM": 0.097033, "pinkyDistanceM": 0.085801, "movementM": 0.085801, "centerPenaltyM": 0.002609, "angularPenaltyM": 0.004, "score": 0.092409 }, { "t": 0.604844, "radialAngleDeg": 20, "indexDistanceM": 0.096471, "pinkyDistanceM": 0.087291, "movementM": 0.087291, "centerPenaltyM": 0.001739, "angularPenaltyM": 0.004, "score": 0.093031 }, { "t": 0.593844, "radialAngleDeg": 20, "indexDistanceM": 0.096051, "pinkyDistanceM": 0.088946, "movementM": 0.088946, "centerPenaltyM": 0.00087, "angularPenaltyM": 0.004, "score": 0.093815 }, { "t": 0.582844, "radialAngleDeg": 20, "indexDistanceM": 0.095787, "pinkyDistanceM": 0.090762, "movementM": 0.090762, "centerPenaltyM": 0, "angularPenaltyM": 0.004, "score": 0.094762 }, { "t": 0.637844, "radialAngleDeg": 10, "indexDistanceM": 0.103923, "pinkyDistanceM": 0.089547, "movementM": 0.089547, "centerPenaltyM": 0.004348, "angularPenaltyM": 0.002, "score": 0.095895 }, { "t": 0.626844, "radialAngleDeg": 10, "indexDistanceM": 0.103002, "pinkyDistanceM": 0.090528, "movementM": 0.090528, "centerPenaltyM": 0.003478, "angularPenaltyM": 0.002, "score": 0.096006 }, { "t": 0.615844, "radialAngleDeg": 10, "indexDistanceM": 0.102258, "pinkyDistanceM": 0.091705, "movementM": 0.091705, "centerPenaltyM": 0.002609, "angularPenaltyM": 0.002, "score": 0.096314 }, { "t": 0.604844, "radialAngleDeg": 10, "indexDistanceM": 0.101696, 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"bestCandidate": { "axis": "z", "sign": -1, "amount": 1.04722, "score": 0.004337, "distanceToSurfaceM": 0.00329 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0007, "prevDistanceToSurfaceM": 0.0007, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.0007, "distanceToSurfaceM": 0.0007 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00218, "prevDistanceToSurfaceM": 0.00218, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00218, "distanceToSurfaceM": 0.00218 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07826, "requiredRadialM": 0.04932, "normalizedEllipticRadius": 1.5868, "signedDistanceM": 0.02894, "signedOutsideM": 0.07202, "outsideScore": 0.92024, "distanceToSurfaceM": 0.02894, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.0263, "y": 0.79394, "z": 0.44274 }, "score": 0.02894 }, "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": 0.05103, "requiredRadialM": 0.05032, "normalizedEllipticRadius": 1.01399, "signedDistanceM": 0.0007, "signedOutsideM": 0.02281, "outsideScore": 0.44708, "distanceToSurfaceM": 0.0007, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.04361, "y": 0.80238, "z": 0.39502 }, "score": 0.0007 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "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": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.20833, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00391, "prevDistanceToSurfaceM": 0.03054, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.20833, "score": 0.022038, "distanceToSurfaceM": 0.00391 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00025, "prevDistanceToSurfaceM": 0.00025, "worstPenetrationM": 0.00136, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.01717, "distanceToSurfaceM": 0.00025 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00041, "prevDistanceToSurfaceM": 0.00041, "worstPenetrationM": 0.00141, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.01733, "distanceToSurfaceM": 0.00041 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07983, "requiredRadialM": 0.0493, "normalizedEllipticRadius": 1.61943, "signedDistanceM": 0.03054, "signedOutsideM": 0.07078, "outsideScore": 0.88657, "distanceToSurfaceM": 0.03054, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.01054, "y": 0.79855, "z": 0.43418 }, "score": 0.03054 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0.00141, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.05031, "requiredRadialM": 0.05006, "normalizedEllipticRadius": 1.00501, "signedDistanceM": 0.00025, "signedOutsideM": 0.02661, "outsideScore": 0.52889, "distanceToSurfaceM": 0.00025, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.02459, "y": 0.81445, "z": 0.39459 }, "score": 0.00025 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "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": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.28889, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00966, "prevDistanceToSurfaceM": 0.02993, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.28889, "score": 0.010949, "distanceToSurfaceM": 0.00966 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00365, "prevDistanceToSurfaceM": 0.00365, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00365, "distanceToSurfaceM": 0.00365 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00065, "prevDistanceToSurfaceM": 0.00065, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00065, "distanceToSurfaceM": 0.00065 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07924, "requiredRadialM": 0.0493, "normalizedEllipticRadius": 1.60718, "signedDistanceM": 0.02993, "signedOutsideM": 0.06848, "outsideScore": 0.86426, "distanceToSurfaceM": 0.02993, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.00476, "y": 0.80683, "z": 0.42638 }, "score": 0.02993 }, "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": 0.05119, "requiredRadialM": 0.05053, "normalizedEllipticRadius": 1.01291, "signedDistanceM": 0.00065, "signedOutsideM": 0.0197, "outsideScore": 0.38478, "distanceToSurfaceM": 0.00065, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.01071, "y": 0.82345, "z": 0.38216 }, "score": 0.00065 }, "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": 4.2e-08, "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": 3e-08, "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 } ] }