{ "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": false, "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": false, "side": "L", "status": "PALM_SNAP_BLOCKED", "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": 0.013714468, "y": 0.836011203, "z": 0.060093285, "w": -0.545239339 }, "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_ToeBase", "targetLimb": "R_explicit_foot_underside_sole_snap", "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": 0.09467, "y": 0.84007, "z": 0.47747 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "R_Foot", "axisB": "R_ToeBase", "sourceAxisLengthM": 0.123081, "sourceT": 0.629719, "centerT": 0.629719, "minT": 0.629719, "maxT": 0.629719, "halfWidthT": 0, "radialFrame": { "lateralWeight": -0.995798, "forwardWeight": -0.091574, "sourceRadialM": 0.082127, "fallbackUsed": false, "radialSemantic": "explicit_foot_underside", "sectorHalfAngleDeg": 0, "angularSamples": 1 }, "temporalEvidence": { "schema": "NEXPROD01_TEMPORAL_RECEIVER_SECTOR_V1", "valid": true, "source": "user_selected_frame_702C2E25", "sourceCycle": "right_figure_four_peak", "anatomicalSide": "R", "contactRole": "foot_underside_sole", "lateralWeight": -0.995798, "forwardWeight": -0.091574, "sectorHalfAngleDeg": 0, "angularSamples": 1, "halfWidthT": 0, "confidence": "high_user_corrected_snap_point", "derivation": { "sourceT": 0.11549, "centerT": 0.11549, "sourceRadialM": 0.041037, "palmSeed": [ -0.14861, 1.059077, 0.513575 ], "receiverAxis": [ "R_Foot", "R_ToeBase" ], "sourceImage": "702C2E25-B59F-4A0C-B15D-6A80408FA397.jpeg", "v367ExplicitMeshSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.62, "radial": "negative_foot_vertical_underside", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit sole underside marker on the existing FootShoe collision proxy." } }, "policy": "User-corrected snap point.", "explicitMeshSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.62, "radial": "negative_foot_vertical_underside", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit sole underside marker on the existing FootShoe collision proxy." }, "radialSemantic": "explicit_foot_underside", "centerT": 0.62 }, "explicitSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.62, "radial": "negative_foot_vertical_underside", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit sole underside marker on the existing FootShoe collision proxy." }, "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": 0.629719, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.629719, "radialAngleDeg": 0, "indexDistanceM": 0.130439, "pinkyDistanceM": 0.12127, "movementM": 0.12127, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.12127 } ] } }, "cylinder": { "axisA": "R_Foot", "axisB": "R_ToeBase", "axisPoint": { "x": 0.14807, "y": 0.79428, "z": 0.51659 }, "axis": { "x": -0.58775, "y": -0.1331, "z": 0.79802 }, "bodyRight": { "x": -0.98043, "y": 0.19642, "z": -0.01292 }, "outward": { "x": -0.0297, "y": -0.98216, "z": -0.1857 }, "radiusM": 0.03901, "selectedT": 0.629719, "radialAngleDeg": 0, "snapPoint": { "x": 0.14692, "y": 0.75596, "z": 0.50934 } }, "palm": { "firstPalm": "pinkyAnchor", "secondPalm": "indexAnchor", "indexSnapDistanceBeforeM": 0.130439, "pinkySnapDistanceBeforeM": 0.12127, "firstSnapErrorM": 0.055285, "lineAngleDeg": 0, "closeDirectionDot": 0.999809, "rollDeg": 139.1453, "indexAnchor": { "x": 0.10842, "y": 0.7942, "z": 0.51518 }, "pinkyAnchor": { "x": 0.13552, "y": 0.80033, "z": 0.47839 }, "palmNormal": { "x": 0.04118, "y": 0.98457, "z": 0.17006 }, "indexPlaneAnchor": { "x": 0.10894, "y": 0.77577, "z": 0.51653 }, "pinkyPlaneAnchor": { "x": 0.11659, "y": 0.78488, "z": 0.46193 }, "calibration": { "indexSurfaceDepthM": 0.020770623044927675, "pinkySurfaceDepthM": 0.02047490695637868, "indexSurfaceCount": 5, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.03289, "requiredRadialM": 0.042, "normalizedEllipticRadius": 0.78296, "signedDistanceM": -0.00912, "signedOutsideM": 0.00152, "outsideScore": 0.04617, "distanceToSurfaceM": 0.00912, "penetrationM": 0.00912, "surfaceOk": false, "sideOk": false }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.03289, "requiredRadialM": 0.042, "normalizedEllipticRadius": 0.78296, "signedDistanceM": -0.00912, "signedOutsideM": 0.00152, "outsideScore": 0.04617, "distanceToSurfaceM": 0.00912, "penetrationM": 0.00912, "surfaceOk": false, "sideOk": false }, "pass": false }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "lClavicle->lUpperarm->lForearm->lHand", "iterations": 64, "finalError": 0.05809, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lForearm", "angle": 17.146 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lUpperarm", "angle": 1.905 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lClavicle", "angle": 4.59 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lForearm", "angle": 4.095 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lUpperarm", "angle": 2.468 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lClavicle", "angle": 4.404 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lForearm", "angle": 3.045 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lUpperarm", "angle": 2.852 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lClavicle", "angle": 4.198 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lForearm", "angle": 2.237 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lUpperarm", "angle": 3.097 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lClavicle", "angle": 3.977 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lForearm", "angle": 1.607 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lUpperarm", "angle": 3.236 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lClavicle", "angle": 3.747 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lForearm", "angle": 1.112 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lUpperarm", "angle": 3.292 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lClavicle", "angle": 3.514 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lForearm", "angle": 0.723 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lUpperarm", "angle": 3.288 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lClavicle", "angle": 3.284 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lForearm", "angle": 0.418 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lUpperarm", "angle": 3.24 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lClavicle", "angle": 3.063 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lForearm", "angle": 0.182 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lUpperarm", "angle": 3.16 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lClavicle", "angle": 2.853 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lForearm", "angle": 0.045 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lUpperarm", "angle": 3.06 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lClavicle", "angle": 2.655 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lForearm", "angle": 0.161 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lUpperarm", "angle": 2.947 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lClavicle", "angle": 2.472 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lForearm", "angle": 0.269 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lUpperarm", "angle": 2.826 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lClavicle", "angle": 2.302 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lForearm", "angle": 0.352 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lUpperarm", "angle": 2.703 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lClavicle", "angle": 2.146 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lForearm", "angle": 0.414 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lUpperarm", "angle": 2.58 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lClavicle", "angle": 2.003 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lForearm", "angle": 0.459 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lUpperarm", "angle": 2.459 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lClavicle", "angle": 1.872 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lForearm", "angle": 0.491 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lUpperarm", "angle": 2.343 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lClavicle", "angle": 1.753 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lForearm", "angle": 0.512 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lUpperarm", "angle": 2.231 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lClavicle", "angle": 1.644 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lForearm", "angle": 0.525 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lUpperarm", "angle": 2.124 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lClavicle", "angle": 1.544 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lForearm", "angle": 0.531 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lUpperarm", "angle": 2.023 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lClavicle", "angle": 1.453 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lForearm", "angle": 0.533 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lUpperarm", "angle": 1.927 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lClavicle", "angle": 1.369 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lForearm", "angle": 0.53 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lUpperarm", "angle": 1.837 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lClavicle", "angle": 1.293 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lForearm", "angle": 0.525 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lUpperarm", "angle": 1.752 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lClavicle", "angle": 1.222 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lForearm", "angle": 0.517 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lUpperarm", "angle": 1.672 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lClavicle", "angle": 1.158 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lForearm", "angle": 0.508 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lUpperarm", "angle": 1.598 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lClavicle", "angle": 1.098 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lForearm", "angle": 0.498 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lUpperarm", "angle": 1.527 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lClavicle", "angle": 1.043 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lForearm", "angle": 0.487 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lUpperarm", "angle": 1.461 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lClavicle", "angle": 0.992 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lForearm", "angle": 0.475 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lUpperarm", "angle": 1.399 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lClavicle", "angle": 0.945 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lForearm", "angle": 0.463 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lUpperarm", "angle": 1.341 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lClavicle", "angle": 0.901 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lForearm", "angle": 0.451 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lUpperarm", "angle": 1.286 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lClavicle", "angle": 0.861 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lForearm", "angle": 0.438 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lUpperarm", "angle": 1.234 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lClavicle", "angle": 0.823 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lForearm", "angle": 0.426 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lUpperarm", "angle": 1.185 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lClavicle", "angle": 0.788 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lForearm", "angle": 0.414 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lUpperarm", "angle": 1.139 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lClavicle", "angle": 0.755 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lForearm", "angle": 0.402 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lUpperarm", "angle": 1.096 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lClavicle", "angle": 0.724 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lForearm", "angle": 0.391 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lUpperarm", "angle": 1.055 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lClavicle", "angle": 0.695 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lForearm", "angle": 0.38 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lUpperarm", "angle": 1.016 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lClavicle", "angle": 0.668 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lForearm", "angle": 0.369 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lUpperarm", "angle": 0.98 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lClavicle", "angle": 0.642 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lForearm", "angle": 0.358 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lUpperarm", "angle": 0.945 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lClavicle", "angle": 0.618 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lForearm", "angle": 0.347 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lUpperarm", "angle": 0.912 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lClavicle", "angle": 0.595 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lForearm", "angle": 0.337 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lUpperarm", "angle": 0.881 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lClavicle", "angle": 0.574 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lForearm", "angle": 0.328 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lUpperarm", "angle": 0.851 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lClavicle", "angle": 0.553 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lForearm", "angle": 0.318 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lUpperarm", "angle": 0.822 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lClavicle", "angle": 0.534 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lForearm", "angle": 0.309 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lUpperarm", "angle": 0.795 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lClavicle", "angle": 0.516 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lForearm", "angle": 0.3 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lUpperarm", "angle": 0.77 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lClavicle", "angle": 0.498 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lForearm", "angle": 0.292 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lUpperarm", "angle": 0.745 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lClavicle", "angle": 0.482 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lForearm", "angle": 0.283 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lUpperarm", "angle": 0.722 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lClavicle", "angle": 0.466 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lForearm", "angle": 0.275 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lUpperarm", "angle": 0.699 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lClavicle", "angle": 0.451 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "lForearm", "angle": 0.268 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "lUpperarm", "angle": 0.678 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "lClavicle", "angle": 0.437 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "lForearm", "angle": 0.26 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "lUpperarm", "angle": 0.657 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "lClavicle", "angle": 0.423 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "lForearm", "angle": 0.253 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "lUpperarm", "angle": 0.638 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "lClavicle", "angle": 0.41 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "lForearm", "angle": 0.246 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "lUpperarm", "angle": 0.619 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "lClavicle", "angle": 0.398 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "lForearm", "angle": 0.24 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "lUpperarm", "angle": 0.601 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "lClavicle", "angle": 0.386 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "lForearm", "angle": 0.233 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "lUpperarm", "angle": 0.583 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "lClavicle", "angle": 0.375 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "lForearm", "angle": 0.227 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "lUpperarm", "angle": 0.566 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "lClavicle", "angle": 0.364 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "lForearm", "angle": 0.221 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "lUpperarm", "angle": 0.55 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "lClavicle", "angle": 0.353 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "lForearm", "angle": 0.215 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "lUpperarm", "angle": 0.535 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "lClavicle", "angle": 0.343 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "lForearm", "angle": 0.209 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "lUpperarm", "angle": 0.52 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "lClavicle", "angle": 0.333 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "lForearm", "angle": 0.204 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "lUpperarm", "angle": 0.506 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "lClavicle", "angle": 0.324 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lForearm", "angle": 0.198 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lUpperarm", "angle": 0.492 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lClavicle", "angle": 0.315 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lForearm", "angle": 0.193 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lUpperarm", "angle": 0.479 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lClavicle", "angle": 0.306 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lForearm", "angle": 0.188 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lUpperarm", "angle": 0.466 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lClavicle", "angle": 0.298 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lForearm", "angle": 0.183 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lUpperarm", "angle": 0.453 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lClavicle", "angle": 0.29 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lForearm", "angle": 0.179 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lUpperarm", "angle": 0.441 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lClavicle", "angle": 0.282 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lForearm", "angle": 0.174 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lUpperarm", "angle": 0.43 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lClavicle", "angle": 0.274 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lForearm", "angle": 0.17 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lUpperarm", "angle": 0.418 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lClavicle", "angle": 0.267 } ] }, "relock": { "ok": true, "stage": "v335_arm_explicit_snap_relock", "chain": "lClavicle->lUpperarm->lForearm->lHand", "iterations": 32, "finalError": 0.05529, "rows": [ { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lForearm", "angle": 0.165 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lUpperarm", "angle": 0.408 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lClavicle", "angle": 0.26 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lForearm", "angle": 0.161 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lUpperarm", "angle": 0.397 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lClavicle", "angle": 0.253 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lForearm", "angle": 0.157 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lUpperarm", "angle": 0.387 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lClavicle", "angle": 0.247 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "lForearm", "angle": 0.153 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "lUpperarm", "angle": 0.377 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "lClavicle", "angle": 0.24 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "lForearm", "angle": 0.15 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "lUpperarm", "angle": 0.367 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "lClavicle", "angle": 0.234 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "lForearm", "angle": 0.146 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "lUpperarm", "angle": 0.358 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "lClavicle", "angle": 0.228 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "lForearm", "angle": 0.142 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "lUpperarm", "angle": 0.349 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "lClavicle", "angle": 0.223 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lForearm", "angle": 0.139 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lUpperarm", "angle": 0.341 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lClavicle", "angle": 0.217 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lForearm", "angle": 0.135 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lUpperarm", "angle": 0.332 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lClavicle", "angle": 0.212 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lForearm", "angle": 0.132 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lUpperarm", "angle": 0.324 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lClavicle", "angle": 0.206 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lForearm", "angle": 0.129 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lUpperarm", "angle": 0.316 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lClavicle", "angle": 0.201 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lForearm", "angle": 0.126 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lUpperarm", "angle": 0.308 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lClavicle", "angle": 0.196 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lForearm", "angle": 0.123 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lUpperarm", "angle": 0.301 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lClavicle", "angle": 0.191 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lForearm", "angle": 0.12 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lUpperarm", "angle": 0.293 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lClavicle", "angle": 0.187 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lForearm", "angle": 0.117 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lUpperarm", "angle": 0.286 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lClavicle", "angle": 0.182 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lForearm", "angle": 0.114 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lUpperarm", "angle": 0.279 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lClavicle", "angle": 0.178 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lForearm", "angle": 0.111 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lUpperarm", "angle": 0.273 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lClavicle", "angle": 0.173 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lForearm", "angle": 0.109 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lUpperarm", "angle": 0.266 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lClavicle", "angle": 0.169 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lForearm", "angle": 0.106 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lUpperarm", "angle": 0.26 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lClavicle", "angle": 0.165 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lForearm", "angle": 0.104 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lUpperarm", "angle": 0.254 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lClavicle", "angle": 0.161 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lForearm", "angle": 0.101 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lUpperarm", "angle": 0.247 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lClavicle", "angle": 0.157 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lForearm", "angle": 0.099 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lUpperarm", "angle": 0.242 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lClavicle", "angle": 0.154 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lForearm", "angle": 0.097 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lUpperarm", "angle": 0.236 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lClavicle", "angle": 0.15 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lForearm", "angle": 0.094 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lUpperarm", "angle": 0.23 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lClavicle", "angle": 0.146 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lForearm", "angle": 0.092 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lUpperarm", "angle": 0.225 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lClavicle", "angle": 0.143 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lForearm", "angle": 0.09 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lUpperarm", "angle": 0.22 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lClavicle", "angle": 0.14 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lForearm", "angle": 0.088 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lUpperarm", "angle": 0.215 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lClavicle", "angle": 0.136 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lForearm", "angle": 0.086 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lUpperarm", "angle": 0.21 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lClavicle", "angle": 0.133 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lForearm", "angle": 0.084 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lUpperarm", "angle": 0.205 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lClavicle", "angle": 0.13 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lForearm", "angle": 0.082 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lUpperarm", "angle": 0.2 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lClavicle", "angle": 0.127 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lForearm", "angle": 0.08 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lUpperarm", "angle": 0.195 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lClavicle", "angle": 0.124 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lForearm", "angle": 0.078 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lUpperarm", "angle": 0.191 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lClavicle", "angle": 0.121 } ] } }, "legMeet": { "active": false, "applied": false, "reason": "receiver_locked__leg_meet_forbidden", "preMeetErrorM": 0.055285 }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": false, "blocked": true, "side": "L", "pass": false, "reason": "palm_contract_blocked" }, "search": { "active": true, "candidateCount": 1, "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_explicit_front_lower_shin_above_ankle_snap", "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": 0.381862, "maxT": 0.381862, "halfWidthT": 0, "radialFrame": { "lateralWeight": 0.023352, "forwardWeight": 0.999727, "sourceRadialM": 0.036474, "fallbackUsed": false, "radialSemantic": "explicit_front_lower_shin", "sectorHalfAngleDeg": 0, "angularSamples": 1 }, "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": 0, "angularSamples": 1, "halfWidthT": 0, "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", "v367ExplicitMeshSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "front_lower_shin_above_ankle", "proxy": "LowerLeg", "proxyAxis": "Calf->Foot knee_to_ankle", "t": 0.9, "radial": "positive_lower_leg_front_depth", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit anterior lower-shin marker on the existing lower-leg collision proxy." } }, "policy": "User-corrected snap point.", "explicitMeshSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "front_lower_shin_above_ankle", "proxy": "LowerLeg", "proxyAxis": "Calf->Foot knee_to_ankle", "t": 0.9, "radial": "positive_lower_leg_front_depth", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit anterior lower-shin marker on the existing lower-leg collision proxy." }, "radialSemantic": "explicit_front_lower_shin", "centerT": 0.1 }, "explicitSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "front_lower_shin_above_ankle", "proxy": "LowerLeg", "proxyAxis": "Calf->Foot knee_to_ankle", "t": 0.9, "radial": "positive_lower_leg_front_depth", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit anterior lower-shin marker on the existing lower-leg collision proxy." }, "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": 0, "candidateCount": 1, "candidates": [ { "t": 0.381862, "radialAngleDeg": 0, "indexDistanceM": 0.108291, "pinkyDistanceM": 0.151305, "movementM": 0.108291, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.108291 } ] } }, "cylinder": { "axisA": "R_Foot", "axisB": "R_Calf", "axisPoint": { "x": 0.16362, "y": 0.82787, "z": 0.44264 }, "axis": { "x": 0.92483, "y": -0.33264, "z": 0.18448 }, "bodyRight": { "x": -0.98043, "y": 0.19642, "z": -0.01292 }, "outward": { "x": -0.14222, "y": -0.75223, "z": -0.64337 }, "radiusM": 0.03811, "selectedT": 0.381862, "radialAngleDeg": 0, "snapPoint": { "x": 0.1582, "y": 0.7992, "z": 0.41812 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.108291, "pinkySnapDistanceBeforeM": 0.151305, "firstSnapErrorM": 0.00253, "lineAngleDeg": 0, "closeDirectionDot": 0.999612, "rollDeg": -149.817, "indexAnchor": { "x": 0.15769, "y": 0.80136, "z": 0.41691 }, "pinkyAnchor": { "x": 0.11433, "y": 0.81695, "z": 0.40826 }, "palmNormal": { "x": 0.11642, "y": 0.7612, "z": 0.63798 }, "indexPlaneAnchor": { "x": 0.15225, "y": 0.78306, "z": 0.41233 }, "pinkyPlaneAnchor": { "x": 0.12018, "y": 0.8151, "z": 0.37995 }, "calibration": { "indexSurfaceDepthM": 0.0205246436932275, "pinkySurfaceDepthM": 0.020500638563502697, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03739, "requiredRadialM": 0.03808, "normalizedEllipticRadius": 0.98206, "signedDistanceM": -0.00068, "signedOutsideM": 0.03734, "outsideScore": 0.99864, "distanceToSurfaceM": 0.00068, "penetrationM": 0.00068, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03739, "requiredRadialM": 0.03808, "normalizedEllipticRadius": 0.98206, "signedDistanceM": -0.00068, "signedOutsideM": 0.03734, "outsideScore": 0.99864, "distanceToSurfaceM": 0.00068, "penetrationM": 0.00068, "surfaceOk": true, "sideOk": true }, "pass": true }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 64, "finalError": 0.00768, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 5.413 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 1.928 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 3.727 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rForearm", "angle": 5.636 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rUpperarm", "angle": 1.75 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rClavicle", "angle": 3.611 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rForearm", "angle": 4.482 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rUpperarm", "angle": 1.786 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rClavicle", "angle": 3.504 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rForearm", "angle": 3.604 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rUpperarm", "angle": 1.898 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rClavicle", "angle": 3.394 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rForearm", "angle": 2.917 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rUpperarm", "angle": 2.017 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rClavicle", "angle": 3.275 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rForearm", "angle": 2.371 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rUpperarm", "angle": 2.115 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rClavicle", "angle": 3.147 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rForearm", "angle": 1.93 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rUpperarm", "angle": 2.182 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rClavicle", "angle": 3.01 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rForearm", "angle": 1.569 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rUpperarm", "angle": 2.218 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rClavicle", "angle": 2.867 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rForearm", "angle": 1.273 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rUpperarm", "angle": 2.227 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rClavicle", "angle": 2.72 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rForearm", "angle": 1.028 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rUpperarm", "angle": 2.212 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rClavicle", "angle": 2.572 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rForearm", "angle": 0.825 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rUpperarm", "angle": 2.178 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rClavicle", "angle": 2.425 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rForearm", "angle": 0.656 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rUpperarm", "angle": 2.129 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rClavicle", "angle": 2.282 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rForearm", "angle": 0.516 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rUpperarm", "angle": 2.069 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rClavicle", "angle": 2.143 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rForearm", "angle": 0.401 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rUpperarm", "angle": 2 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rClavicle", "angle": 2.009 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rForearm", "angle": 0.306 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rUpperarm", "angle": 1.926 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rClavicle", "angle": 1.882 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rForearm", "angle": 0.23 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rUpperarm", "angle": 1.848 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rClavicle", "angle": 1.763 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rForearm", "angle": 0.17 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rUpperarm", "angle": 1.769 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rClavicle", "angle": 1.65 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rForearm", "angle": 0.127 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rUpperarm", "angle": 1.69 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rClavicle", "angle": 1.545 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rForearm", "angle": 0.1 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rUpperarm", "angle": 1.611 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rClavicle", "angle": 1.446 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rForearm", "angle": 0.089 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rUpperarm", "angle": 1.534 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rClavicle", "angle": 1.354 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rForearm", "angle": 0.091 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rUpperarm", "angle": 1.46 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rClavicle", "angle": 1.269 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rForearm", "angle": 0.1 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rUpperarm", "angle": 1.388 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rClavicle", "angle": 1.19 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rForearm", "angle": 0.11 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rUpperarm", "angle": 1.319 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rClavicle", "angle": 1.116 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rForearm", "angle": 0.119 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rUpperarm", "angle": 1.253 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rClavicle", "angle": 1.048 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rForearm", "angle": 0.127 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rUpperarm", "angle": 1.19 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rClavicle", "angle": 0.985 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rForearm", "angle": 0.133 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rUpperarm", "angle": 1.13 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rClavicle", "angle": 0.926 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rForearm", "angle": 0.137 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rUpperarm", "angle": 1.074 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rClavicle", "angle": 0.871 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rForearm", "angle": 0.14 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rUpperarm", "angle": 1.02 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rClavicle", "angle": 0.821 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rForearm", "angle": 0.142 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rUpperarm", "angle": 0.969 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rClavicle", "angle": 0.774 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rForearm", "angle": 0.143 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rUpperarm", "angle": 0.921 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rClavicle", "angle": 0.73 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rForearm", "angle": 0.143 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rUpperarm", "angle": 0.876 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rClavicle", "angle": 0.69 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rForearm", "angle": 0.142 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rUpperarm", "angle": 0.833 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rClavicle", "angle": 0.652 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rForearm", "angle": 0.141 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rUpperarm", "angle": 0.793 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rClavicle", "angle": 0.616 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rForearm", "angle": 0.139 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rUpperarm", "angle": 0.754 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rClavicle", "angle": 0.584 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rForearm", "angle": 0.137 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rUpperarm", "angle": 0.718 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rClavicle", "angle": 0.553 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rForearm", "angle": 0.134 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rUpperarm", "angle": 0.685 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rClavicle", "angle": 0.524 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rForearm", "angle": 0.131 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rUpperarm", "angle": 0.652 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rClavicle", "angle": 0.497 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rForearm", "angle": 0.128 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rUpperarm", "angle": 0.622 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rClavicle", "angle": 0.472 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rForearm", "angle": 0.125 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rUpperarm", "angle": 0.593 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rClavicle", "angle": 0.449 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rForearm", "angle": 0.122 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rUpperarm", "angle": 0.566 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rClavicle", "angle": 0.427 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rForearm", "angle": 0.119 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rUpperarm", "angle": 0.541 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rClavicle", "angle": 0.406 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rForearm", "angle": 0.115 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rUpperarm", "angle": 0.517 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rClavicle", "angle": 0.387 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "rForearm", "angle": 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"angle": 0.319 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "rForearm", "angle": 0.099 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "rUpperarm", "angle": 0.413 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "rClavicle", "angle": 0.305 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "rForearm", "angle": 0.096 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "rUpperarm", "angle": 0.396 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "rClavicle", "angle": 0.291 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "rForearm", "angle": 0.093 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "rUpperarm", "angle": 0.379 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "rClavicle", "angle": 0.278 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "rForearm", "angle": 0.09 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": 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"outsideScore": 0.83496, "distanceToSurfaceM": 0.00499, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.18102, "y": 0.81008, "z": 0.40762 }, "score": 0.00499 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "middle", "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": 1.2, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 1.20833, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00385, "prevDistanceToSurfaceM": 0.0289, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.20833, "score": 0.005058, "distanceToSurfaceM": 0.00385 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00364, "prevDistanceToSurfaceM": 0.00364, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00364, "distanceToSurfaceM": 0.00364 }, "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": 0.00963, "prevDistanceToSurfaceM": 0.00963, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.00963, "distanceToSurfaceM": 0.00963 }, "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": 0.06512, "requiredRadialM": 0.03622, "normalizedEllipticRadius": 1.7981, "signedDistanceM": 0.0289, "signedOutsideM": 0.05901, "outsideScore": 0.90615, "distanceToSurfaceM": 0.0289, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.1643, "y": 0.79938, "z": 0.38409 }, "score": 0.0289 }, "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": 0.03542, "requiredRadialM": 0.03179, "normalizedEllipticRadius": 1.1144, "signedDistanceM": 0.00364, "signedOutsideM": 0.0184, "outsideScore": 0.51954, "distanceToSurfaceM": 0.00364, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.16608, "y": 0.83325, "z": 0.4072 }, "score": 0.00364 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "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": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 1.45, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0049, "prevDistanceToSurfaceM": 0.03251, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.45, "score": 0.00635, "distanceToSurfaceM": 0.0049 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00268, "prevDistanceToSurfaceM": 0.00268, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00268, "distanceToSurfaceM": 0.00268 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00348, "prevDistanceToSurfaceM": 0.00348, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00348, "distanceToSurfaceM": 0.00348 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06784, "requiredRadialM": 0.03533, "normalizedEllipticRadius": 1.92006, "signedDistanceM": 0.03251, "signedOutsideM": 0.05787, "outsideScore": 0.85307, "distanceToSurfaceM": 0.03251, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.15182, "y": 0.81024, "z": 0.3759 }, "score": 0.03251 }, "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": 0.03317, "requiredRadialM": 0.03048, "normalizedEllipticRadius": 1.08807, "signedDistanceM": 0.00268, "signedOutsideM": 0.00815, "outsideScore": 0.24567, "distanceToSurfaceM": 0.00268, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": 0.14698, "y": 0.84967, "z": 0.40816 }, "score": 0.00268 }, "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": 0.5, "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": 0.01461, "prevDistanceToSurfaceM": 0.03405, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.45, "score": 0.01606, "distanceToSurfaceM": 0.01461 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.5, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0054, "prevDistanceToSurfaceM": 0.01088, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.5, "score": 0.00782, "distanceToSurfaceM": 0.0054 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00042, "prevDistanceToSurfaceM": 0.00042, "worstPenetrationM": 0.00016, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00234, "distanceToSurfaceM": 0.00042 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06878, "requiredRadialM": 0.03473, "normalizedEllipticRadius": 1.98048, "signedDistanceM": 0.03405, "signedOutsideM": 0.05587, "outsideScore": 0.81225, "distanceToSurfaceM": 0.03405, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.13696, "y": 0.82048, "z": 0.37033 }, "score": 0.03405 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0.00016, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.0309, "requiredRadialM": 0.03049, "normalizedEllipticRadius": 1.01373, "signedDistanceM": 0.00042, "signedOutsideM": 0.00763, "outsideScore": 0.24676, "distanceToSurfaceM": 0.00042, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": 0.12539, "y": 0.85632, "z": 0.40597 }, "score": 0.00042 }, "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": 3e-08, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 1, "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_explicit_foot_underside_sole_snap", "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": 0.550564, "maxT": 0.550564, "halfWidthT": 0, "radialFrame": { "lateralWeight": 0.920135, "forwardWeight": -0.391601, "sourceRadialM": 0.171188, "fallbackUsed": false, "radialSemantic": "explicit_foot_underside", "sectorHalfAngleDeg": 0, "angularSamples": 1 }, "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": 0, "angularSamples": 1, "halfWidthT": 0, "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" ], "v367ExplicitMeshSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.62, "radial": "negative_foot_vertical_underside", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit sole underside marker on the existing FootShoe collision proxy." } }, "explicitMeshSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.62, "radial": "negative_foot_vertical_underside", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit sole underside marker on the existing FootShoe collision proxy." }, "radialSemantic": "explicit_foot_underside", "centerT": 0.62 }, "explicitSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.62, "radial": "negative_foot_vertical_underside", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit sole underside marker on the existing FootShoe collision proxy." }, "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": 0.550564, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.550564, "radialAngleDeg": 0, "indexDistanceM": 0.237179, "pinkyDistanceM": 0.216622, "movementM": 0.216622, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.216622 } ] } }, "cylinder": { "axisA": "L_Foot", "axisB": "L_ToeBase", "axisPoint": { "x": -0.19569, "y": 0.73977, "z": 0.53016 }, "axis": { "x": 0.58084, "y": -0.11045, "z": 0.80649 }, "bodyRight": { "x": -0.98451, "y": -0.17291, "z": 0.02919 }, "outward": { "x": 0.0038, "y": -0.99037, "z": -0.13837 }, "radiusM": 0.03842, "selectedT": 0.550564, "radialAngleDeg": 0, "snapPoint": { "x": -0.19555, "y": 0.70171, "z": 0.52485 } }, "palm": { "firstPalm": "pinkyAnchor", "secondPalm": "indexAnchor", "indexSnapDistanceBeforeM": 0.237179, "pinkySnapDistanceBeforeM": 0.216622, "firstSnapErrorM": 0.116437, "lineAngleDeg": 0, "closeDirectionDot": 0.999612, "rollDeg": -134.0789, "indexAnchor": { "x": -0.13693, "y": 0.7875, "z": 0.4971 }, "pinkyAnchor": { "x": -0.16416, "y": 0.79268, "z": 0.45929 }, "palmNormal": { "x": -0.01997, "y": 0.99306, "z": 0.11586 }, "indexPlaneAnchor": { "x": -0.14401, "y": 0.76942, "z": 0.49998 }, "pinkyPlaneAnchor": { "x": -0.14568, "y": 0.77584, "z": 0.44467 }, "calibration": { "indexSurfaceDepthM": 0.02052465036085367, "pinkySurfaceDepthM": 0.0205006381198216, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08258, "requiredRadialM": 0.03766, "normalizedEllipticRadius": 2.19287, "signedDistanceM": 0.04492, "signedOutsideM": -0.04248, "outsideScore": -0.51441, "distanceToSurfaceM": 0.04492, "penetrationM": 0, "surfaceOk": false, "sideOk": false }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08258, "requiredRadialM": 0.03766, "normalizedEllipticRadius": 2.19287, "signedDistanceM": 0.04492, "signedOutsideM": -0.04248, "outsideScore": -0.51441, "distanceToSurfaceM": 0.04492, "penetrationM": 0, "surfaceOk": false, "sideOk": false }, "pass": false }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 64, "finalError": 0.11687, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 31.49 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 1.33 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 5.254 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rForearm", "angle": 6.922 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rUpperarm", "angle": 2.038 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rClavicle", "angle": 5.001 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rForearm", "angle": 4.913 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rUpperarm", "angle": 2.719 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rClavicle", "angle": 4.749 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rForearm", "angle": 3.458 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rUpperarm", "angle": 3.197 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rClavicle", "angle": 4.486 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rForearm", "angle": 2.379 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rUpperarm", "angle": 3.498 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rClavicle", "angle": 4.214 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rForearm", "angle": 1.57 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rUpperarm", "angle": 3.66 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rClavicle", "angle": 3.938 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rForearm", "angle": 0.963 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rUpperarm", "angle": 3.717 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rClavicle", "angle": 3.667 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rForearm", "angle": 0.514 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rUpperarm", "angle": 3.699 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rClavicle", "angle": 3.406 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rForearm", "angle": 0.22 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rUpperarm", "angle": 3.628 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rClavicle", "angle": 3.159 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rForearm", "angle": 0.216 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rUpperarm", "angle": 3.521 }, { 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"rClavicle", "angle": 0.112 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rForearm", "angle": 0.072 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rUpperarm", "angle": 0.17 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rClavicle", "angle": 0.108 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rForearm", "angle": 0.069 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rUpperarm", "angle": 0.163 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rClavicle", "angle": 0.103 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "rForearm", "angle": 0.066 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "rUpperarm", "angle": 0.156 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "rClavicle", "angle": 0.099 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "rForearm", "angle": 0.063 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "rUpperarm", "angle": 0.15 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "rClavicle", "angle": 0.094 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "rForearm", "angle": 0.06 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "rUpperarm", "angle": 0.143 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "rClavicle", "angle": 0.09 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "rForearm", "angle": 0.058 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "rUpperarm", "angle": 0.137 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "rClavicle", "angle": 0.087 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "rForearm", "angle": 0.055 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "rUpperarm", "angle": 0.131 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "rClavicle", "angle": 0.083 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rForearm", "angle": 0.053 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rUpperarm", "angle": 0.126 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rClavicle", "angle": 0.079 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rForearm", "angle": 0.051 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rUpperarm", "angle": 0.121 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rClavicle", "angle": 0.076 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rForearm", "angle": 0.049 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rUpperarm", "angle": 0.115 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rClavicle", "angle": 0.073 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rForearm", "angle": 0.046 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rUpperarm", "angle": 0.111 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rClavicle", "angle": 0.07 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rForearm", "angle": 0.045 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rUpperarm", "angle": 0.106 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rClavicle", "angle": 0.067 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rForearm", "angle": 0.043 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rUpperarm", "angle": 0.101 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rClavicle", "angle": 0.064 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rForearm", "angle": 0.041 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rUpperarm", "angle": 0.097 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rClavicle", "angle": 0.061 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rForearm", "angle": 0.039 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rUpperarm", "angle": 0.093 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rClavicle", "angle": 0.059 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rForearm", "angle": 0.037 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rUpperarm", "angle": 0.089 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rClavicle", "angle": 0.056 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rForearm", "angle": 0.036 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rUpperarm", "angle": 0.085 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rClavicle", "angle": 0.054 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rForearm", "angle": 0.034 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rUpperarm", "angle": 0.082 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rClavicle", "angle": 0.052 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rForearm", "angle": 0.033 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rUpperarm", "angle": 0.078 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rClavicle", "angle": 0.049 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rForearm", "angle": 0.032 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rUpperarm", "angle": 0.075 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rClavicle", "angle": 0.047 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rForearm", "angle": 0.03 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rUpperarm", "angle": 0.072 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rClavicle", "angle": 0.045 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rForearm", "angle": 0.029 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rUpperarm", "angle": 0.069 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rClavicle", "angle": 0.043 } ] } }, "legMeet": { "active": false, "applied": false, "reason": "receiver_locked__leg_meet_forbidden", "preMeetErrorM": 0.116437 }, "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": 1, "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_explicit_front_lower_shin_above_ankle_snap", "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": 0.582844, "maxT": 0.582844, "halfWidthT": 0, "radialFrame": { "lateralWeight": -0.668284, "forwardWeight": 0.743907, "sourceRadialM": 0.044556, "fallbackUsed": false, "radialSemantic": "explicit_front_lower_shin", "sectorHalfAngleDeg": 0, "angularSamples": 1 }, "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": 0, "angularSamples": 1, "halfWidthT": 0, "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" ], "v367ExplicitMeshSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "front_lower_shin_above_ankle", "proxy": "LowerLeg", "proxyAxis": "Calf->Foot knee_to_ankle", "t": 0.9, "radial": "positive_lower_leg_front_depth", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit anterior lower-shin marker on the existing lower-leg collision proxy." } }, "explicitMeshSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "front_lower_shin_above_ankle", "proxy": "LowerLeg", "proxyAxis": "Calf->Foot knee_to_ankle", "t": 0.9, "radial": "positive_lower_leg_front_depth", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit anterior lower-shin marker on the existing lower-leg collision proxy." }, "radialSemantic": "explicit_front_lower_shin", "centerT": 0.1 }, "explicitSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "front_lower_shin_above_ankle", "proxy": "LowerLeg", "proxyAxis": "Calf->Foot knee_to_ankle", "t": 0.9, "radial": "positive_lower_leg_front_depth", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Do not rediscover nearest surface. Use this explicit anterior lower-shin marker on the existing lower-leg collision proxy." }, "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": 0.582844, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.582844, "radialAngleDeg": 0, "indexDistanceM": 0.198717, "pinkyDistanceM": 0.238646, "movementM": 0.198717, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.198717 } ] } }, "cylinder": { "axisA": "L_Foot", "axisB": "L_Calf", "axisPoint": { "x": -0.21377, "y": 0.77701, "z": 0.45565 }, "axis": { "x": -0.82592, "y": -0.51414, "z": 0.23133 }, "bodyRight": { "x": -0.98451, "y": -0.17291, "z": 0.02919 }, "outward": { "x": 0.05988, "y": -0.488, "z": -0.87079 }, "radiusM": 0.03807, "selectedT": 0.582844, "radialAngleDeg": 0, "snapPoint": { "x": -0.21149, "y": 0.75843, "z": 0.4225 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.198717, "pinkySnapDistanceBeforeM": 0.238646, "firstSnapErrorM": 0.010195, "lineAngleDeg": 0, "closeDirectionDot": 0.999809, "rollDeg": 174.3746, "indexAnchor": { "x": -0.20845, "y": 0.7669, "z": 0.41771 }, "pinkyAnchor": { "x": -0.17038, "y": 0.7906, "z": 0.40704 }, "palmNormal": { "x": -0.04373, "y": 0.49795, "z": 0.8661 }, "indexPlaneAnchor": { "x": -0.20801, "y": 0.75398, "z": 0.4045 }, "pinkyPlaneAnchor": { "x": -0.18201, "y": 0.79742, "z": 0.38084 }, "calibration": { "indexSurfaceDepthM": 0.020770613009396924, "pinkySurfaceDepthM": 0.020474905494349504, "indexSurfaceCount": 5, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03881, "requiredRadialM": 0.03777, "normalizedEllipticRadius": 1.02768, "signedDistanceM": 0.00105, "signedOutsideM": 0.03829, "outsideScore": 0.98653, "distanceToSurfaceM": 0.00105, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03881, "requiredRadialM": 0.03777, "normalizedEllipticRadius": 1.02768, "signedDistanceM": 0.00105, "signedOutsideM": 0.03829, "outsideScore": 0.98653, "distanceToSurfaceM": 0.00105, "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": 0.01773, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lForearm", "angle": 12.52 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lUpperarm", "angle": 4.73 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lClavicle", "angle": 4.831 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lForearm", "angle": 9.664 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lUpperarm", "angle": 3.518 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lClavicle", "angle": 4.575 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lForearm", "angle": 7.162 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lUpperarm", "angle": 2.984 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lClavicle", "angle": 4.402 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lForearm", "angle": 5.437 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lUpperarm", "angle": 2.819 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lClavicle", "angle": 4.253 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lForearm", "angle": 4.189 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lUpperarm", "angle": 2.822 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lClavicle", "angle": 4.103 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lForearm", "angle": 3.255 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lUpperarm", "angle": 2.877 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lClavicle", "angle": 3.941 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lForearm", "angle": 2.538 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lUpperarm", "angle": 2.929 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lClavicle", "angle": 3.766 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lForearm", "angle": 1.98 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lUpperarm", "angle": 2.957 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lClavicle", "angle": 3.58 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lForearm", "angle": 1.538 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lUpperarm", "angle": 2.956 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lClavicle", "angle": 3.386 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lForearm", "angle": 1.186 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lUpperarm", "angle": 2.925 }, { "stage": 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"stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lForearm", "angle": 0.083 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lUpperarm", "angle": 0.228 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lClavicle", "angle": 0.151 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lForearm", "angle": 0.081 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lUpperarm", "angle": 0.223 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lClavicle", "angle": 0.148 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lForearm", "angle": 0.08 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lUpperarm", "angle": 0.218 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lClavicle", "angle": 0.144 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lForearm", "angle": 0.078 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lUpperarm", "angle": 0.214 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lClavicle", "angle": 0.141 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lForearm", "angle": 0.077 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lUpperarm", "angle": 0.209 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lClavicle", "angle": 0.138 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lForearm", "angle": 0.075 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lUpperarm", "angle": 0.205 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lClavicle", "angle": 0.135 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lForearm", "angle": 0.074 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lUpperarm", "angle": 0.201 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lClavicle", "angle": 0.133 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lForearm", "angle": 0.072 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lUpperarm", "angle": 0.197 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lClavicle", "angle": 0.13 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lForearm", "angle": 0.071 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lUpperarm", "angle": 0.193 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lClavicle", "angle": 0.127 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lForearm", "angle": 0.07 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lUpperarm", "angle": 0.189 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lClavicle", "angle": 0.125 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lForearm", "angle": 0.068 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lUpperarm", "angle": 0.185 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lClavicle", "angle": 0.122 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lForearm", "angle": 0.067 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lUpperarm", "angle": 0.182 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lClavicle", "angle": 0.12 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lForearm", "angle": 0.066 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lUpperarm", "angle": 0.178 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lClavicle", "angle": 0.117 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lForearm", "angle": 0.065 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lUpperarm", "angle": 0.175 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lClavicle", "angle": 0.115 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lForearm", "angle": 0.064 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lUpperarm", "angle": 0.172 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lClavicle", "angle": 0.113 } ] } }, "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": 1.04722, "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": 1.04722, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00578, "prevDistanceToSurfaceM": 0.02403, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.04722, "score": 0.006827, "distanceToSurfaceM": 0.00578 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00574, "prevDistanceToSurfaceM": 0.00574, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00574, "distanceToSurfaceM": 0.00574 }, "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": 0.01118, "prevDistanceToSurfaceM": 0.01118, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.01118, "distanceToSurfaceM": 0.01118 }, "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": 0.06055, "requiredRadialM": 0.03652, "normalizedEllipticRadius": 1.65785, "signedDistanceM": 0.02403, "signedOutsideM": 0.05598, "outsideScore": 0.92451, "distanceToSurfaceM": 0.02403, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.2291, "y": 0.7624, "z": 0.3985 }, "score": 0.02403 }, "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": 0.03828, "requiredRadialM": 0.03254, "normalizedEllipticRadius": 1.17654, "signedDistanceM": 0.00574, "signedOutsideM": 0.02357, "outsideScore": 0.6157, "distanceToSurfaceM": 0.00574, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.23317, "y": 0.78435, "z": 0.42313 }, "score": 0.00574 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "middle", "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": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.45, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0049, "prevDistanceToSurfaceM": 0.03566, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.45, "score": 0.00635, "distanceToSurfaceM": 0.0049 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00322, "prevDistanceToSurfaceM": 0.00322, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00322, "distanceToSurfaceM": 0.00322 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00596, "prevDistanceToSurfaceM": 0.00596, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00596, "distanceToSurfaceM": 0.00596 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07098, "requiredRadialM": 0.03532, "normalizedEllipticRadius": 2.00966, "signedDistanceM": 0.03566, "signedOutsideM": 0.06057, "outsideScore": 0.85328, "distanceToSurfaceM": 0.03566, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.22442, "y": 0.77759, "z": 0.38503 }, "score": 0.03566 }, "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": 0.03366, "requiredRadialM": 0.03045, "normalizedEllipticRadius": 1.1056, "signedDistanceM": 0.00322, "signedOutsideM": 0.00768, "outsideScore": 0.22829, "distanceToSurfaceM": 0.00322, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": -0.21519, "y": 0.80664, "z": 0.43012 }, "score": 0.00322 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.45, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0.3, "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": 1.45, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.0125, "prevDistanceToSurfaceM": 0.0388, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.45, "score": 0.01395, "distanceToSurfaceM": 0.0125 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0.3, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00508, "prevDistanceToSurfaceM": 0.01048, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.3, "score": 0.00538, "distanceToSurfaceM": 0.00508 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00435, "prevDistanceToSurfaceM": 0.00435, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00435, "distanceToSurfaceM": 0.00435 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07346, "requiredRadialM": 0.03466, "normalizedEllipticRadius": 2.11968, "signedDistanceM": 0.0388, "signedOutsideM": 0.05933, "outsideScore": 0.80764, "distanceToSurfaceM": 0.0388, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.21368, "y": 0.79157, "z": 0.37936 }, "score": 0.0388 }, "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": 0.03473, "requiredRadialM": 0.03038, "normalizedEllipticRadius": 1.14315, "signedDistanceM": 0.00435, "signedOutsideM": -0.00705, "outsideScore": -0.20296, "distanceToSurfaceM": 0.00435, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": -0.19739, "y": 0.82677, "z": 0.43698 }, "score": 0.00435 }, "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": 0.8, "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": 0.02047, "prevDistanceToSurfaceM": 0.03918, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.45, "score": 0.02192, "distanceToSurfaceM": 0.02047 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0.8, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00954, "prevDistanceToSurfaceM": 0.0172, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.8, "score": 0.01034, "distanceToSurfaceM": 0.00954 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00064, "prevDistanceToSurfaceM": 0.00064, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00064, "distanceToSurfaceM": 0.00064 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07342, "requiredRadialM": 0.03424, "normalizedEllipticRadius": 2.14409, "signedDistanceM": 0.03918, "signedOutsideM": 0.05703, "outsideScore": 0.77672, "distanceToSurfaceM": 0.03918, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.20002, "y": 0.80437, "z": 0.37577 }, "score": 0.03918 }, "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": 0.03172, "requiredRadialM": 0.03108, "normalizedEllipticRadius": 1.02074, "signedDistanceM": 0.00064, "signedOutsideM": 0.01259, "outsideScore": 0.39691, "distanceToSurfaceM": 0.00064, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.17847, "y": 0.82307, "z": 0.4178 }, "score": 0.00064 }, "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": 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": 1, "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 } ] }