{ "schema": "V364_FIGURE_FOUR_GENERIC_GRIP_PROBE", "rows": [ { "label": "right", "caseId": "v93_warmup_figure_four_walk_1", "phase": 0.25, "runtime": "NEXPROD01_RUNTIME_V346_COLLISION_RECEIVER_AXIS_CANONICALIZATION_2026_08_20", "genericGrip": { "schema": "NEXPROD01_GENERIC_MULTI_GRIP_SOLVER_V1", "version": "V342_LOCKED_SHARED_RECEIVER", "active": true, "applied": true, "ok": true, "pass": true, "gripCount": 2, "receiverSide": "R", "receiverLocked": true, "solves": [ { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": true, "side": "L", "status": "PALM_PLUS_FOUR_FINGERS_READY_FOR_VISUAL_QA", "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "L", "resetFingerBones": [ "L_Thumb1", "L_Thumb2", "L_Thumb3", "L_Index1", "L_Index2", "L_Index3", "L_Mid1", "L_Mid2", "L_Mid3", "L_Ring1", "L_Ring2", "L_Ring3", "L_Pinky1", "L_Pinky2", "L_Pinky3" ], "beforeLocalQuat": { "x": 0.012858419, "y": 0.843683477, "z": 0.060281906, "w": -0.533290629 }, "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": 0.09482, "y": 0.8584, "z": 0.46348 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "R_Foot", "axisB": "R_ToeBase", "sourceAxisLengthM": 0.123081, "sourceT": 0.505604, "centerT": 0.505604, "minT": 0.505604, "maxT": 0.505604, "halfWidthT": 0, "radialFrame": { "lateralWeight": -0.995798, "forwardWeight": -0.091574, "sourceRadialM": 0.098326, "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": 0.12, "radial": "positive_foot_canonical_vertical_underside_surface", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Explicit snap marker on existing FootShoe mesh proxy at the underside/sole near the ankle-to-midfoot entry point; do not rediscover nearest surface." }, "v369SnapMarkerMove": { "fromT": 0.12, "toT": 0.18 } }, "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": 0.18, "radial": "positive_foot_canonical_vertical_underside_surface", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V369: explicit marker moved mildly toward mid-sole underside." }, "radialSemantic": "explicit_foot_underside", "centerT": 0.18 }, "explicitSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.18, "radial": "positive_foot_canonical_vertical_underside_surface", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V369: explicit marker moved mildly toward mid-sole underside." }, "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": 0.505604, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.505604, "radialAngleDeg": 0, "indexDistanceM": 0.122609, "pinkyDistanceM": 0.089352, "movementM": 0.089352, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.089352 } ] } }, "cylinder": { "axisA": "R_Foot", "axisB": "R_ToeBase", "axisPoint": { "x": 0.18356, "y": 0.80073, "z": 0.46788 }, "axis": { "x": -0.58771, "y": -0.13301, "z": 0.79806 }, "bodyRight": { "x": -0.98043, "y": 0.19642, "z": -0.01292 }, "outward": { "x": -0.01626, "y": 0.98814, "z": 0.15271 }, "radiusM": 0.05341, "selectedT": 0.505604, "radialAngleDeg": 0, "snapPoint": { "x": 0.18269, "y": 0.85351, "z": 0.47603 } }, "palm": { "firstPalm": "pinkyAnchor", "secondPalm": "indexAnchor", "indexSnapDistanceBeforeM": 0.122609, "pinkySnapDistanceBeforeM": 0.089352, "firstSnapErrorM": 0.000327, "lineAngleDeg": 0, "closeDirectionDot": 0.999809, "rollDeg": -43.0596, "indexAnchor": { "x": 0.15554, "y": 0.84763, "z": 0.51263 }, "pinkyAnchor": { "x": 0.18264, "y": 0.85376, "z": 0.47583 }, "palmNormal": { "x": 0.02774, "y": -0.98535, "z": -0.16828 }, "indexPlaneAnchor": { "x": 0.15042, "y": 0.8651, "z": 0.5158 }, "pinkyPlaneAnchor": { "x": 0.20066, "y": 0.87058, "z": 0.49197 }, "calibration": { "indexSurfaceDepthM": 0.020770623028305898, "pinkySurfaceDepthM": 0.02047490688075639, "indexSurfaceCount": 5, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.05363, "requiredRadialM": 0.05177, "normalizedEllipticRadius": 1.03598, "signedDistanceM": 0.00186, "signedOutsideM": 0.05363, "outsideScore": 0.99999, "distanceToSurfaceM": 0.00186, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.05363, "requiredRadialM": 0.05177, "normalizedEllipticRadius": 1.03598, "signedDistanceM": 0.00186, "signedOutsideM": 0.05363, "outsideScore": 0.99999, "distanceToSurfaceM": 0.00186, "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": 0.00143, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lForearm", "angle": 10.468 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lUpperarm", "angle": 0.191 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lClavicle", "angle": 1.437 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lForearm", "angle": 2.223 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lUpperarm", "angle": 0.274 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lClavicle", "angle": 1.36 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lForearm", "angle": 1.943 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lUpperarm", "angle": 0.341 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lClavicle", "angle": 1.29 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lForearm", "angle": 1.707 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lUpperarm", "angle": 0.394 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lClavicle", "angle": 1.226 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lForearm", "angle": 1.507 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lUpperarm", "angle": 0.434 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lClavicle", "angle": 1.165 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lForearm", "angle": 1.335 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lUpperarm", "angle": 0.464 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lClavicle", "angle": 1.107 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lForearm", "angle": 1.186 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lUpperarm", "angle": 0.486 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lClavicle", "angle": 1.052 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lForearm", "angle": 1.056 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lUpperarm", "angle": 0.5 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lClavicle", "angle": 1 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lForearm", "angle": 0.943 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lUpperarm", "angle": 0.508 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lClavicle", "angle": 0.95 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lForearm", "angle": 0.844 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lUpperarm", "angle": 0.512 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lClavicle", "angle": 0.903 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lForearm", "angle": 0.757 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lUpperarm", "angle": 0.511 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lClavicle", "angle": 0.857 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lForearm", "angle": 0.679 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lUpperarm", "angle": 0.507 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lClavicle", "angle": 0.813 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lForearm", "angle": 0.611 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lUpperarm", "angle": 0.5 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lClavicle", "angle": 0.771 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lForearm", "angle": 0.55 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lUpperarm", "angle": 0.491 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lClavicle", "angle": 0.731 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lForearm", "angle": 0.497 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lUpperarm", "angle": 0.48 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lClavicle", "angle": 0.693 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lForearm", "angle": 0.449 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lUpperarm", "angle": 0.468 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lClavicle", "angle": 0.657 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lForearm", "angle": 0.406 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lUpperarm", "angle": 0.454 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lClavicle", "angle": 0.622 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lForearm", "angle": 0.367 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lUpperarm", "angle": 0.44 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lClavicle", "angle": 0.589 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lForearm", "angle": 0.333 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lUpperarm", "angle": 0.425 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lClavicle", "angle": 0.557 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lForearm", "angle": 0.303 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lUpperarm", "angle": 0.41 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lClavicle", "angle": 0.527 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lForearm", "angle": 0.275 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lUpperarm", "angle": 0.395 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lClavicle", "angle": 0.499 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lForearm", "angle": 0.25 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lUpperarm", "angle": 0.38 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lClavicle", "angle": 0.472 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lForearm", "angle": 0.228 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lUpperarm", "angle": 0.364 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lClavicle", "angle": 0.446 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lForearm", "angle": 0.208 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lUpperarm", "angle": 0.349 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lClavicle", "angle": 0.422 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lForearm", "angle": 0.19 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lUpperarm", "angle": 0.334 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lClavicle", "angle": 0.399 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lForearm", "angle": 0.174 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lUpperarm", "angle": 0.32 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lClavicle", "angle": 0.377 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lForearm", "angle": 0.159 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lUpperarm", "angle": 0.305 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lClavicle", "angle": 0.357 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lForearm", "angle": 0.146 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lUpperarm", "angle": 0.291 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lClavicle", "angle": 0.337 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lForearm", "angle": 0.134 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lUpperarm", "angle": 0.278 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lClavicle", "angle": 0.319 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lForearm", "angle": 0.123 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lUpperarm", "angle": 0.265 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lClavicle", "angle": 0.301 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lForearm", "angle": 0.113 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lUpperarm", "angle": 0.252 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lClavicle", "angle": 0.284 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lForearm", "angle": 0.104 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lUpperarm", "angle": 0.24 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lClavicle", "angle": 0.269 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lForearm", "angle": 0.096 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lUpperarm", "angle": 0.228 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lClavicle", "angle": 0.254 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lForearm", "angle": 0.088 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lUpperarm", "angle": 0.217 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lClavicle", "angle": 0.24 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lForearm", "angle": 0.082 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lUpperarm", "angle": 0.206 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lClavicle", "angle": 0.227 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lForearm", "angle": 0.075 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lUpperarm", "angle": 0.196 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lClavicle", "angle": 0.214 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lForearm", "angle": 0.07 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lUpperarm", "angle": 0.186 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lClavicle", "angle": 0.202 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lForearm", "angle": 0.064 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lUpperarm", "angle": 0.177 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lClavicle", "angle": 0.191 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lForearm", "angle": 0.06 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lUpperarm", "angle": 0.168 }, { 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"score": 0.006188, "distanceToSurfaceM": 0.00506 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00524, "prevDistanceToSurfaceM": 0.00524, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00524, "distanceToSurfaceM": 0.00524 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01092, "prevDistanceToSurfaceM": 0.01092, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.01092, "distanceToSurfaceM": 0.01092 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08324, "requiredRadialM": 0.05826, "normalizedEllipticRadius": 1.42871, "signedDistanceM": 0.02498, "signedOutsideM": 0.07467, "outsideScore": 0.89704, "distanceToSurfaceM": 0.02498, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.19524, "y": 0.86787, "z": 0.52363 }, "score": 0.02498 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.05969, "requiredRadialM": 0.05463, "normalizedEllipticRadius": 1.09265, "signedDistanceM": 0.00506, "signedOutsideM": 0.04471, "outsideScore": 0.74901, "distanceToSurfaceM": 0.00506, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.20052, "y": 0.83864, "z": 0.51719 }, "score": 0.00506 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.36944, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 0, "active": true } ], "rows": [ { "finger": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.36944, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00475, "prevDistanceToSurfaceM": 0.02452, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.36944, "score": 0.006119, "distanceToSurfaceM": 0.00475 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00205, "prevDistanceToSurfaceM": 0.00205, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00205, "distanceToSurfaceM": 0.00205 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00203, "prevDistanceToSurfaceM": 0.00203, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00203, "distanceToSurfaceM": 0.00203 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08255, "requiredRadialM": 0.05803, "normalizedEllipticRadius": 1.42257, "signedDistanceM": 0.02452, "signedOutsideM": 0.07237, "outsideScore": 0.87667, "distanceToSurfaceM": 0.02452, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.20863, "y": 0.86786, "z": 0.51007 }, "score": 0.02452 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.0526, "requiredRadialM": 0.05057, "normalizedEllipticRadius": 1.04013, "signedDistanceM": 0.00203, "signedOutsideM": 0.03282, "outsideScore": 0.62385, "distanceToSurfaceM": 0.00203, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.21461, "y": 0.82963, "z": 0.49912 }, "score": 0.00203 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true } ], "thumb": { "active": false, "blocked": true, "reason": "thumb_requires_its_own_anatomical_opposition_axis_after_four_finger_visual_approval" }, "parentDrift": { "checked": 13, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thigh", "changed": false, "localQuatDeltaRad": 4.2e-08, "worldPosDeltaM": 0 }, { "bone": "L_Calf", "changed": false, "localQuatDeltaRad": 4.2e-08, "worldPosDeltaM": 0 }, { "bone": "L_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Upperarm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Forearm", "changed": false, "localQuatDeltaRad": 3e-08, "worldPosDeltaM": 0 }, { "bone": "L_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 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": 0.084147695, "y": 0.836862818, "z": 0.030805134, "w": 0.540028533 }, "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": 0.04335, "y": 0.84213, "z": 0.38804 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "R_Foot", "axisB": "R_Calf", "sourceAxisLengthM": 0.395374, "sourceT": 0.4193, "centerT": 0.4193, "minT": 0.4193, "maxT": 0.4193, "halfWidthT": 0, "radialFrame": { "lateralWeight": 0.023352, "forwardWeight": 0.999727, "sourceRadialM": 0.035629, "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": "Explicit snap marker on existing lower-leg mesh proxy at anterior lower shin just above ankle; do not rediscover nearest surface." }, "v369SnapMarkerMove": { "fromT": 0.9, "toT": 0.87 } }, "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": 0.87, "radial": "positive_lower_leg_front_depth", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V369: explicit marker moved slightly proximal/up lower shin while preserving bilateral reach." }, "radialSemantic": "explicit_front_lower_shin", "centerT": 0.13 }, "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": 0.87, "radial": "positive_lower_leg_front_depth", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V369: explicit marker moved slightly proximal/up lower shin while preserving bilateral reach." }, "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": 0.4193, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.4193, "radialAngleDeg": 0, "indexDistanceM": 0.116103, "pinkyDistanceM": 0.156994, "movementM": 0.116103, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.116103 } ] } }, "cylinder": { "axisA": "R_Foot", "axisB": "R_Calf", "axisPoint": { "x": 0.15215, "y": 0.83041, "z": 0.44209 }, "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": 0.03816, "selectedT": 0.4193, "radialAngleDeg": 0, "snapPoint": { "x": 0.14672, "y": 0.80171, "z": 0.41754 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.116103, "pinkySnapDistanceBeforeM": 0.156994, "firstSnapErrorM": 0.005015, "lineAngleDeg": 0, "closeDirectionDot": 0.999612, "rollDeg": -150.2366, "indexAnchor": { "x": 0.14576, "y": 0.80592, "z": 0.41498 }, "pinkyAnchor": { "x": 0.1024, "y": 0.82151, "z": 0.40633 }, "palmNormal": { "x": 0.11642, "y": 0.7612, "z": 0.63798 }, "indexPlaneAnchor": { "x": 0.14032, "y": 0.78762, "z": 0.4104 }, "pinkyPlaneAnchor": { "x": 0.10825, "y": 0.81966, "z": 0.37802 }, "calibration": { "indexSurfaceDepthM": 0.020524643527171527, "pinkySurfaceDepthM": 0.020500638562084707, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03699, "requiredRadialM": 0.03801, "normalizedEllipticRadius": 0.97306, "signedDistanceM": -0.00102, "signedOutsideM": 0.03678, "outsideScore": 0.99427, "distanceToSurfaceM": 0.00102, "penetrationM": 0.00102, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03699, "requiredRadialM": 0.03801, "normalizedEllipticRadius": 0.97306, "signedDistanceM": -0.00102, "signedOutsideM": 0.03678, "outsideScore": 0.99427, "distanceToSurfaceM": 0.00102, "penetrationM": 0.00102, "surfaceOk": true, "sideOk": true }, "pass": true }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 64, "finalError": 0.0114, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 5.966 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 2.516 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 4.053 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rForearm", "angle": 5.973 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rUpperarm", "angle": 2.261 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rClavicle", "angle": 3.912 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rForearm", "angle": 4.668 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rUpperarm", "angle": 2.24 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rClavicle", "angle": 3.783 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rForearm", "angle": 3.69 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rUpperarm", "angle": 2.311 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rClavicle", "angle": 3.651 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rForearm", "angle": 2.936 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rUpperarm", "angle": 2.398 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rClavicle", "angle": 3.509 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rForearm", "angle": 2.344 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rUpperarm", "angle": 2.469 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rClavicle", "angle": 3.358 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rForearm", "angle": 1.871 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rUpperarm", "angle": 2.511 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rClavicle", "angle": 3.198 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rForearm", "angle": 1.49 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rUpperarm", "angle": 2.525 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rClavicle", "angle": 3.033 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rForearm", "angle": 1.181 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rUpperarm", "angle": 2.511 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rClavicle", "angle": 2.866 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rForearm", "angle": 0.929 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rUpperarm", "angle": 2.475 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rClavicle", "angle": 2.7 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rForearm", "angle": 0.723 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rUpperarm", "angle": 2.421 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rClavicle", "angle": 2.537 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rForearm", "angle": 0.556 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rUpperarm", "angle": 2.354 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rClavicle", "angle": 2.379 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rForearm", "angle": 0.421 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rUpperarm", "angle": 2.276 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rClavicle", "angle": 2.228 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rForearm", "angle": 0.315 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rUpperarm", "angle": 2.192 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rClavicle", "angle": 2.084 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rForearm", "angle": 0.234 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rUpperarm", "angle": 2.103 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rClavicle", "angle": 1.949 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rForearm", "angle": 0.178 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rUpperarm", "angle": 2.013 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rClavicle", "angle": 1.823 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rForearm", "angle": 0.147 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rUpperarm", "angle": 1.923 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rClavicle", "angle": 1.705 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rForearm", "angle": 0.139 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rUpperarm", "angle": 1.834 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rClavicle", "angle": 1.595 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rForearm", "angle": 0.145 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rUpperarm", "angle": 1.747 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rClavicle", "angle": 1.493 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rForearm", "angle": 0.157 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rUpperarm", "angle": 1.662 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rClavicle", "angle": 1.398 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rForearm", "angle": 0.17 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rUpperarm", "angle": 1.581 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rClavicle", "angle": 1.311 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rForearm", "angle": 0.182 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rUpperarm", "angle": 1.504 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rClavicle", "angle": 1.23 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rForearm", "angle": 0.191 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rUpperarm", "angle": 1.429 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rClavicle", "angle": 1.156 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rForearm", "angle": 0.199 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rUpperarm", "angle": 1.359 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rClavicle", "angle": 1.087 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rForearm", "angle": 0.204 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rUpperarm", "angle": 1.292 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rClavicle", "angle": 1.023 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rForearm", "angle": 0.207 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rUpperarm", "angle": 1.229 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rClavicle", "angle": 0.964 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rForearm", "angle": 0.209 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rUpperarm", "angle": 1.17 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rClavicle", "angle": 0.909 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rForearm", "angle": 0.209 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rUpperarm", "angle": 1.114 }, { "stage": "v335_arm_to_explicit_snap", 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"iter": 23, "joint": "rClavicle", "angle": 0.091 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rForearm", "angle": 0.043 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rUpperarm", "angle": 0.13 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rClavicle", "angle": 0.088 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rForearm", "angle": 0.042 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rUpperarm", "angle": 0.127 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rClavicle", "angle": 0.086 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rForearm", "angle": 0.041 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rUpperarm", "angle": 0.123 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rClavicle", "angle": 0.084 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rForearm", "angle": 0.04 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rUpperarm", "angle": 0.12 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rClavicle", "angle": 0.082 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rForearm", "angle": 0.039 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rUpperarm", "angle": 0.117 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rClavicle", "angle": 0.08 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rForearm", "angle": 0.038 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rUpperarm", "angle": 0.114 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rClavicle", "angle": 0.077 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rForearm", "angle": 0.037 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rUpperarm", "angle": 0.111 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rClavicle", "angle": 0.075 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rForearm", "angle": 0.037 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rUpperarm", "angle": 0.108 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rClavicle", "angle": 0.074 } ] } }, "legMeet": { "active": false, "applied": false, "reason": "arm_reached_explicit_snap" }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": true, "blocked": false, "side": "R", "curlAxis": "z", "curlSign": 1, "pass": true, "fullGripComplete": false, "results": [ { "finger": "index", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.80556, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.80556, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00408, "prevDistanceToSurfaceM": 0.0183, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.80556, "score": 0.004886, "distanceToSurfaceM": 0.00408 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00441, "prevDistanceToSurfaceM": 0.00441, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00441, "distanceToSurfaceM": 0.00441 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01144, "prevDistanceToSurfaceM": 0.01144, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.01144, "distanceToSurfaceM": 0.01144 }, "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": 0.05568, "requiredRadialM": 0.03738, "normalizedEllipticRadius": 1.48973, "signedDistanceM": 0.0183, "signedOutsideM": 0.05389, "outsideScore": 0.96777, "distanceToSurfaceM": 0.0183, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.15983, "y": 0.79411, "z": 0.39907 }, "score": 0.0183 }, "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": 0.03847, "requiredRadialM": 0.03439, "normalizedEllipticRadius": 1.11857, "signedDistanceM": 0.00408, "signedOutsideM": 0.03107, "outsideScore": 0.80767, "distanceToSurfaceM": 0.00408, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.16774, "y": 0.81562, "z": 0.40764 }, "score": 0.00408 }, "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": 0.0059, "prevDistanceToSurfaceM": 0.02967, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.20833, "score": 0.007108, "distanceToSurfaceM": 0.0059 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0058, "prevDistanceToSurfaceM": 0.0058, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.0058, "distanceToSurfaceM": 0.0058 }, "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": 0.01223, "prevDistanceToSurfaceM": 0.01223, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.01223, "distanceToSurfaceM": 0.01223 }, "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": 0.06549, "requiredRadialM": 0.03581, "normalizedEllipticRadius": 1.82856, "signedDistanceM": 0.02967, "signedOutsideM": 0.05844, "outsideScore": 0.89245, "distanceToSurfaceM": 0.02967, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.15238, "y": 0.80393, "z": 0.38216 }, "score": 0.02967 }, "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": 0.03687, "requiredRadialM": 0.03107, "normalizedEllipticRadius": 1.18682, "signedDistanceM": 0.0058, "signedOutsideM": 0.01784, "outsideScore": 0.48381, "distanceToSurfaceM": 0.0058, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.15415, "y": 0.83781, "z": 0.40527 }, "score": 0.0058 }, "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": 1.2, "active": true } ], "rows": [ { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 1.45, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00697, "prevDistanceToSurfaceM": 0.03358, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.45, "score": 0.00842, "distanceToSurfaceM": 0.00697 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00512, "prevDistanceToSurfaceM": 0.00512, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00512, "distanceToSurfaceM": 0.00512 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00606, "prevDistanceToSurfaceM": 0.00606, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.00606, "distanceToSurfaceM": 0.00606 }, "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": 0.06843, "requiredRadialM": 0.03486, "normalizedEllipticRadius": 1.96339, "signedDistanceM": 0.03358, "signedOutsideM": 0.05731, "outsideScore": 0.83744, "distanceToSurfaceM": 0.03358, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.1399, "y": 0.8148, "z": 0.37398 }, "score": 0.03358 }, "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": 0.03498, "requiredRadialM": 0.02986, "normalizedEllipticRadius": 1.17156, "signedDistanceM": 0.00512, "signedOutsideM": 0.00758, "outsideScore": 0.21676, "distanceToSurfaceM": 0.00512, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": 0.13506, "y": 0.85423, "z": 0.40624 }, "score": 0.00512 }, "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": 0.7, "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": 0.0165, "prevDistanceToSurfaceM": 0.03531, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.45, "score": 0.01795, "distanceToSurfaceM": 0.0165 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.7, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00594, "prevDistanceToSurfaceM": 0.01318, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.7, "score": 0.02344, "distanceToSurfaceM": 0.00594 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00029, "prevDistanceToSurfaceM": 0.00029, "worstPenetrationM": 0.0014, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.01709, "distanceToSurfaceM": 0.00029 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06952, "requiredRadialM": 0.03421, "normalizedEllipticRadius": 2.032, "signedDistanceM": 0.03531, "signedOutsideM": 0.05531, "outsideScore": 0.79553, "distanceToSurfaceM": 0.03531, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.12503, "y": 0.82504, "z": 0.3684 }, "score": 0.03531 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0.0014, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03062, "requiredRadialM": 0.03033, "normalizedEllipticRadius": 1.00965, "signedDistanceM": 0.00029, "signedOutsideM": 0.01072, "outsideScore": 0.35011, "distanceToSurfaceM": 0.00029, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.11048, "y": 0.85674, "z": 0.40385 }, "score": 0.00029 }, "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": 6e-08, "worldPosDeltaM": 0 }, { "bone": "R_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Upperarm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 3e-08, "worldPosDeltaM": 0 }, { "bone": "R_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 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": true, "gripCount": 2, "receiverSide": "L", "receiverLocked": true, "solves": [ { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": true, "side": "R", "status": "PALM_PLUS_FOUR_FINGERS_READY_FOR_VISUAL_QA", "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "R", "resetFingerBones": [ "R_Thumb1", "R_Thumb2", "R_Thumb3", "R_Index1", "R_Index2", "R_Index3", "R_Mid1", "R_Mid2", "R_Mid3", "R_Ring1", "R_Ring2", "R_Ring3", "R_Pinky1", "R_Pinky2", "R_Pinky3" ], "beforeLocalQuat": { "x": -0.104762979, "y": 0.830344739, "z": -0.003230639, "w": 0.547304069 }, "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": -0.08107, "y": 0.84923, "z": 0.44082 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "L_Foot", "axisB": "L_ToeBase", "sourceAxisLengthM": 0.123089, "sourceT": 0.495172, "centerT": 0.495172, "minT": 0.495172, "maxT": 0.495172, "halfWidthT": 0, "radialFrame": { "lateralWeight": 0.920135, "forwardWeight": -0.391601, "sourceRadialM": 0.181652, "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": 0.12, "radial": "positive_foot_canonical_vertical_underside_surface", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "Explicit snap marker on existing FootShoe mesh proxy at the underside/sole near the ankle-to-midfoot entry point; do not rediscover nearest surface." }, "v369SnapMarkerMove": { "fromT": 0.12, "toT": 0.18 } }, "explicitMeshSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.18, "radial": "positive_foot_canonical_vertical_underside_surface", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V369: explicit marker moved mildly toward mid-sole underside." }, "radialSemantic": "explicit_foot_underside", "centerT": 0.18 }, "explicitSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.18, "radial": "positive_foot_canonical_vertical_underside_surface", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V369: explicit marker moved mildly toward mid-sole underside." }, "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": 0.495172, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.495172, "radialAngleDeg": 0, "indexDistanceM": 0.215138, "pinkyDistanceM": 0.181346, "movementM": 0.181346, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.181346 } ] } }, "cylinder": { "axisA": "L_Foot", "axisB": "L_ToeBase", "axisPoint": { "x": -0.23196, "y": 0.74425, "z": 0.48096 }, "axis": { "x": 0.58084, "y": -0.11045, "z": 0.80649 }, "bodyRight": { "x": -0.98451, "y": -0.17291, "z": 0.02919 }, "outward": { "x": 0.02523, "y": 0.99272, "z": 0.11778 }, "radiusM": 0.05334, "selectedT": 0.495172, "radialAngleDeg": 0, "snapPoint": { "x": -0.23062, "y": 0.79721, "z": 0.48724 } }, "palm": { "firstPalm": "pinkyAnchor", "secondPalm": "indexAnchor", "indexSnapDistanceBeforeM": 0.215138, "pinkySnapDistanceBeforeM": 0.181346, "firstSnapErrorM": 0.001791, "lineAngleDeg": 0, "closeDirectionDot": 0.999612, "rollDeg": 47.0919, "indexAnchor": { "x": -0.20289, "y": 0.79339, "z": 0.524 }, "pinkyAnchor": { "x": -0.23011, "y": 0.79857, "z": 0.48619 }, "palmNormal": { "x": -0.04139, "y": -0.98926, "z": -0.14019 }, "indexPlaneAnchor": { "x": -0.19506, "y": 0.81115, "z": 0.52106 }, "pinkyPlaneAnchor": { "x": -0.24711, "y": 0.81606, "z": 0.50182 }, "calibration": { "indexSurfaceDepthM": 0.020524650450996468, "pinkySurfaceDepthM": 0.020500638059594446, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.05459, "requiredRadialM": 0.05154, "normalizedEllipticRadius": 1.05925, "signedDistanceM": 0.00305, "signedOutsideM": 0.05458, "outsideScore": 0.9998, "distanceToSurfaceM": 0.00305, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.05459, "requiredRadialM": 0.05154, "normalizedEllipticRadius": 1.05925, "signedDistanceM": 0.00305, "signedOutsideM": 0.05458, "outsideScore": 0.9998, "distanceToSurfaceM": 0.00305, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pass": true }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 64, "finalError": 0.0057, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 26.819 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 0.67 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 2.497 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rForearm", "angle": 4.562 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rUpperarm", "angle": 0.58 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rClavicle", "angle": 2.343 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rForearm", "angle": 3.734 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rUpperarm", "angle": 0.661 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rClavicle", "angle": 2.213 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rForearm", "angle": 3.088 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rUpperarm", "angle": 0.784 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rClavicle", "angle": 2.097 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rForearm", "angle": 2.572 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rUpperarm", "angle": 0.897 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rClavicle", "angle": 1.991 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rForearm", "angle": 2.153 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rUpperarm", "angle": 0.988 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rClavicle", "angle": 1.891 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rForearm", "angle": 1.807 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rUpperarm", "angle": 1.056 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rClavicle", "angle": 1.797 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rForearm", "angle": 1.52 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rUpperarm", "angle": 1.104 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rClavicle", "angle": 1.705 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rForearm", "angle": 1.28 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rUpperarm", "angle": 1.134 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rClavicle", "angle": 1.618 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rForearm", "angle": 1.078 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rUpperarm", "angle": 1.15 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rClavicle", "angle": 1.534 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rForearm", "angle": 0.907 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rUpperarm", "angle": 1.153 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rClavicle", "angle": 1.453 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rForearm", "angle": 0.763 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rUpperarm", "angle": 1.147 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rClavicle", "angle": 1.376 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rForearm", "angle": 0.64 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rUpperarm", "angle": 1.133 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rClavicle", "angle": 1.303 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rForearm", "angle": 0.537 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rUpperarm", "angle": 1.113 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rClavicle", "angle": 1.232 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rForearm", "angle": 0.448 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rUpperarm", "angle": 1.089 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rClavicle", "angle": 1.166 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rForearm", "angle": 0.373 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rUpperarm", "angle": 1.06 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rClavicle", "angle": 1.103 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rForearm", "angle": 0.309 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rUpperarm", "angle": 1.029 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rClavicle", "angle": 1.043 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rForearm", "angle": 0.255 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rUpperarm", "angle": 0.997 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rClavicle", "angle": 0.986 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rForearm", "angle": 0.209 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rUpperarm", "angle": 0.963 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rClavicle", "angle": 0.933 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rForearm", "angle": 0.17 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rUpperarm", "angle": 0.929 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rClavicle", "angle": 0.883 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rForearm", "angle": 0.137 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rUpperarm", "angle": 0.895 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rClavicle", "angle": 0.836 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rForearm", "angle": 0.11 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rUpperarm", "angle": 0.861 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rClavicle", "angle": 0.791 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rForearm", "angle": 0.087 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rUpperarm", "angle": 0.827 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rClavicle", "angle": 0.749 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rForearm", "angle": 0.068 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rUpperarm", "angle": 0.794 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rClavicle", "angle": 0.71 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rForearm", "angle": 0.053 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rUpperarm", "angle": 0.762 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rClavicle", "angle": 0.673 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rForearm", "angle": 0.043 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rUpperarm", "angle": 0.731 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rClavicle", "angle": 0.638 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rForearm", "angle": 0.036 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rUpperarm", "angle": 0.701 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rClavicle", "angle": 0.606 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rForearm", "angle": 0.034 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rUpperarm", "angle": 0.672 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rClavicle", "angle": 0.575 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rForearm", "angle": 0.034 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rUpperarm", "angle": 0.644 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rClavicle", "angle": 0.546 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rForearm", "angle": 0.036 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rUpperarm", "angle": 0.617 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rClavicle", "angle": 0.519 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rForearm", "angle": 0.038 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rUpperarm", "angle": 0.591 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rClavicle", "angle": 0.493 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rForearm", "angle": 0.041 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rUpperarm", "angle": 0.566 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rClavicle", "angle": 0.469 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rForearm", "angle": 0.043 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rUpperarm", "angle": 0.542 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rClavicle", "angle": 0.446 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rForearm", "angle": 0.045 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rUpperarm", "angle": 0.519 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rClavicle", "angle": 0.425 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rForearm", "angle": 0.047 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rUpperarm", "angle": 0.497 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rClavicle", "angle": 0.405 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rForearm", "angle": 0.049 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rUpperarm", "angle": 0.476 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rClavicle", "angle": 0.385 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rForearm", "angle": 0.05 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rUpperarm", "angle": 0.457 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rClavicle", "angle": 0.367 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rForearm", "angle": 0.05 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rUpperarm", "angle": 0.437 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rClavicle", "angle": 0.35 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rForearm", "angle": 0.051 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rUpperarm", "angle": 0.419 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rClavicle", "angle": 0.334 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rForearm", "angle": 0.051 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rUpperarm", "angle": 0.402 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rClavicle", "angle": 0.319 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rForearm", "angle": 0.051 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rUpperarm", "angle": 0.385 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rClavicle", "angle": 0.305 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rForearm", "angle": 0.051 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rUpperarm", "angle": 0.369 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rClavicle", "angle": 0.291 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "rForearm", "angle": 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"active": true, "axis": "z", "sign": 1, "amount": 0.40278, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00572, "prevDistanceToSurfaceM": 0.01697, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.40278, "score": 0.006123, "distanceToSurfaceM": 0.00572 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00576, "prevDistanceToSurfaceM": 0.00576, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00576, "distanceToSurfaceM": 0.00576 }, "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": 0.01349, "prevDistanceToSurfaceM": 0.01349, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.01349, "distanceToSurfaceM": 0.01349 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.07347, "requiredRadialM": 0.0565, "normalizedEllipticRadius": 1.30038, "signedDistanceM": 0.01697, "signedOutsideM": 0.07156, "outsideScore": 0.97407, "distanceToSurfaceM": 0.01697, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.20581, "y": 0.80729, "z": 0.55161 }, "score": 0.01697 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06323, "requiredRadialM": 0.05751, "normalizedEllipticRadius": 1.09954, "signedDistanceM": 0.00572, "signedOutsideM": 0.05791, "outsideScore": 0.9158, "distanceToSurfaceM": 0.00572, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.2113, "y": 0.79294, "z": 0.55785 }, "score": 0.00572 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "middle", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.80556, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.1, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.80556, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00519, "prevDistanceToSurfaceM": 0.02277, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.80556, "score": 0.005996, "distanceToSurfaceM": 0.00519 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.1, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00577, "prevDistanceToSurfaceM": 0.00606, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.1, "score": 0.00587, "distanceToSurfaceM": 0.00577 }, "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": 0.0152, "prevDistanceToSurfaceM": 0.0152, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.0152, "distanceToSurfaceM": 0.0152 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08009, "requiredRadialM": 0.05732, "normalizedEllipticRadius": 1.39719, "signedDistanceM": 0.02277, "signedOutsideM": 0.07625, "outsideScore": 0.95203, "distanceToSurfaceM": 0.02277, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.22274, "y": 0.81359, "z": 0.54196 }, "score": 0.02277 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06056, "requiredRadialM": 0.05537, "normalizedEllipticRadius": 1.09369, "signedDistanceM": 0.00519, "signedOutsideM": 0.04975, "outsideScore": 0.82146, "distanceToSurfaceM": 0.00519, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.23031, "y": 0.78656, "z": 0.54639 }, "score": 0.00519 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "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": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 1.04722, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00509, "prevDistanceToSurfaceM": 0.02427, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.04722, "score": 0.006137, "distanceToSurfaceM": 0.00509 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00522, "prevDistanceToSurfaceM": 0.00522, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00522, "distanceToSurfaceM": 0.00522 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01087, "prevDistanceToSurfaceM": 0.01087, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.01087, "distanceToSurfaceM": 0.01087 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08179, "requiredRadialM": 0.05753, "normalizedEllipticRadius": 1.42185, "signedDistanceM": 0.02427, "signedOutsideM": 0.07512, "outsideScore": 0.91838, "distanceToSurfaceM": 0.02427, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.23884, "y": 0.81393, "z": 0.53294 }, "score": 0.02427 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.05913, "requiredRadialM": 0.05405, "normalizedEllipticRadius": 1.09411, "signedDistanceM": 0.00509, "signedOutsideM": 0.04621, "outsideScore": 0.7814, "distanceToSurfaceM": 0.00509, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.24461, "y": 0.78527, "z": 0.53029 }, "score": 0.00509 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 1.36944, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ], "rows": [ { "finger": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 1.36944, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00444, "prevDistanceToSurfaceM": 0.02478, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.36944, "score": 0.005809, "distanceToSurfaceM": 0.00444 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0011, "prevDistanceToSurfaceM": 0.0011, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.0011, "distanceToSurfaceM": 0.0011 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00105, "prevDistanceToSurfaceM": 0.00105, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00105, "distanceToSurfaceM": 0.00105 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08198, "requiredRadialM": 0.0572, "normalizedEllipticRadius": 1.43319, "signedDistanceM": 0.02478, "signedOutsideM": 0.07311, "outsideScore": 0.89182, "distanceToSurfaceM": 0.02478, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.2533, "y": 0.81372, "z": 0.52077 }, "score": 0.02478 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.0503, "requiredRadialM": 0.04925, "normalizedEllipticRadius": 1.02132, "signedDistanceM": 0.00105, "signedOutsideM": 0.03214, "outsideScore": 0.63899, "distanceToSurfaceM": 0.00105, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.25958, "y": 0.77372, "z": 0.51139 }, "score": 0.00105 }, "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": 3e-08, "worldPosDeltaM": 0 }, { "bone": "R_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Upperarm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 4.2e-08, "worldPosDeltaM": 0 }, { "bone": "R_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 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": 0.140179386, "y": -0.875770083, "z": 0.00379168, "w": 0.461911374 }, "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": -0.02823, "y": 0.83844, "z": 0.38709 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "L_Foot", "axisB": "L_Calf", "sourceAxisLengthM": 0.39526, "sourceT": 0.608033, "centerT": 0.608033, "minT": 0.608033, "maxT": 0.608033, "halfWidthT": 0, "radialFrame": { "lateralWeight": -0.668284, "forwardWeight": 0.743907, "sourceRadialM": 0.043981, "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": "Explicit snap marker on existing lower-leg mesh proxy at anterior lower shin just above ankle; do not rediscover nearest surface." }, "v369SnapMarkerMove": { "fromT": 0.9, "toT": 0.87 } }, "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": 0.87, "radial": "positive_lower_leg_front_depth", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V369: explicit marker moved slightly proximal/up lower shin while preserving bilateral reach." }, "radialSemantic": "explicit_front_lower_shin", "centerT": 0.13 }, "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": 0.87, "radial": "positive_lower_leg_front_depth", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V369: explicit marker moved slightly proximal/up lower shin while preserving bilateral reach." }, "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": 0.608033, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.608033, "radialAngleDeg": 0, "indexDistanceM": 0.19751, "pinkyDistanceM": 0.236774, "movementM": 0.19751, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.19751 } ] } }, "cylinder": { "axisA": "L_Foot", "axisB": "L_Calf", "axisPoint": { "x": -0.20327, "y": 0.78176, "z": 0.45322 }, "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": 0.03812, "selectedT": 0.608033, "radialAngleDeg": 0, "snapPoint": { "x": -0.20099, "y": 0.76316, "z": 0.42003 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.19751, "pinkySnapDistanceBeforeM": 0.236774, "firstSnapErrorM": 0.011042, "lineAngleDeg": 0, "closeDirectionDot": 0.999809, "rollDeg": 173.8821, "indexAnchor": { "x": -0.19777, "y": 0.77226, "z": 0.41468 }, "pinkyAnchor": { "x": -0.15969, "y": 0.79597, "z": 0.40401 }, "palmNormal": { "x": -0.04373, "y": 0.49795, "z": 0.8661 }, "indexPlaneAnchor": { "x": -0.19732, "y": 0.75935, "z": 0.40147 }, "pinkyPlaneAnchor": { "x": -0.17133, "y": 0.80278, "z": 0.37781 }, "calibration": { "indexSurfaceDepthM": 0.020770612629546742, "pinkySurfaceDepthM": 0.020474905356810243, "indexSurfaceCount": 5, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03915, "requiredRadialM": 0.03772, "normalizedEllipticRadius": 1.03788, "signedDistanceM": 0.00143, "signedOutsideM": 0.03853, "outsideScore": 0.98418, "distanceToSurfaceM": 0.00143, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03915, "requiredRadialM": 0.03772, "normalizedEllipticRadius": 1.03788, "signedDistanceM": 0.00143, "signedOutsideM": 0.03853, "outsideScore": 0.98418, "distanceToSurfaceM": 0.00143, "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": 0.01857, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lForearm", "angle": 11.87 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lUpperarm", "angle": 4.898 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lClavicle", "angle": 4.894 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lForearm", "angle": 9.531 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lUpperarm", "angle": 3.704 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lClavicle", "angle": 4.626 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lForearm", "angle": 7.047 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lUpperarm", "angle": 3.168 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lClavicle", "angle": 4.44 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lForearm", "angle": 5.334 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lUpperarm", "angle": 2.985 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lClavicle", "angle": 4.278 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lForearm", "angle": 4.096 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lUpperarm", "angle": 2.961 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lClavicle", "angle": 4.116 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lForearm", "angle": 3.171 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lUpperarm", "angle": 2.99 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lClavicle", "angle": 3.943 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lForearm", "angle": 2.463 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lUpperarm", "angle": 3.018 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lClavicle", "angle": 3.758 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lForearm", "angle": 1.913 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lUpperarm", "angle": 3.026 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lClavicle", "angle": 3.565 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lForearm", "angle": 1.479 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lUpperarm", "angle": 3.008 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lClavicle", "angle": 3.365 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lForearm", "angle": 1.136 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lUpperarm", "angle": 2.964 }, { "stage": 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"lClavicle", "angle": 0.186 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lForearm", "angle": 0.099 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lUpperarm", "angle": 0.274 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lClavicle", "angle": 0.182 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lForearm", "angle": 0.097 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lUpperarm", "angle": 0.268 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lClavicle", "angle": 0.177 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lForearm", "angle": 0.095 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lUpperarm", "angle": 0.262 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lClavicle", "angle": 0.173 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lForearm", "angle": 0.093 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lUpperarm", "angle": 0.256 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lClavicle", "angle": 0.169 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lForearm", "angle": 0.092 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lUpperarm", "angle": 0.25 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lClavicle", "angle": 0.166 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lForearm", "angle": 0.09 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lUpperarm", "angle": 0.245 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lClavicle", "angle": 0.162 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lForearm", "angle": 0.088 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lUpperarm", "angle": 0.24 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lClavicle", "angle": 0.159 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lForearm", "angle": 0.086 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lUpperarm", "angle": 0.235 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lClavicle", "angle": 0.155 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lForearm", "angle": 0.085 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lUpperarm", "angle": 0.23 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lClavicle", "angle": 0.152 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lForearm", "angle": 0.083 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lUpperarm", "angle": 0.225 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lClavicle", "angle": 0.149 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lForearm", "angle": 0.081 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lUpperarm", "angle": 0.221 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lClavicle", "angle": 0.146 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lForearm", "angle": 0.08 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lUpperarm", "angle": 0.216 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lClavicle", "angle": 0.143 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lForearm", "angle": 0.078 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lUpperarm", "angle": 0.212 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lClavicle", "angle": 0.14 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lForearm", "angle": 0.077 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lUpperarm", "angle": 0.208 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lClavicle", "angle": 0.137 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lForearm", "angle": 0.076 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lUpperarm", "angle": 0.204 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lClavicle", "angle": 0.134 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lForearm", "angle": 0.074 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lUpperarm", "angle": 0.2 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lClavicle", "angle": 0.132 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lForearm", "angle": 0.073 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lUpperarm", "angle": 0.196 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lClavicle", "angle": 0.129 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lForearm", "angle": 0.072 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lUpperarm", "angle": 0.192 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lClavicle", "angle": 0.127 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lForearm", "angle": 0.07 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lUpperarm", "angle": 0.189 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lClavicle", "angle": 0.124 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lForearm", "angle": 0.069 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lUpperarm", "angle": 0.185 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lClavicle", "angle": 0.122 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lForearm", "angle": 0.068 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lUpperarm", "angle": 0.182 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lClavicle", "angle": 0.12 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lForearm", "angle": 0.067 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lUpperarm", "angle": 0.179 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lClavicle", "angle": 0.117 } ] } }, "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": 1.12778, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.12778, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00439, "prevDistanceToSurfaceM": 0.02468, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.12778, "score": 0.005518, "distanceToSurfaceM": 0.00439 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00421, "prevDistanceToSurfaceM": 0.00421, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00421, "distanceToSurfaceM": 0.00421 }, "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": 0.00869, "prevDistanceToSurfaceM": 0.00869, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.00869, "distanceToSurfaceM": 0.00869 }, "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": 0.06099, "requiredRadialM": 0.03631, "normalizedEllipticRadius": 1.6798, "signedDistanceM": 0.02468, "signedOutsideM": 0.05622, "outsideScore": 0.92166, "distanceToSurfaceM": 0.02468, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.21841, "y": 0.76776, "z": 0.39547 }, "score": 0.02468 }, "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": 0.03622, "requiredRadialM": 0.03201, "normalizedEllipticRadius": 1.13145, "signedDistanceM": 0.00421, "signedOutsideM": 0.02242, "outsideScore": 0.61891, "distanceToSurfaceM": 0.00421, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.22009, "y": 0.78951, "z": 0.42198 }, "score": 0.00421 }, "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": 1.2, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.45, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00613, "prevDistanceToSurfaceM": 0.03651, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.45, "score": 0.00758, "distanceToSurfaceM": 0.00613 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00453, "prevDistanceToSurfaceM": 0.00453, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00453, "distanceToSurfaceM": 0.00453 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00721, "prevDistanceToSurfaceM": 0.00721, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.00721, "distanceToSurfaceM": 0.00721 }, "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": 0.07149, "requiredRadialM": 0.03498, "normalizedEllipticRadius": 2.04373, "signedDistanceM": 0.03651, "signedOutsideM": 0.0608, "outsideScore": 0.85051, "distanceToSurfaceM": 0.03651, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.21374, "y": 0.78295, "z": 0.38201 }, "score": 0.03651 }, "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": 0.03429, "requiredRadialM": 0.02976, "normalizedEllipticRadius": 1.15231, "signedDistanceM": 0.00453, "signedOutsideM": 0.00792, "outsideScore": 0.23101, "distanceToSurfaceM": 0.00453, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": -0.2045, "y": 0.81201, "z": 0.42709 }, "score": 0.00453 }, "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": 0.4, "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": 0.01375, "prevDistanceToSurfaceM": 0.03974, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.45, "score": 0.0152, "distanceToSurfaceM": 0.01375 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0.4, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00453, "prevDistanceToSurfaceM": 0.0118, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.4, "score": 0.00493, "distanceToSurfaceM": 0.00453 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00249, "prevDistanceToSurfaceM": 0.00249, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00249, "distanceToSurfaceM": 0.00249 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.074, "requiredRadialM": 0.03425, "normalizedEllipticRadius": 2.16032, "signedDistanceM": 0.03974, "signedOutsideM": 0.05956, "outsideScore": 0.80496, "distanceToSurfaceM": 0.03974, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.203, "y": 0.79694, "z": 0.37633 }, "score": 0.03974 }, "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": 0.03268, "requiredRadialM": 0.03019, "normalizedEllipticRadius": 1.08259, "signedDistanceM": 0.00249, "signedOutsideM": -0.01142, "outsideScore": -0.34949, "distanceToSurfaceM": 0.00249, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": -0.18223, "y": 0.83314, "z": 0.43899 }, "score": 0.00249 }, "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": 0.9, "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": 0.02167, "prevDistanceToSurfaceM": 0.04017, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.45, "score": 0.02312, "distanceToSurfaceM": 0.02167 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0.9, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01027, "prevDistanceToSurfaceM": 0.0185, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.9, "score": 0.01117, "distanceToSurfaceM": 0.01027 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00067, "prevDistanceToSurfaceM": 0.00067, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00067, "distanceToSurfaceM": 0.00067 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07398, "requiredRadialM": 0.0338, "normalizedEllipticRadius": 2.18838, "signedDistanceM": 0.04017, "signedOutsideM": 0.05727, "outsideScore": 0.7741, "distanceToSurfaceM": 0.04017, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.18934, "y": 0.80973, "z": 0.37274 }, "score": 0.04017 }, "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": 0.03146, "requiredRadialM": 0.03079, "normalizedEllipticRadius": 1.02178, "signedDistanceM": 0.00067, "signedOutsideM": 0.01455, "outsideScore": 0.4625, "distanceToSurfaceM": 0.00067, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.1662, "y": 0.82661, "z": 0.41393 }, "score": 0.00067 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true } ], "thumb": { "active": false, "blocked": true, "reason": "thumb_requires_its_own_anatomical_opposition_axis_after_four_finger_visual_approval" }, "parentDrift": { "checked": 13, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Calf", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Upperarm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Forearm", "changed": false, "localQuatDeltaRad": 3e-08, "worldPosDeltaM": 0 }, { "bone": "L_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 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 } ] }