{ "schema": "V364_FIGURE_FOUR_GENERIC_GRIP_PROBE", "rows": [ { "label": "right", "caseId": "v93_warmup_figure_four_walk_1", "phase": 0.25, "runtime": "NEXPROD01_RUNTIME_V346_COLLISION_RECEIVER_AXIS_CANONICALIZATION_2026_08_20", "genericGrip": { "schema": "NEXPROD01_GENERIC_MULTI_GRIP_SOLVER_V1", "version": "V342_LOCKED_SHARED_RECEIVER", "active": true, "applied": true, "ok": true, "pass": false, "gripCount": 2, "receiverSide": "R", "receiverLocked": true, "solves": [ { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": false, "side": "L", "status": "PALM_SNAP_BLOCKED", "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "L", "resetFingerBones": [ "L_Thumb1", "L_Thumb2", "L_Thumb3", "L_Index1", "L_Index2", "L_Index3", "L_Mid1", "L_Mid2", "L_Mid3", "L_Ring1", "L_Ring2", "L_Ring3", "L_Pinky1", "L_Pinky2", "L_Pinky3" ], "beforeLocalQuat": { "x": -0.035174406, "y": -0.571633926, "z": -0.050622981, "w": 0.818189903 }, "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": 0.09223, "y": 0.88255, "z": 0.31434 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "R_Foot", "axisB": "R_ToeBase", "sourceAxisLengthM": 0.123081, "sourceT": -0.505639, "centerT": 0, "minT": 0, "maxT": 0, "halfWidthT": 0, "radialFrame": { "lateralWeight": -0.995798, "forwardWeight": -0.091574, "sourceRadialM": 0.175357, "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, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0, "radialAngleDeg": 0, "indexDistanceM": 0.209706, "pinkyDistanceM": 0.224703, "movementM": 0.209706, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.209706 } ] } }, "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, "radialAngleDeg": 0, "snapPoint": { "x": 0.18269, "y": 0.85351, "z": 0.47603 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.209706, "pinkySnapDistanceBeforeM": 0.224703, "firstSnapErrorM": 0.015037, "lineAngleDeg": 0, "closeDirectionDot": 0.999809, "rollDeg": -70.9331, "indexAnchor": { "x": 0.17944, "y": 0.864, "z": 0.46576 }, "pinkyAnchor": { "x": 0.20654, "y": 0.87013, "z": 0.42897 }, "palmNormal": { "x": 0.02774, "y": -0.98535, "z": -0.16828 }, "indexPlaneAnchor": { "x": 0.17432, "y": 0.88147, "z": 0.46894 }, "pinkyPlaneAnchor": { "x": 0.22456, "y": 0.88695, "z": 0.44511 }, "calibration": { "indexSurfaceDepthM": 0.020770608349176066, "pinkySurfaceDepthM": 0.02047490433250989, "indexSurfaceCount": 5, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06297, "requiredRadialM": 0.04821, "normalizedEllipticRadius": 1.30606, "signedDistanceM": 0.01476, "signedOutsideM": 0.06226, "outsideScore": 0.98874, "distanceToSurfaceM": 0.01476, "penetrationM": 0, "surfaceOk": false, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06297, "requiredRadialM": 0.04821, "normalizedEllipticRadius": 1.30606, "signedDistanceM": 0.01476, "signedOutsideM": 0.06226, "outsideScore": 0.98874, "distanceToSurfaceM": 0.01476, "penetrationM": 0, "surfaceOk": false, "sideOk": true }, "pass": false }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "lClavicle->lUpperarm->lForearm->lHand", "iterations": 64, "finalError": 0.02149, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lForearm", "angle": 19.515 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lUpperarm", "angle": 1.683 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lClavicle", "angle": 3.588 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lForearm", "angle": 4.911 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lUpperarm", "angle": 1.754 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lClavicle", "angle": 3.394 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lForearm", "angle": 3.808 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lUpperarm", "angle": 1.902 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lClavicle", "angle": 3.216 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lForearm", "angle": 2.966 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lUpperarm", "angle": 2.04 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lClavicle", "angle": 3.045 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lForearm", "angle": 2.311 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lUpperarm", "angle": 2.143 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lClavicle", "angle": 2.878 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lForearm", "angle": 1.794 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lUpperarm", "angle": 2.207 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lClavicle", "angle": 2.715 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lForearm", "angle": 1.385 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lUpperarm", "angle": 2.235 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lClavicle", "angle": 2.556 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lForearm", "angle": 1.059 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lUpperarm", "angle": 2.234 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lClavicle", "angle": 2.402 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lForearm", "angle": 0.799 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lUpperarm", "angle": 2.21 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lClavicle", "angle": 2.256 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lForearm", "angle": 0.594 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lUpperarm", "angle": 2.168 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lClavicle", "angle": 2.116 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lForearm", "angle": 0.433 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lUpperarm", "angle": 2.114 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lClavicle", "angle": 1.985 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lForearm", "angle": 0.313 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lUpperarm", "angle": 2.05 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lClavicle", "angle": 1.861 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lForearm", "angle": 0.229 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lUpperarm", "angle": 1.98 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lClavicle", "angle": 1.746 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lForearm", "angle": 0.183 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lUpperarm", "angle": 1.908 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lClavicle", "angle": 1.639 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lForearm", "angle": 0.172 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lUpperarm", "angle": 1.834 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lClavicle", "angle": 1.54 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lForearm", "angle": 0.182 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lUpperarm", "angle": 1.759 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lClavicle", "angle": 1.448 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lForearm", "angle": 0.2 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lUpperarm", "angle": 1.686 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lClavicle", "angle": 1.362 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lForearm", "angle": 0.219 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lUpperarm", "angle": 1.615 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lClavicle", "angle": 1.283 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lForearm", "angle": 0.236 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lUpperarm", "angle": 1.546 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lClavicle", "angle": 1.211 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lForearm", "angle": 0.25 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lUpperarm", "angle": 1.479 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lClavicle", "angle": 1.143 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lForearm", "angle": 0.26 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lUpperarm", "angle": 1.416 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lClavicle", "angle": 1.081 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lForearm", "angle": 0.268 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lUpperarm", "angle": 1.355 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lClavicle", "angle": 1.023 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lForearm", "angle": 0.273 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lUpperarm", "angle": 1.297 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lClavicle", "angle": 0.97 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lForearm", "angle": 0.276 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lUpperarm", "angle": 1.242 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lClavicle", "angle": 0.92 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lForearm", "angle": 0.277 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lUpperarm", "angle": 1.19 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lClavicle", "angle": 0.875 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lForearm", "angle": 0.277 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lUpperarm", "angle": 1.141 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lClavicle", "angle": 0.832 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lForearm", "angle": 0.275 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lUpperarm", "angle": 1.094 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lClavicle", "angle": 0.792 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lForearm", "angle": 0.273 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lUpperarm", "angle": 1.05 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lClavicle", "angle": 0.756 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lForearm", "angle": 0.27 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lUpperarm", "angle": 1.008 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lClavicle", "angle": 0.721 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lForearm", "angle": 0.266 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lUpperarm", "angle": 0.969 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lClavicle", "angle": 0.689 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lForearm", "angle": 0.262 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lUpperarm", "angle": 0.932 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lClavicle", "angle": 0.659 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lForearm", "angle": 0.257 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lUpperarm", "angle": 0.896 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lClavicle", "angle": 0.631 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lForearm", "angle": 0.253 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lUpperarm", "angle": 0.863 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lClavicle", "angle": 0.605 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lForearm", "angle": 0.248 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lUpperarm", "angle": 0.832 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lClavicle", "angle": 0.581 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lForearm", "angle": 0.243 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lUpperarm", "angle": 0.802 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lClavicle", "angle": 0.558 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lForearm", "angle": 0.238 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lUpperarm", "angle": 0.773 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lClavicle", "angle": 0.536 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lForearm", "angle": 0.233 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lUpperarm", "angle": 0.746 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lClavicle", "angle": 0.516 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lForearm", "angle": 0.228 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lUpperarm", "angle": 0.721 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lClavicle", "angle": 0.496 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lForearm", "angle": 0.222 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lUpperarm", "angle": 0.697 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lClavicle", "angle": 0.478 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lForearm", "angle": 0.218 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lUpperarm", "angle": 0.674 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lClavicle", "angle": 0.461 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lForearm", "angle": 0.213 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lUpperarm", "angle": 0.652 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lClavicle", "angle": 0.445 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lForearm", "angle": 0.208 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lUpperarm", "angle": 0.631 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lClavicle", "angle": 0.43 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lForearm", "angle": 0.203 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lUpperarm", "angle": 0.612 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lClavicle", "angle": 0.416 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lForearm", "angle": 0.198 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lUpperarm", "angle": 0.593 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lClavicle", "angle": 0.402 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lForearm", "angle": 0.194 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lUpperarm", "angle": 0.575 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lClavicle", "angle": 0.389 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lForearm", "angle": 0.19 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lUpperarm", "angle": 0.558 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lClavicle", "angle": 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"joint": "lClavicle", "angle": 0.275 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lForearm", "angle": 0.145 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lUpperarm", "angle": 0.403 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lClavicle", "angle": 0.268 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lForearm", "angle": 0.142 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lUpperarm", "angle": 0.393 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lClavicle", "angle": 0.261 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lForearm", "angle": 0.139 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lUpperarm", "angle": 0.384 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lClavicle", "angle": 0.254 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lForearm", "angle": 0.137 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lUpperarm", "angle": 0.375 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lClavicle", "angle": 0.248 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lForearm", "angle": 0.134 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lUpperarm", "angle": 0.367 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lClavicle", "angle": 0.242 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lForearm", "angle": 0.131 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lUpperarm", "angle": 0.358 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lClavicle", "angle": 0.237 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lForearm", "angle": 0.129 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lUpperarm", "angle": 0.35 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lClavicle", "angle": 0.231 } ] }, "relock": { "ok": true, "stage": "v335_arm_explicit_snap_relock", "chain": "lClavicle->lUpperarm->lForearm->lHand", "iterations": 32, "finalError": 0.01504, "rows": [ { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lForearm", "angle": 0.126 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lUpperarm", "angle": 0.342 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lClavicle", "angle": 0.226 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lForearm", "angle": 0.124 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lUpperarm", "angle": 0.335 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lClavicle", "angle": 0.221 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lForearm", "angle": 0.121 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lUpperarm", "angle": 0.328 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lClavicle", "angle": 0.216 }, { 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"joint": "lUpperarm", "angle": 0.302 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "lClavicle", "angle": 0.198 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lForearm", "angle": 0.111 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lUpperarm", "angle": 0.295 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lClavicle", "angle": 0.194 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lForearm", "angle": 0.109 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lUpperarm", "angle": 0.29 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lClavicle", "angle": 0.19 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lForearm", "angle": 0.107 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lUpperarm", "angle": 0.284 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lClavicle", "angle": 0.186 }, { "stage": 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"stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lForearm", "angle": 0.093 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lUpperarm", "angle": 0.245 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lClavicle", "angle": 0.16 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lForearm", "angle": 0.091 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lUpperarm", "angle": 0.24 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lClavicle", "angle": 0.157 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lForearm", "angle": 0.09 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lUpperarm", "angle": 0.236 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lClavicle", "angle": 0.154 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lForearm", "angle": 0.089 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lUpperarm", "angle": 0.232 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lClavicle", "angle": 0.151 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lForearm", "angle": 0.087 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lUpperarm", "angle": 0.228 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lClavicle", "angle": 0.149 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lForearm", "angle": 0.086 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lUpperarm", "angle": 0.224 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lClavicle", "angle": 0.146 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lForearm", "angle": 0.085 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lUpperarm", "angle": 0.221 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lClavicle", "angle": 0.144 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lForearm", "angle": 0.083 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lUpperarm", "angle": 0.217 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lClavicle", "angle": 0.141 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lForearm", "angle": 0.082 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lUpperarm", "angle": 0.214 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lClavicle", "angle": 0.139 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lForearm", "angle": 0.081 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lUpperarm", "angle": 0.21 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lClavicle", "angle": 0.137 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lForearm", "angle": 0.08 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lUpperarm", "angle": 0.207 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lClavicle", "angle": 0.135 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lForearm", "angle": 0.078 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lUpperarm", "angle": 0.204 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lClavicle", "angle": 0.132 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lForearm", "angle": 0.077 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lUpperarm", "angle": 0.201 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lClavicle", "angle": 0.13 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lForearm", "angle": 0.076 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lUpperarm", "angle": 0.198 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lClavicle", "angle": 0.128 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lForearm", "angle": 0.075 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lUpperarm", "angle": 0.195 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lClavicle", "angle": 0.126 } ] } }, "legMeet": { "active": false, "applied": false, "reason": "receiver_locked__leg_meet_forbidden", "preMeetErrorM": 0.015037 }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": false, "blocked": true, "side": "L", "pass": false, "reason": "palm_contract_blocked" }, "search": { "active": true, "candidateCount": 1, "reason": "mediaPipe_normalized_ik_receiving_zone_minimum_palm_correction" }, "singleAuthority": true, "supersedes": [ "genericGripCollectGeometry", "genericGripNearest", "genericGripChooseFirstContact", "genericGripLocalSkinClearance", "full_wrist_roll_search", "mesh_target_chasing" ], "policy": "V338: source description/contact metadata declares grip intent; normalized MediaPipe/IK derives a broad receiver zone and radial approach on the target segment; the posed collision cylinder resolves exact contact. The approved neutral hand, actual palm anchors and side-specific finger closure remain unchanged." }, { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": false, "side": "R", "status": "PALM_SNAP_BLOCKED", "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "R", "resetFingerBones": [ "R_Thumb1", "R_Thumb2", "R_Thumb3", "R_Index1", "R_Index2", "R_Index3", "R_Mid1", "R_Mid2", "R_Mid3", "R_Ring1", "R_Ring2", "R_Ring3", "R_Pinky1", "R_Pinky2", "R_Pinky3" ], "beforeLocalQuat": { "x": 0.065536778, "y": 0.560787299, "z": 0.061130599, "w": 0.823095137 }, "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": 0.04076, "y": 0.86627, "z": 0.2389 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "R_Foot", "axisB": "R_Calf", "sourceAxisLengthM": 0.395374, "sourceT": 0.515258, "centerT": 0.515258, "minT": 0.515258, "maxT": 0.515258, "halfWidthT": 0, "radialFrame": { "lateralWeight": 0.023352, "forwardWeight": 0.999727, "sourceRadialM": 0.174114, "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": 0.515258, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.515258, "radialAngleDeg": 0, "indexDistanceM": 0.222264, "pinkyDistanceM": 0.264744, "movementM": 0.222264, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.222264 } ] } }, "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": 0.515258, "radialAngleDeg": 0, "snapPoint": { "x": 0.14672, "y": 0.80171, "z": 0.41754 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.222264, "pinkySnapDistanceBeforeM": 0.264744, "firstSnapErrorM": 0.091965, "lineAngleDeg": 0, "closeDirectionDot": 0.999612, "rollDeg": -121.8828, "indexAnchor": { "x": 0.13168, "y": 0.87125, "z": 0.35926 }, "pinkyAnchor": { "x": 0.08832, "y": 0.88684, "z": 0.35061 }, "palmNormal": { "x": 0.11642, "y": 0.7612, "z": 0.63798 }, "indexPlaneAnchor": { "x": 0.12624, "y": 0.85295, "z": 0.35468 }, "pinkyPlaneAnchor": { "x": 0.09417, "y": 0.88499, "z": 0.32231 }, "calibration": { "indexSurfaceDepthM": 0.02052462986020694, "pinkySurfaceDepthM": 0.020500638265427584, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.08162, "requiredRadialM": 0.03017, "normalizedEllipticRadius": 2.70518, "signedDistanceM": 0.05145, "signedOutsideM": 0.02548, "outsideScore": 0.3122, "distanceToSurfaceM": 0.05145, "penetrationM": 0, "surfaceOk": false, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.08162, "requiredRadialM": 0.03017, "normalizedEllipticRadius": 2.70518, "signedDistanceM": 0.05145, "signedOutsideM": 0.02548, "outsideScore": 0.3122, "distanceToSurfaceM": 0.05145, "penetrationM": 0, "surfaceOk": false, "sideOk": true }, "pass": false }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 64, "finalError": 0.0931, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 21.45 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 1.68 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 5.613 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rForearm", "angle": 5.454 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rUpperarm", "angle": 2.607 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rClavicle", "angle": 5.527 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rForearm", "angle": 4.058 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rUpperarm", "angle": 3.272 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rClavicle", "angle": 5.384 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rForearm", "angle": 3 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rUpperarm", "angle": 3.726 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rClavicle", "angle": 5.186 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rForearm", "angle": 2.176 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rUpperarm", "angle": 4.011 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rClavicle", "angle": 4.944 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rForearm", "angle": 1.525 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rUpperarm", "angle": 4.166 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rClavicle", "angle": 4.671 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rForearm", "angle": 1.005 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rUpperarm", "angle": 4.218 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rClavicle", "angle": 4.382 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rForearm", "angle": 0.59 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rUpperarm", "angle": 4.194 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rClavicle", "angle": 4.088 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rForearm", "angle": 0.261 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rUpperarm", "angle": 4.114 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rClavicle", "angle": 3.8 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rForearm", "angle": 0.046 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rUpperarm", "angle": 3.994 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rClavicle", "angle": 3.523 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rForearm", "angle": 0.214 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rUpperarm", "angle": 3.848 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rClavicle", "angle": 3.263 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rForearm", "angle": 0.369 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rUpperarm", "angle": 3.687 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rClavicle", "angle": 3.02 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rForearm", "angle": 0.486 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rUpperarm", "angle": 3.518 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rClavicle", "angle": 2.797 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rForearm", "angle": 0.573 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rUpperarm", "angle": 3.347 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rClavicle", "angle": 2.592 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rForearm", "angle": 0.635 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rUpperarm", "angle": 3.178 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rClavicle", "angle": 2.405 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rForearm", "angle": 0.677 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rUpperarm", "angle": 3.013 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rClavicle", "angle": 2.236 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rForearm", "angle": 0.704 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rUpperarm", "angle": 2.855 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rClavicle", "angle": 2.082 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rForearm", "angle": 0.718 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rUpperarm", "angle": 2.704 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rClavicle", "angle": 1.941 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rForearm", "angle": 0.723 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rUpperarm", "angle": 2.561 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rClavicle", "angle": 1.814 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rForearm", "angle": 0.72 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rUpperarm", "angle": 2.426 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rClavicle", "angle": 1.698 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rForearm", "angle": 0.712 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rUpperarm", "angle": 2.3 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rClavicle", "angle": 1.593 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rForearm", "angle": 0.7 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rUpperarm", "angle": 2.181 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rClavicle", "angle": 1.496 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rForearm", "angle": 0.685 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rUpperarm", "angle": 2.069 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rClavicle", "angle": 1.408 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rForearm", "angle": 0.668 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rUpperarm", "angle": 1.965 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rClavicle", "angle": 1.328 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rForearm", "angle": 0.65 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rUpperarm", "angle": 1.867 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rClavicle", "angle": 1.253 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rForearm", "angle": 0.63 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rUpperarm", "angle": 1.776 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rClavicle", "angle": 1.185 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rForearm", "angle": 0.611 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rUpperarm", "angle": 1.69 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rClavicle", "angle": 1.122 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rForearm", "angle": 0.591 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rUpperarm", "angle": 1.61 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rClavicle", "angle": 1.064 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rForearm", "angle": 0.57 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rUpperarm", "angle": 1.534 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rClavicle", "angle": 1.01 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rForearm", "angle": 0.551 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rUpperarm", "angle": 1.463 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rClavicle", "angle": 0.959 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rForearm", "angle": 0.531 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rUpperarm", "angle": 1.397 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rClavicle", "angle": 0.913 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rForearm", "angle": 0.512 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rUpperarm", "angle": 1.334 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rClavicle", "angle": 0.869 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rForearm", "angle": 0.493 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rUpperarm", "angle": 1.275 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rClavicle", "angle": 0.828 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rForearm", "angle": 0.475 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rUpperarm", "angle": 1.219 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rClavicle", "angle": 0.79 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rForearm", "angle": 0.458 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rUpperarm", "angle": 1.166 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rClavicle", "angle": 0.754 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rForearm", "angle": 0.441 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rUpperarm", "angle": 1.117 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rClavicle", "angle": 0.721 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rForearm", "angle": 0.424 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rUpperarm", "angle": 1.07 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rClavicle", "angle": 0.689 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rForearm", "angle": 0.409 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rUpperarm", "angle": 1.025 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rClavicle", "angle": 0.659 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rForearm", "angle": 0.393 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rUpperarm", "angle": 0.983 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rClavicle", "angle": 0.631 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rForearm", "angle": 0.379 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rUpperarm", "angle": 0.942 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rClavicle", "angle": 0.605 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rForearm", "angle": 0.365 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rUpperarm", "angle": 0.904 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rClavicle", "angle": 0.579 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rForearm", "angle": 0.351 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rUpperarm", "angle": 0.868 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rClavicle", "angle": 0.555 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "rForearm", "angle": 0.338 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "rUpperarm", "angle": 0.834 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "rClavicle", "angle": 0.533 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "rForearm", "angle": 0.326 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "rUpperarm", "angle": 0.801 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "rClavicle", "angle": 0.511 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "rForearm", "angle": 0.313 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "rUpperarm", "angle": 0.769 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "rClavicle", "angle": 0.491 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "rForearm", "angle": 0.302 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "rUpperarm", "angle": 0.739 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "rClavicle", "angle": 0.472 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "rForearm", "angle": 0.291 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "rUpperarm", "angle": 0.711 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "rClavicle", "angle": 0.453 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "rForearm", "angle": 0.28 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "rUpperarm", "angle": 0.684 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "rClavicle", "angle": 0.435 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "rForearm", "angle": 0.27 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "rUpperarm", "angle": 0.658 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "rClavicle", "angle": 0.419 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "rForearm", "angle": 0.26 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "rUpperarm", "angle": 0.633 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "rClavicle", "angle": 0.402 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "rForearm", "angle": 0.251 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "rUpperarm", "angle": 0.609 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "rClavicle", "angle": 0.387 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "rForearm", "angle": 0.241 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "rUpperarm", "angle": 0.586 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "rClavicle", "angle": 0.372 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "rForearm", "angle": 0.233 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "rUpperarm", "angle": 0.564 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "rClavicle", "angle": 0.358 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "rForearm", "angle": 0.224 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "rUpperarm", "angle": 0.543 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "rClavicle", "angle": 0.345 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "rForearm", "angle": 0.216 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "rUpperarm", "angle": 0.523 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "rClavicle", "angle": 0.332 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "rForearm", "angle": 0.208 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "rUpperarm", "angle": 0.504 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "rClavicle", "angle": 0.32 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "rForearm", "angle": 0.201 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "rUpperarm", "angle": 0.485 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "rClavicle", "angle": 0.308 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "rForearm", "angle": 0.194 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "rUpperarm", "angle": 0.468 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "rClavicle", "angle": 0.297 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "rForearm", "angle": 0.187 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "rUpperarm", "angle": 0.45 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "rClavicle", "angle": 0.286 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "rForearm", "angle": 0.18 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "rUpperarm", "angle": 0.434 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "rClavicle", "angle": 0.275 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "rForearm", "angle": 0.174 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "rUpperarm", "angle": 0.418 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "rClavicle", "angle": 0.265 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "rForearm", "angle": 0.167 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "rUpperarm", "angle": 0.403 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "rClavicle", "angle": 0.256 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "rForearm", "angle": 0.161 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "rUpperarm", "angle": 0.389 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "rClavicle", "angle": 0.246 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "rForearm", "angle": 0.156 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "rUpperarm", "angle": 0.375 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "rClavicle", "angle": 0.237 } ] }, "relock": { "ok": true, "stage": "v335_arm_explicit_snap_relock", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 32, "finalError": 0.09196, "rows": [ { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "rForearm", "angle": 0.15 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "rUpperarm", "angle": 0.361 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "rClavicle", "angle": 0.229 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "rForearm", "angle": 0.145 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "rUpperarm", "angle": 0.348 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "rClavicle", "angle": 0.221 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "rForearm", "angle": 0.14 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "rUpperarm", "angle": 0.336 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "rClavicle", "angle": 0.213 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "rForearm", "angle": 0.135 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "rUpperarm", "angle": 0.324 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "rClavicle", "angle": 0.205 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "rForearm", "angle": 0.13 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "rUpperarm", "angle": 0.312 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "rClavicle", "angle": 0.198 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "rForearm", "angle": 0.125 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "rUpperarm", "angle": 0.301 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "rClavicle", "angle": 0.191 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "rForearm", "angle": 0.121 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "rUpperarm", "angle": 0.29 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "rClavicle", "angle": 0.184 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "rForearm", "angle": 0.117 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "rUpperarm", "angle": 0.28 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "rClavicle", "angle": 0.177 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "rForearm", "angle": 0.112 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "rUpperarm", "angle": 0.27 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "rClavicle", "angle": 0.171 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "rForearm", "angle": 0.109 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "rUpperarm", "angle": 0.261 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "rClavicle", "angle": 0.165 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rForearm", "angle": 0.105 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rUpperarm", "angle": 0.251 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "rClavicle", "angle": 0.159 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rForearm", "angle": 0.101 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rUpperarm", "angle": 0.243 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "rClavicle", "angle": 0.153 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "rForearm", "angle": 0.097 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "rUpperarm", "angle": 0.234 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "rClavicle", "angle": 0.148 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "rForearm", "angle": 0.094 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "rUpperarm", "angle": 0.226 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "rClavicle", "angle": 0.143 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "rForearm", "angle": 0.091 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "rUpperarm", "angle": 0.218 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "rClavicle", "angle": 0.138 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "rForearm", "angle": 0.088 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "rUpperarm", "angle": 0.21 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "rClavicle", "angle": 0.133 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "rForearm", "angle": 0.084 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "rUpperarm", "angle": 0.203 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "rClavicle", "angle": 0.128 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rForearm", "angle": 0.082 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rUpperarm", "angle": 0.196 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rClavicle", "angle": 0.124 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rForearm", "angle": 0.079 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rUpperarm", "angle": 0.189 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rClavicle", "angle": 0.119 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rForearm", "angle": 0.076 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rUpperarm", "angle": 0.182 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rClavicle", "angle": 0.115 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rForearm", "angle": 0.073 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rUpperarm", "angle": 0.176 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rClavicle", "angle": 0.111 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rForearm", "angle": 0.071 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rUpperarm", "angle": 0.17 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rClavicle", "angle": 0.107 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rForearm", "angle": 0.068 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rUpperarm", "angle": 0.164 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rClavicle", "angle": 0.103 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rForearm", "angle": 0.066 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rUpperarm", "angle": 0.158 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rClavicle", "angle": 0.1 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rForearm", "angle": 0.064 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rUpperarm", "angle": 0.152 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rClavicle", "angle": 0.096 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rForearm", "angle": 0.061 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rUpperarm", "angle": 0.147 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rClavicle", "angle": 0.093 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rForearm", "angle": 0.059 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rUpperarm", "angle": 0.142 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rClavicle", "angle": 0.09 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rForearm", "angle": 0.057 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rUpperarm", "angle": 0.137 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rClavicle", "angle": 0.087 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rForearm", "angle": 0.055 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rUpperarm", "angle": 0.132 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rClavicle", "angle": 0.084 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rForearm", "angle": 0.053 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rUpperarm", "angle": 0.127 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rClavicle", "angle": 0.081 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rForearm", "angle": 0.051 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rUpperarm", "angle": 0.123 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rClavicle", "angle": 0.078 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rForearm", "angle": 0.05 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rUpperarm", "angle": 0.119 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rClavicle", "angle": 0.075 } ] } }, "legMeet": { "active": false, "applied": false, "reason": "receiver_locked__leg_meet_forbidden", "preMeetErrorM": 0.091965 }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": false, "blocked": true, "side": "R", "pass": false, "reason": "palm_contract_blocked" }, "search": { "active": true, "candidateCount": 1, "reason": "mediaPipe_normalized_ik_receiving_zone_minimum_palm_correction" }, "singleAuthority": true, "supersedes": [ "genericGripCollectGeometry", "genericGripNearest", "genericGripChooseFirstContact", "genericGripLocalSkinClearance", "full_wrist_roll_search", "mesh_target_chasing" ], "policy": "V338: source description/contact metadata declares grip intent; normalized MediaPipe/IK derives a broad receiver zone and radial approach on the target segment; the posed collision cylinder resolves exact contact. The approved neutral hand, actual palm anchors and side-specific finger closure remain unchanged." } ], "perSolveReceiverDrift": [ { "order": 0, "side": "L", "drift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "R_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] } }, { "order": 1, "side": "R", "drift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "R_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] } } ], "sharedReceiverDrift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "R_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] }, "policy": "V342 step 3: consume the ordered source grips[] collection with the existing generic single-hand grip capability. Each hand solves independently. The shared lifted-leg receiver is locked for every solve, so the existing leg-meet fallback is forbidden. No exercise-name branch, fallback geometry or guessed snap point is introduced." }, "actualSample": null }, { "label": "left", "caseId": "v93_warmup_figure_four_walk_2", "phase": 0.75, "runtime": "NEXPROD01_RUNTIME_V346_COLLISION_RECEIVER_AXIS_CANONICALIZATION_2026_08_20", "genericGrip": { "schema": "NEXPROD01_GENERIC_MULTI_GRIP_SOLVER_V1", "version": "V342_LOCKED_SHARED_RECEIVER", "active": true, "applied": true, "ok": true, "pass": false, "gripCount": 2, "receiverSide": "L", "receiverLocked": true, "solves": [ { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": false, "side": "R", "status": "PALM_SNAP_BLOCKED", "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "R", "resetFingerBones": [ "R_Thumb1", "R_Thumb2", "R_Thumb3", "R_Index1", "R_Index2", "R_Index3", "R_Mid1", "R_Mid2", "R_Mid3", "R_Ring1", "R_Ring2", "R_Ring3", "R_Pinky1", "R_Pinky2", "R_Pinky3" ], "beforeLocalQuat": { "x": -0.095031963, "y": 0.547966624, "z": -0.044185873, "w": 0.829909109 }, "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": -0.07866, "y": 0.87419, "z": 0.29038 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "L_Foot", "axisB": "L_ToeBase", "sourceAxisLengthM": 0.123089, "sourceT": -0.525983, "centerT": 0, "minT": 0, "maxT": 0, "halfWidthT": 0, "radialFrame": { "lateralWeight": 0.920135, "forwardWeight": -0.391601, "sourceRadialM": 0.25896, "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, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0, "radialAngleDeg": 0, "indexDistanceM": 0.297194, "pinkyDistanceM": 0.302459, "movementM": 0.297194, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.297194 } ] } }, "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, "radialAngleDeg": 0, "snapPoint": { "x": -0.23062, "y": 0.79721, "z": 0.48724 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.297194, "pinkySnapDistanceBeforeM": 0.302459, "firstSnapErrorM": 0.05848, "lineAngleDeg": 0, "closeDirectionDot": 0.999612, "rollDeg": 81.2618, "indexAnchor": { "x": -0.214, "y": 0.83801, "z": 0.44878 }, "pinkyAnchor": { "x": -0.24123, "y": 0.84319, "z": 0.41097 }, "palmNormal": { "x": -0.04139, "y": -0.98926, "z": -0.14019 }, "indexPlaneAnchor": { "x": -0.20618, "y": 0.85577, "z": 0.44584 }, "pinkyPlaneAnchor": { "x": -0.25823, "y": 0.86068, "z": 0.42661 }, "calibration": { "indexSurfaceDepthM": 0.02052463282194143, "pinkySurfaceDepthM": 0.02050063700038922, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.09736, "requiredRadialM": 0.0429, "normalizedEllipticRadius": 2.26923, "signedDistanceM": 0.05446, "signedOutsideM": 0.08974, "outsideScore": 0.92171, "distanceToSurfaceM": 0.05446, "penetrationM": 0, "surfaceOk": false, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.09736, "requiredRadialM": 0.0429, "normalizedEllipticRadius": 2.26923, "signedDistanceM": 0.05446, "signedOutsideM": 0.08974, "outsideScore": 0.92171, "distanceToSurfaceM": 0.05446, "penetrationM": 0, "surfaceOk": false, "sideOk": true }, "pass": false }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 64, "finalError": 0.06095, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 30.559 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 2.719 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 4.379 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rForearm", "angle": 8.001 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rUpperarm", "angle": 2.207 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "rClavicle", "angle": 4.062 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rForearm", "angle": 5.882 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rUpperarm", "angle": 2.191 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "rClavicle", "angle": 3.81 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rForearm", "angle": 4.371 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rUpperarm", "angle": 2.342 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "rClavicle", "angle": 3.586 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rForearm", "angle": 3.254 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rUpperarm", "angle": 2.503 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "rClavicle", "angle": 3.375 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rForearm", "angle": 2.411 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rUpperarm", "angle": 2.623 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "rClavicle", "angle": 3.172 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rForearm", "angle": 1.769 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rUpperarm", "angle": 2.693 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "rClavicle", "angle": 2.976 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rForearm", "angle": 1.278 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rUpperarm", "angle": 2.718 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "rClavicle", "angle": 2.789 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rForearm", "angle": 0.905 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rUpperarm", "angle": 2.706 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "rClavicle", "angle": 2.611 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rForearm", "angle": 0.629 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rUpperarm", "angle": 2.666 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "rClavicle", "angle": 2.442 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rForearm", "angle": 0.44 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rUpperarm", "angle": 2.605 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "rClavicle", "angle": 2.285 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rForearm", "angle": 0.334 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rUpperarm", "angle": 2.53 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "rClavicle", "angle": 2.138 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rForearm", "angle": 0.306 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rUpperarm", "angle": 2.445 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "rClavicle", "angle": 2.002 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rForearm", "angle": 0.325 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rUpperarm", "angle": 2.356 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "rClavicle", "angle": 1.876 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rForearm", "angle": 0.361 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rUpperarm", "angle": 2.264 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "rClavicle", "angle": 1.761 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rForearm", "angle": 0.396 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rUpperarm", "angle": 2.172 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "rClavicle", "angle": 1.654 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rForearm", "angle": 0.425 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rUpperarm", "angle": 2.081 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "rClavicle", "angle": 1.556 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rForearm", "angle": 0.447 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rUpperarm", "angle": 1.992 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "rClavicle", "angle": 1.466 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rForearm", "angle": 0.462 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rUpperarm", "angle": 1.906 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "rClavicle", "angle": 1.383 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rForearm", "angle": 0.472 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rUpperarm", "angle": 1.824 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "rClavicle", "angle": 1.307 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rForearm", "angle": 0.477 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rUpperarm", "angle": 1.745 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "rClavicle", "angle": 1.237 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rForearm", "angle": 0.478 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rUpperarm", "angle": 1.67 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "rClavicle", "angle": 1.172 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rForearm", "angle": 0.477 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rUpperarm", "angle": 1.599 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "rClavicle", "angle": 1.112 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rForearm", "angle": 0.472 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rUpperarm", "angle": 1.532 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "rClavicle", "angle": 1.057 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rForearm", "angle": 0.466 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rUpperarm", "angle": 1.468 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "rClavicle", "angle": 1.006 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rForearm", "angle": 0.459 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rUpperarm", "angle": 1.407 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "rClavicle", "angle": 0.958 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rForearm", "angle": 0.45 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rUpperarm", "angle": 1.35 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "rClavicle", "angle": 0.914 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rForearm", "angle": 0.441 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rUpperarm", "angle": 1.296 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "rClavicle", "angle": 0.873 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rForearm", "angle": 0.431 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rUpperarm", "angle": 1.245 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "rClavicle", "angle": 0.835 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rForearm", "angle": 0.421 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rUpperarm", "angle": 1.197 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "rClavicle", "angle": 0.799 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rForearm", "angle": 0.411 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rUpperarm", "angle": 1.151 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "rClavicle", "angle": 0.765 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rForearm", "angle": 0.4 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rUpperarm", "angle": 1.108 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "rClavicle", "angle": 0.734 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rForearm", "angle": 0.39 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rUpperarm", "angle": 1.067 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "rClavicle", "angle": 0.704 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rForearm", "angle": 0.379 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rUpperarm", "angle": 1.028 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "rClavicle", "angle": 0.677 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rForearm", "angle": 0.369 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rUpperarm", "angle": 0.991 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "rClavicle", "angle": 0.65 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rForearm", "angle": 0.359 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rUpperarm", "angle": 0.956 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "rClavicle", "angle": 0.626 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rForearm", "angle": 0.349 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rUpperarm", "angle": 0.922 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "rClavicle", "angle": 0.603 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rForearm", "angle": 0.339 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rUpperarm", "angle": 0.891 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "rClavicle", "angle": 0.581 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rForearm", "angle": 0.33 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rUpperarm", "angle": 0.86 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "rClavicle", "angle": 0.56 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rForearm", "angle": 0.32 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rUpperarm", "angle": 0.832 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "rClavicle", "angle": 0.54 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rForearm", "angle": 0.311 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rUpperarm", "angle": 0.804 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "rClavicle", "angle": 0.522 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rForearm", "angle": 0.303 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rUpperarm", "angle": 0.778 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "rClavicle", "angle": 0.504 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "rForearm", "angle": 0.294 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"joint": "rClavicle", "angle": 0.167 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rForearm", "angle": 0.105 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rUpperarm", "angle": 0.256 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "rClavicle", "angle": 0.162 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rForearm", "angle": 0.102 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rUpperarm", "angle": 0.249 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "rClavicle", "angle": 0.158 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rForearm", "angle": 0.1 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rUpperarm", "angle": 0.243 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "rClavicle", "angle": 0.154 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rForearm", "angle": 0.097 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rUpperarm", "angle": 0.237 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "rClavicle", "angle": 0.151 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rForearm", "angle": 0.095 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rUpperarm", "angle": 0.231 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "rClavicle", "angle": 0.147 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rForearm", "angle": 0.093 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rUpperarm", "angle": 0.226 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "rClavicle", "angle": 0.143 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rForearm", "angle": 0.09 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rUpperarm", "angle": 0.22 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "rClavicle", "angle": 0.14 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rForearm", "angle": 0.088 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rUpperarm", "angle": 0.215 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "rClavicle", "angle": 0.136 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rForearm", "angle": 0.086 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rUpperarm", "angle": 0.21 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "rClavicle", "angle": 0.133 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rForearm", "angle": 0.084 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rUpperarm", "angle": 0.204 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "rClavicle", "angle": 0.13 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rForearm", "angle": 0.082 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rUpperarm", "angle": 0.199 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "rClavicle", "angle": 0.127 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rForearm", "angle": 0.08 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rUpperarm", "angle": 0.195 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "rClavicle", "angle": 0.124 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rForearm", "angle": 0.078 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rUpperarm", "angle": 0.19 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "rClavicle", "angle": 0.121 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rForearm", "angle": 0.076 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rUpperarm", "angle": 0.185 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "rClavicle", "angle": 0.118 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rForearm", "angle": 0.074 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rUpperarm", "angle": 0.181 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "rClavicle", "angle": 0.115 } ] } }, "legMeet": { "active": false, "applied": false, "reason": "receiver_locked__leg_meet_forbidden", "preMeetErrorM": 0.05848 }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": false, "blocked": true, "side": "R", "pass": false, "reason": "palm_contract_blocked" }, "search": { "active": true, "candidateCount": 1, "reason": "mediaPipe_normalized_ik_receiving_zone_minimum_palm_correction" }, "singleAuthority": true, "supersedes": [ "genericGripCollectGeometry", "genericGripNearest", "genericGripChooseFirstContact", "genericGripLocalSkinClearance", "full_wrist_roll_search", "mesh_target_chasing" ], "policy": "V338: source description/contact metadata declares grip intent; normalized MediaPipe/IK derives a broad receiver zone and radial approach on the target segment; the posed collision cylinder resolves exact contact. The approved neutral hand, actual palm anchors and side-specific finger closure remain unchanged." }, { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": false, "side": "L", "status": "PALM_SNAP_BLOCKED", "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "L", "resetFingerBones": [ "L_Thumb1", "L_Thumb2", "L_Thumb3", "L_Index1", "L_Index2", "L_Index3", "L_Mid1", "L_Mid2", "L_Mid3", "L_Ring1", "L_Ring2", "L_Ring3", "L_Pinky1", "L_Pinky2", "L_Pinky3" ], "beforeLocalQuat": { "x": 0.130435709, "y": -0.624361819, "z": -0.051515973, "w": 0.768443191 }, "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": -0.02582, "y": 0.8634, "z": 0.23665 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "L_Foot", "axisB": "L_Calf", "sourceAxisLengthM": 0.39526, "sourceT": 0.733593, "centerT": 0.733593, "minT": 0.733593, "maxT": 0.733593, "halfWidthT": 0, "radialFrame": { "lateralWeight": -0.668284, "forwardWeight": 0.743907, "sourceRadialM": 0.161366, "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": 0.733593, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.733593, "radialAngleDeg": 0, "indexDistanceM": 0.283327, "pinkyDistanceM": 0.325561, "movementM": 0.283327, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.283327 } ] } }, "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": 0.733593, "radialAngleDeg": 0, "snapPoint": { "x": -0.20099, "y": 0.76316, "z": 0.42003 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.283327, "pinkySnapDistanceBeforeM": 0.325561, "firstSnapErrorM": 0.108086, "lineAngleDeg": 0, "closeDirectionDot": 0.999809, "rollDeg": 144.5938, "indexAnchor": { "x": -0.17419, "y": 0.84429, "z": 0.35383 }, "pinkyAnchor": { "x": -0.13611, "y": 0.86799, "z": 0.34316 }, "palmNormal": { "x": -0.04373, "y": 0.49795, "z": 0.8661 }, "indexPlaneAnchor": { "x": -0.17374, "y": 0.83137, "z": 0.34062 }, "pinkyPlaneAnchor": { "x": -0.14775, "y": 0.8748, "z": 0.31697 }, "calibration": { "indexSurfaceDepthM": 0.02077060186394957, "pinkySurfaceDepthM": 0.020474904767524723, "indexSurfaceCount": 5, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.09147, "requiredRadialM": 0.03213, "normalizedEllipticRadius": 2.8466, "signedDistanceM": 0.05934, "signedOutsideM": 0.05778, "outsideScore": 0.63163, "distanceToSurfaceM": 0.05934, "penetrationM": 0, "surfaceOk": false, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.09147, "requiredRadialM": 0.03213, "normalizedEllipticRadius": 2.8466, "signedDistanceM": 0.05934, "signedOutsideM": 0.05778, "outsideScore": 0.63163, "distanceToSurfaceM": 0.05934, "penetrationM": 0, "surfaceOk": false, "sideOk": true }, "pass": false }, "arm": { "initial": { "ok": true, "stage": "v335_arm_to_explicit_snap", "chain": "lClavicle->lUpperarm->lForearm->lHand", "iterations": 64, "finalError": 0.10881, "rows": [ { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lForearm", "angle": 20.959 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lUpperarm", "angle": 3.223 }, { "stage": "v335_arm_to_explicit_snap", "iter": 0, "joint": "lClavicle", "angle": 6.082 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lForearm", "angle": 7.586 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lUpperarm", "angle": 3.258 }, { "stage": "v335_arm_to_explicit_snap", "iter": 1, "joint": "lClavicle", "angle": 5.989 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lForearm", "angle": 5.476 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lUpperarm", "angle": 3.666 }, { "stage": "v335_arm_to_explicit_snap", "iter": 2, "joint": "lClavicle", "angle": 5.857 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lForearm", "angle": 3.97 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lUpperarm", "angle": 4.068 }, { "stage": "v335_arm_to_explicit_snap", "iter": 3, "joint": "lClavicle", "angle": 5.666 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lForearm", "angle": 2.856 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lUpperarm", "angle": 4.363 }, { "stage": "v335_arm_to_explicit_snap", "iter": 4, "joint": "lClavicle", "angle": 5.419 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lForearm", "angle": 2.01 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lUpperarm", "angle": 4.536 }, { "stage": "v335_arm_to_explicit_snap", "iter": 5, "joint": "lClavicle", "angle": 5.131 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lForearm", "angle": 1.357 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lUpperarm", "angle": 4.603 }, { "stage": "v335_arm_to_explicit_snap", "iter": 6, "joint": "lClavicle", "angle": 4.817 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lForearm", "angle": 0.857 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lUpperarm", "angle": 4.584 }, { "stage": "v335_arm_to_explicit_snap", "iter": 7, "joint": "lClavicle", "angle": 4.492 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lForearm", "angle": 0.492 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lUpperarm", "angle": 4.5 }, { "stage": "v335_arm_to_explicit_snap", "iter": 8, "joint": "lClavicle", "angle": 4.168 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lForearm", "angle": 0.298 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lUpperarm", "angle": 4.369 }, { "stage": "v335_arm_to_explicit_snap", "iter": 9, "joint": "lClavicle", "angle": 3.856 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lForearm", "angle": 0.33 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lUpperarm", "angle": 4.206 }, { "stage": "v335_arm_to_explicit_snap", "iter": 10, "joint": "lClavicle", "angle": 3.561 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lForearm", "angle": 0.453 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lUpperarm", "angle": 4.024 }, { "stage": "v335_arm_to_explicit_snap", "iter": 11, "joint": "lClavicle", "angle": 3.286 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lForearm", "angle": 0.568 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lUpperarm", "angle": 3.832 }, { "stage": "v335_arm_to_explicit_snap", "iter": 12, "joint": "lClavicle", "angle": 3.033 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lForearm", "angle": 0.657 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lUpperarm", "angle": 3.638 }, { "stage": "v335_arm_to_explicit_snap", "iter": 13, "joint": "lClavicle", "angle": 2.802 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lForearm", "angle": 0.721 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lUpperarm", "angle": 3.445 }, { "stage": "v335_arm_to_explicit_snap", "iter": 14, "joint": "lClavicle", "angle": 2.591 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lForearm", "angle": 0.764 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lUpperarm", "angle": 3.258 }, { "stage": "v335_arm_to_explicit_snap", "iter": 15, "joint": "lClavicle", "angle": 2.4 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lForearm", "angle": 0.79 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lUpperarm", "angle": 3.078 }, { "stage": "v335_arm_to_explicit_snap", "iter": 16, "joint": "lClavicle", "angle": 2.228 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lForearm", "angle": 0.802 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lUpperarm", "angle": 2.907 }, { "stage": "v335_arm_to_explicit_snap", "iter": 17, "joint": "lClavicle", "angle": 2.071 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lForearm", "angle": 0.803 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lUpperarm", "angle": 2.745 }, { "stage": "v335_arm_to_explicit_snap", "iter": 18, "joint": "lClavicle", "angle": 1.929 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lForearm", "angle": 0.797 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lUpperarm", "angle": 2.593 }, { "stage": "v335_arm_to_explicit_snap", "iter": 19, "joint": "lClavicle", "angle": 1.801 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lForearm", "angle": 0.784 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lUpperarm", "angle": 2.45 }, { "stage": "v335_arm_to_explicit_snap", "iter": 20, "joint": "lClavicle", "angle": 1.684 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lForearm", "angle": 0.768 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lUpperarm", "angle": 2.317 }, { "stage": "v335_arm_to_explicit_snap", "iter": 21, "joint": "lClavicle", "angle": 1.577 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lForearm", "angle": 0.748 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lUpperarm", "angle": 2.192 }, { "stage": "v335_arm_to_explicit_snap", "iter": 22, "joint": "lClavicle", "angle": 1.48 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lForearm", "angle": 0.726 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lUpperarm", "angle": 2.075 }, { "stage": "v335_arm_to_explicit_snap", "iter": 23, "joint": "lClavicle", "angle": 1.391 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lForearm", "angle": 0.703 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lUpperarm", "angle": 1.966 }, { "stage": "v335_arm_to_explicit_snap", "iter": 24, "joint": "lClavicle", "angle": 1.31 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lForearm", "angle": 0.679 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lUpperarm", "angle": 1.864 }, { "stage": "v335_arm_to_explicit_snap", "iter": 25, "joint": "lClavicle", "angle": 1.235 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lForearm", "angle": 0.655 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lUpperarm", "angle": 1.768 }, { "stage": "v335_arm_to_explicit_snap", "iter": 26, "joint": "lClavicle", "angle": 1.166 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lForearm", "angle": 0.63 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lUpperarm", "angle": 1.679 }, { "stage": "v335_arm_to_explicit_snap", "iter": 27, "joint": "lClavicle", "angle": 1.102 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lForearm", "angle": 0.606 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lUpperarm", "angle": 1.595 }, { "stage": "v335_arm_to_explicit_snap", "iter": 28, "joint": "lClavicle", "angle": 1.043 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lForearm", "angle": 0.583 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lUpperarm", "angle": 1.516 }, { "stage": "v335_arm_to_explicit_snap", "iter": 29, "joint": "lClavicle", "angle": 0.988 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lForearm", "angle": 0.56 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lUpperarm", "angle": 1.442 }, { "stage": "v335_arm_to_explicit_snap", "iter": 30, "joint": "lClavicle", "angle": 0.937 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lForearm", "angle": 0.537 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lUpperarm", "angle": 1.373 }, { "stage": "v335_arm_to_explicit_snap", "iter": 31, "joint": "lClavicle", "angle": 0.889 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lForearm", "angle": 0.515 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lUpperarm", "angle": 1.308 }, { "stage": "v335_arm_to_explicit_snap", "iter": 32, "joint": "lClavicle", "angle": 0.845 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lForearm", "angle": 0.494 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lUpperarm", "angle": 1.246 }, { "stage": "v335_arm_to_explicit_snap", "iter": 33, "joint": "lClavicle", "angle": 0.804 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lForearm", "angle": 0.474 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lUpperarm", "angle": 1.188 }, { "stage": "v335_arm_to_explicit_snap", "iter": 34, "joint": "lClavicle", "angle": 0.765 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lForearm", "angle": 0.454 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lUpperarm", "angle": 1.134 }, { "stage": "v335_arm_to_explicit_snap", "iter": 35, "joint": "lClavicle", "angle": 0.728 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lForearm", "angle": 0.436 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lUpperarm", "angle": 1.082 }, { "stage": "v335_arm_to_explicit_snap", "iter": 36, "joint": "lClavicle", "angle": 0.694 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lForearm", "angle": 0.418 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lUpperarm", "angle": 1.033 }, { "stage": "v335_arm_to_explicit_snap", "iter": 37, "joint": "lClavicle", "angle": 0.662 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lForearm", "angle": 0.4 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lUpperarm", "angle": 0.987 }, { "stage": "v335_arm_to_explicit_snap", "iter": 38, "joint": "lClavicle", "angle": 0.631 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lForearm", "angle": 0.384 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lUpperarm", "angle": 0.943 }, { "stage": "v335_arm_to_explicit_snap", "iter": 39, "joint": "lClavicle", "angle": 0.602 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lForearm", "angle": 0.368 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lUpperarm", "angle": 0.901 }, { "stage": "v335_arm_to_explicit_snap", "iter": 40, "joint": "lClavicle", "angle": 0.575 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lForearm", "angle": 0.353 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lUpperarm", "angle": 0.862 }, { "stage": "v335_arm_to_explicit_snap", "iter": 41, "joint": "lClavicle", "angle": 0.549 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lForearm", "angle": 0.338 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lUpperarm", "angle": 0.824 }, { "stage": "v335_arm_to_explicit_snap", "iter": 42, "joint": "lClavicle", "angle": 0.525 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lForearm", "angle": 0.324 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lUpperarm", "angle": 0.788 }, { "stage": "v335_arm_to_explicit_snap", "iter": 43, "joint": "lClavicle", "angle": 0.502 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lForearm", "angle": 0.311 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lUpperarm", "angle": 0.755 }, { "stage": "v335_arm_to_explicit_snap", "iter": 44, "joint": "lClavicle", "angle": 0.48 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lForearm", "angle": 0.298 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lUpperarm", "angle": 0.722 }, { "stage": "v335_arm_to_explicit_snap", "iter": 45, "joint": "lClavicle", "angle": 0.459 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "lForearm", "angle": 0.286 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "lUpperarm", "angle": 0.691 }, { "stage": "v335_arm_to_explicit_snap", "iter": 46, "joint": "lClavicle", "angle": 0.439 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "lForearm", "angle": 0.274 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "lUpperarm", "angle": 0.662 }, { "stage": "v335_arm_to_explicit_snap", "iter": 47, "joint": "lClavicle", "angle": 0.421 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "lForearm", "angle": 0.263 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "lUpperarm", "angle": 0.634 }, { "stage": "v335_arm_to_explicit_snap", "iter": 48, "joint": "lClavicle", "angle": 0.403 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "lForearm", "angle": 0.252 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "lUpperarm", "angle": 0.608 }, { "stage": "v335_arm_to_explicit_snap", "iter": 49, "joint": "lClavicle", "angle": 0.386 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "lForearm", "angle": 0.241 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "lUpperarm", "angle": 0.582 }, { "stage": "v335_arm_to_explicit_snap", "iter": 50, "joint": "lClavicle", "angle": 0.369 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "lForearm", "angle": 0.232 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "lUpperarm", "angle": 0.558 }, { "stage": "v335_arm_to_explicit_snap", "iter": 51, "joint": "lClavicle", "angle": 0.354 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "lForearm", "angle": 0.222 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "lUpperarm", "angle": 0.535 }, { "stage": "v335_arm_to_explicit_snap", "iter": 52, "joint": "lClavicle", "angle": 0.339 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "lForearm", "angle": 0.213 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "lUpperarm", "angle": 0.512 }, { "stage": "v335_arm_to_explicit_snap", "iter": 53, "joint": "lClavicle", "angle": 0.325 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "lForearm", "angle": 0.204 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "lUpperarm", "angle": 0.491 }, { "stage": "v335_arm_to_explicit_snap", "iter": 54, "joint": "lClavicle", "angle": 0.311 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "lForearm", "angle": 0.196 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "lUpperarm", "angle": 0.471 }, { "stage": "v335_arm_to_explicit_snap", "iter": 55, "joint": "lClavicle", "angle": 0.298 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "lForearm", "angle": 0.188 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "lUpperarm", "angle": 0.452 }, { "stage": "v335_arm_to_explicit_snap", "iter": 56, "joint": "lClavicle", "angle": 0.286 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lForearm", "angle": 0.18 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lUpperarm", "angle": 0.433 }, { "stage": "v335_arm_to_explicit_snap", "iter": 57, "joint": "lClavicle", "angle": 0.274 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lForearm", "angle": 0.173 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lUpperarm", "angle": 0.415 }, { "stage": "v335_arm_to_explicit_snap", "iter": 58, "joint": "lClavicle", "angle": 0.263 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lForearm", "angle": 0.166 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lUpperarm", "angle": 0.398 }, { "stage": "v335_arm_to_explicit_snap", "iter": 59, "joint": "lClavicle", "angle": 0.252 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lForearm", "angle": 0.159 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lUpperarm", "angle": 0.382 }, { "stage": "v335_arm_to_explicit_snap", "iter": 60, "joint": "lClavicle", "angle": 0.242 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lForearm", "angle": 0.153 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lUpperarm", "angle": 0.367 }, { "stage": "v335_arm_to_explicit_snap", "iter": 61, "joint": "lClavicle", "angle": 0.232 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lForearm", "angle": 0.147 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lUpperarm", "angle": 0.352 }, { "stage": "v335_arm_to_explicit_snap", "iter": 62, "joint": "lClavicle", "angle": 0.223 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lForearm", "angle": 0.141 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lUpperarm", "angle": 0.337 }, { "stage": "v335_arm_to_explicit_snap", "iter": 63, "joint": "lClavicle", "angle": 0.213 } ] }, "relock": { "ok": true, "stage": "v335_arm_explicit_snap_relock", "chain": "lClavicle->lUpperarm->lForearm->lHand", "iterations": 32, "finalError": 0.10809, "rows": [ { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lForearm", "angle": 0.135 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lUpperarm", "angle": 0.324 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 0, "joint": "lClavicle", "angle": 0.205 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lForearm", "angle": 0.13 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lUpperarm", "angle": 0.311 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 1, "joint": "lClavicle", "angle": 0.196 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lForearm", "angle": 0.125 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lUpperarm", "angle": 0.298 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 2, "joint": "lClavicle", "angle": 0.188 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "lForearm", "angle": 0.12 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "lUpperarm", "angle": 0.286 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 3, "joint": "lClavicle", "angle": 0.181 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "lForearm", "angle": 0.115 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "lUpperarm", "angle": 0.274 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 4, "joint": "lClavicle", "angle": 0.174 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "lForearm", "angle": 0.11 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "lUpperarm", "angle": 0.263 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 5, "joint": "lClavicle", "angle": 0.167 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "lForearm", "angle": 0.106 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "lUpperarm", "angle": 0.253 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 6, "joint": "lClavicle", "angle": 0.16 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lForearm", "angle": 0.101 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lUpperarm", "angle": 0.243 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 7, "joint": "lClavicle", "angle": 0.153 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lForearm", "angle": 0.097 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lUpperarm", "angle": 0.233 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 8, "joint": "lClavicle", "angle": 0.147 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lForearm", "angle": 0.093 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lUpperarm", "angle": 0.223 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 9, "joint": "lClavicle", "angle": 0.141 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lForearm", "angle": 0.09 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lUpperarm", "angle": 0.214 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 10, "joint": "lClavicle", "angle": 0.136 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lForearm", "angle": 0.086 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lUpperarm", "angle": 0.206 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 11, "joint": "lClavicle", "angle": 0.13 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lForearm", "angle": 0.083 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lUpperarm", "angle": 0.197 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 12, "joint": "lClavicle", "angle": 0.125 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lForearm", "angle": 0.079 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lUpperarm", "angle": 0.19 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 13, "joint": "lClavicle", "angle": 0.12 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lForearm", "angle": 0.076 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lUpperarm", "angle": 0.182 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 14, "joint": "lClavicle", "angle": 0.115 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lForearm", "angle": 0.073 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lUpperarm", "angle": 0.175 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 15, "joint": "lClavicle", "angle": 0.11 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lForearm", "angle": 0.07 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lUpperarm", "angle": 0.168 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 16, "joint": "lClavicle", "angle": 0.106 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lForearm", "angle": 0.067 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lUpperarm", "angle": 0.161 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 17, "joint": "lClavicle", "angle": 0.102 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lForearm", "angle": 0.065 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lUpperarm", "angle": 0.154 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 18, "joint": "lClavicle", "angle": 0.098 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lForearm", "angle": 0.062 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lUpperarm", "angle": 0.148 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 19, "joint": "lClavicle", "angle": 0.094 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lForearm", "angle": 0.06 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lUpperarm", "angle": 0.142 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 20, "joint": "lClavicle", "angle": 0.09 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lForearm", "angle": 0.057 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lUpperarm", "angle": 0.137 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 21, "joint": "lClavicle", "angle": 0.086 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lForearm", "angle": 0.055 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lUpperarm", "angle": 0.131 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 22, "joint": "lClavicle", "angle": 0.083 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lForearm", "angle": 0.053 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lUpperarm", "angle": 0.126 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 23, "joint": "lClavicle", "angle": 0.08 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lForearm", "angle": 0.051 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lUpperarm", "angle": 0.121 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 24, "joint": "lClavicle", "angle": 0.076 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lForearm", "angle": 0.049 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lUpperarm", "angle": 0.116 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 25, "joint": "lClavicle", "angle": 0.073 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lForearm", "angle": 0.047 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lUpperarm", "angle": 0.111 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 26, "joint": "lClavicle", "angle": 0.07 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lForearm", "angle": 0.045 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lUpperarm", "angle": 0.107 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 27, "joint": "lClavicle", "angle": 0.068 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lForearm", "angle": 0.043 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lUpperarm", "angle": 0.103 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 28, "joint": "lClavicle", "angle": 0.065 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lForearm", "angle": 0.041 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lUpperarm", "angle": 0.099 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 29, "joint": "lClavicle", "angle": 0.062 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lForearm", "angle": 0.04 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lUpperarm", "angle": 0.095 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 30, "joint": "lClavicle", "angle": 0.06 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lForearm", "angle": 0.038 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lUpperarm", "angle": 0.091 }, { "stage": "v335_arm_explicit_snap_relock", "iter": 31, "joint": "lClavicle", "angle": 0.057 } ] } }, "legMeet": { "active": false, "applied": false, "reason": "receiver_locked__leg_meet_forbidden", "preMeetErrorM": 0.108086 }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": false, "blocked": true, "side": "L", "pass": false, "reason": "palm_contract_blocked" }, "search": { "active": true, "candidateCount": 1, "reason": "mediaPipe_normalized_ik_receiving_zone_minimum_palm_correction" }, "singleAuthority": true, "supersedes": [ "genericGripCollectGeometry", "genericGripNearest", "genericGripChooseFirstContact", "genericGripLocalSkinClearance", "full_wrist_roll_search", "mesh_target_chasing" ], "policy": "V338: source description/contact metadata declares grip intent; normalized MediaPipe/IK derives a broad receiver zone and radial approach on the target segment; the posed collision cylinder resolves exact contact. The approved neutral hand, actual palm anchors and side-specific finger closure remain unchanged." } ], "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 } ] }