{ "schema": "V364_FIGURE_FOUR_GENERIC_GRIP_PROBE", "rows": [ { "label": "right", "caseId": "v93_warmup_figure_four_walk_1", "phase": 0.25, "runtime": "NEXPROD01_RUNTIME_V346_COLLISION_RECEIVER_AXIS_CANONICALIZATION_2026_08_20", "genericGrip": { "schema": "NEXPROD01_GENERIC_MULTI_GRIP_SOLVER_V1", "version": "V342_LOCKED_SHARED_RECEIVER", "active": true, "applied": true, "ok": true, "pass": true, "gripCount": 2, "receiverSide": "R", "receiverLocked": true, "solves": [ { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": true, "side": "L", "status": "PALM_PLUS_FOUR_FINGERS_READY_FOR_VISUAL_QA", "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "L", "resetFingerBones": [ "L_Thumb1", "L_Thumb2", "L_Thumb3", "L_Index1", "L_Index2", "L_Index3", "L_Mid1", "L_Mid2", "L_Mid3", "L_Ring1", "L_Ring2", "L_Ring3", "L_Pinky1", "L_Pinky2", "L_Pinky3" ], "beforeLocalQuat": { "x": -0.032736744, "y": -0.609771771, "z": -0.052232307, "w": 0.790176226 }, "restLocalQuat": { "x": -0.017111981, "y": 0.000074568, "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": 0.0854, "y": 0.88732, "z": 0.31709 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "R_Foot", "axisB": "R_ToeBase", "sourceAxisLengthM": 0.123081, "sourceT": -0.033195, "centerT": 0, "minT": 0, "maxT": 0, "halfWidthT": 0, "radialFrame": { "lateralWeight": -0.995798, "forwardWeight": -0.091574, "sourceRadialM": 0.136163, "fallbackUsed": false, "radialSemantic": "explicit_lower_sole_lip_under_edge", "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 }, "v381LowerSoleEdgeSnap": { "fromT": 0.18, "toT": 0.2, "underSoleEdgeOffsetM": 0.006, "reason": "user requested sole grip snap at lower edge so fingers close under foot" } }, "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": 0.2, "radial": "lower_sole_lip_under_edge", "source": "V381_FOOT_SOLE_EDGE_POLISH", "policy": "V381: move sole-hand snap to lower edge/lip of existing FootShoe underside so fingers can close under the foot; do not rediscover receiver.", "underSoleEdgeOffsetM": 0.006, "palmBiasUnderFootM": 0.018 }, "radialSemantic": "explicit_lower_sole_lip_under_edge", "centerT": 0.2 }, "explicitSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.2, "radial": "lower_sole_lip_under_edge", "source": "V381_FOOT_SOLE_EDGE_POLISH", "policy": "V381: move sole-hand snap to lower edge/lip of existing FootShoe underside so fingers can close under the foot; do not rediscover receiver.", "underSoleEdgeOffsetM": 0.006, "palmBiasUnderFootM": 0.018 }, "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": 0.147021, "pinkyDistanceM": 0.154531, "movementM": 0.147021, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.147021 } ] } }, "cylinder": { "axisA": "R_Foot", "axisB": "R_ToeBase", "axisPoint": { "x": 0.15812, "y": 0.80799, "z": 0.40607 }, "axis": { "x": -0.65433, "y": -0.1117, "z": 0.74791 }, "bodyRight": { "x": -0.98043, "y": 0.19642, "z": -0.01292 }, "outward": { "x": -0.05092, "y": 0.99329, "z": 0.1038 }, "radiusM": 0.05471, "selectedT": 0, "radialAngleDeg": 0, "snapPoint": { "x": 0.15503, "y": 0.86829, "z": 0.41237 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.147021, "pinkySnapDistanceBeforeM": 0.154531, "firstSnapErrorM": 0, "lineAngleDeg": 0, "closeDirectionDot": 0.999809, "rollDeg": -70.4489, "indexAnchor": { "x": 0.15503, "y": 0.86829, "z": 0.41237 }, "pinkyAnchor": { "x": 0.1852, "y": 0.87344, "z": 0.37789 }, "palmNormal": { "x": 0.06369, "y": -0.99092, "z": -0.1184 }, "indexPlaneAnchor": { "x": 0.14927, "y": 0.88575, "z": 0.41425 }, "pinkyPlaneAnchor": { "x": 0.20133, "y": 0.89142, "z": 0.39476 }, "calibration": { "indexSurfaceDepthM": 0.02077061027206205, "pinkySurfaceDepthM": 0.020474904608389174, "indexSurfaceCount": 5, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06071, "requiredRadialM": 0.05229, "normalizedEllipticRadius": 1.16095, "signedDistanceM": 0.00842, "signedOutsideM": 0.06071, "outsideScore": 1, "distanceToSurfaceM": 0.00842, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06071, "requiredRadialM": 0.05229, "normalizedEllipticRadius": 1.16095, "signedDistanceM": 0.00842, "signedOutsideM": 0.06071, "outsideScore": 1, "distanceToSurfaceM": 0.00842, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pass": true }, "arm": { "initial": { "ok": true, "stage": "v384e_clavicle_reach_to_explicit_snap", "chain": "lClavicle->lUpperarm->lForearm->lHand", "iterations": 128, "finalError": 0.00046, "rows": [ { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 0, "joint": "lForearm", "angle": 14.154 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 0, "joint": "lUpperarm", "angle": 0.582 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 0, "joint": "lClavicle", "angle": 2.387 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 1, "joint": "lForearm", "angle": 3.271 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 1, "joint": "lUpperarm", "angle": 0.766 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 1, "joint": "lClavicle", "angle": 2.268 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 2, "joint": "lForearm", "angle": 2.713 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 2, "joint": "lUpperarm", "angle": 0.919 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 2, "joint": "lClavicle", "angle": 2.158 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 3, "joint": "lForearm", "angle": 2.261 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 3, "joint": "lUpperarm", "angle": 1.037 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 3, "joint": "lClavicle", "angle": 2.052 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 4, "joint": "lForearm", "angle": 1.89 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 4, "joint": "lUpperarm", "angle": 1.123 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 4, "joint": "lClavicle", "angle": 1.951 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 5, "joint": "lForearm", "angle": 1.582 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 5, "joint": "lUpperarm", "angle": 1.182 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 5, "joint": "lClavicle", "angle": 1.852 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 6, "joint": "lForearm", "angle": 1.326 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 6, "joint": "lUpperarm", "angle": 1.219 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 6, "joint": "lClavicle", "angle": 1.756 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 7, "joint": "lForearm", "angle": 1.111 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 7, "joint": "lUpperarm", "angle": 1.238 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 7, "joint": "lClavicle", "angle": 1.664 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 8, "joint": "lForearm", "angle": 0.93 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 8, "joint": "lUpperarm", "angle": 1.243 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 8, "joint": "lClavicle", "angle": 1.574 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 9, "joint": "lForearm", "angle": 0.777 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 9, "joint": "lUpperarm", "angle": 1.236 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 9, "joint": "lClavicle", "angle": 1.488 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 10, "joint": "lForearm", "angle": 0.648 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 10, "joint": "lUpperarm", "angle": 1.219 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 10, "joint": "lClavicle", "angle": 1.406 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 11, "joint": "lForearm", "angle": 0.539 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 11, "joint": "lUpperarm", "angle": 1.196 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 11, "joint": "lClavicle", "angle": 1.328 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 12, "joint": "lForearm", "angle": 0.447 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 12, "joint": "lUpperarm", "angle": 1.167 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 12, "joint": "lClavicle", "angle": 1.253 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 13, "joint": "lForearm", "angle": 0.369 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 13, "joint": "lUpperarm", "angle": 1.134 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 13, "joint": "lClavicle", "angle": 1.182 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 14, "joint": "lForearm", "angle": 0.302 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 14, "joint": "lUpperarm", "angle": 1.098 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 14, "joint": "lClavicle", "angle": 1.115 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 15, "joint": "lForearm", "angle": 0.246 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 15, "joint": "lUpperarm", "angle": 1.061 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 15, "joint": "lClavicle", "angle": 1.052 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 16, "joint": "lForearm", "angle": 0.199 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 16, "joint": "lUpperarm", "angle": 1.022 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 16, "joint": "lClavicle", "angle": 0.992 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 17, "joint": "lForearm", "angle": 0.159 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 17, "joint": "lUpperarm", "angle": 0.983 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 17, "joint": "lClavicle", "angle": 0.936 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 18, "joint": "lForearm", "angle": 0.125 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 18, "joint": "lUpperarm", "angle": 0.944 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 18, "joint": "lClavicle", "angle": 0.884 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 19, "joint": "lForearm", "angle": 0.097 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 19, "joint": "lUpperarm", "angle": 0.905 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 19, "joint": "lClavicle", "angle": 0.834 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 20, "joint": "lForearm", "angle": 0.073 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 20, "joint": "lUpperarm", "angle": 0.867 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 20, "joint": "lClavicle", "angle": 0.788 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 21, "joint": "lForearm", "angle": 0.054 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 21, "joint": "lUpperarm", "angle": 0.83 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 21, "joint": "lClavicle", "angle": 0.744 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 22, "joint": "lForearm", "angle": 0.038 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 22, "joint": "lUpperarm", "angle": 0.794 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 22, "joint": "lClavicle", "angle": 0.703 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 23, "joint": "lForearm", "angle": 0.028 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 23, "joint": "lUpperarm", "angle": 0.759 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 23, "joint": "lClavicle", "angle": 0.665 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 24, "joint": "lForearm", "angle": 0.022 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 24, "joint": "lUpperarm", "angle": 0.726 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 24, "joint": "lClavicle", "angle": 0.629 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 25, "joint": "lForearm", "angle": 0.022 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 25, "joint": "lUpperarm", "angle": 0.693 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 25, "joint": "lClavicle", "angle": 0.595 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 26, "joint": "lForearm", "angle": 0.025 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 26, "joint": "lUpperarm", "angle": 0.662 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 26, "joint": "lClavicle", "angle": 0.564 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 27, "joint": "lForearm", "angle": 0.03 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 27, "joint": "lUpperarm", "angle": 0.632 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 27, "joint": "lClavicle", "angle": 0.534 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 28, "joint": "lForearm", "angle": 0.034 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 28, "joint": "lUpperarm", "angle": 0.604 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 28, "joint": "lClavicle", "angle": 0.506 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 29, "joint": "lForearm", "angle": 0.038 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 29, "joint": "lUpperarm", "angle": 0.577 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 29, "joint": "lClavicle", "angle": 0.48 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 30, "joint": "lForearm", "angle": 0.041 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 30, "joint": "lUpperarm", "angle": 0.551 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 30, "joint": "lClavicle", "angle": 0.455 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 31, "joint": "lForearm", "angle": 0.043 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 31, "joint": "lUpperarm", "angle": 0.526 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 31, "joint": "lClavicle", "angle": 0.432 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 32, "joint": "lForearm", "angle": 0.045 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 32, "joint": "lUpperarm", "angle": 0.502 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 32, "joint": "lClavicle", "angle": 0.41 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 33, "joint": "lForearm", "angle": 0.047 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 33, "joint": "lUpperarm", "angle": 0.48 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 33, "joint": 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"lUpperarm", "angle": 0.027 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 101, "joint": "lClavicle", "angle": 0.023 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 102, "joint": "lUpperarm", "angle": 0.026 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 102, "joint": "lClavicle", "angle": 0.022 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 103, "joint": "lUpperarm", "angle": 0.025 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 103, "joint": "lClavicle", "angle": 0.021 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 104, "joint": "lUpperarm", "angle": 0.024 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 104, "joint": "lClavicle", "angle": 0.02 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 105, "joint": "lUpperarm", "angle": 0.023 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 105, "joint": "lClavicle", "angle": 0.02 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 106, "joint": "lUpperarm", "angle": 0.023 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 106, "joint": "lClavicle", "angle": 0.019 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 107, "joint": "lUpperarm", "angle": 0.022 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 107, "joint": "lClavicle", "angle": 0.018 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 108, "joint": "lUpperarm", "angle": 0.021 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 108, "joint": "lClavicle", "angle": 0.018 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 109, "joint": "lUpperarm", "angle": 0.02 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 109, "joint": "lClavicle", "angle": 0.017 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 110, "joint": "lUpperarm", "angle": 0.02 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 110, "joint": "lClavicle", "angle": 0.017 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 111, "joint": "lUpperarm", "angle": 0.019 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 111, "joint": "lClavicle", "angle": 0.016 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 112, "joint": "lUpperarm", "angle": 0.018 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 112, "joint": "lClavicle", "angle": 0.015 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 113, "joint": "lUpperarm", "angle": 0.018 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 113, "joint": "lClavicle", "angle": 0.015 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 114, "joint": "lUpperarm", "angle": 0.017 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 114, "joint": "lClavicle", "angle": 0.014 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 115, "joint": "lUpperarm", "angle": 0.017 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 115, "joint": "lClavicle", "angle": 0.014 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 116, "joint": "lUpperarm", "angle": 0.016 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 116, "joint": "lClavicle", "angle": 0.013 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 117, "joint": "lUpperarm", "angle": 0.016 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 117, "joint": "lClavicle", "angle": 0.013 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 118, "joint": "lUpperarm", "angle": 0.015 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 118, "joint": "lClavicle", "angle": 0.013 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 119, "joint": "lUpperarm", "angle": 0.015 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 119, "joint": "lClavicle", "angle": 0.012 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 120, "joint": "lUpperarm", "angle": 0.014 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 120, "joint": "lClavicle", "angle": 0.012 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 121, "joint": "lUpperarm", "angle": 0.014 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 121, "joint": "lClavicle", "angle": 0.011 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 122, "joint": "lUpperarm", "angle": 0.013 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 122, "joint": "lClavicle", "angle": 0.011 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 123, "joint": "lUpperarm", "angle": 0.013 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 123, "joint": "lClavicle", "angle": 0.011 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 124, "joint": "lUpperarm", "angle": 0.012 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 124, "joint": "lClavicle", "angle": 0.01 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 125, "joint": "lUpperarm", "angle": 0.012 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 126, "joint": "lForearm", "angle": 0.027 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 126, "joint": "lUpperarm", "angle": 0.013 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 127, "joint": "lForearm", "angle": 0.026 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 127, "joint": "lUpperarm", "angle": 0.012 } ] }, "relock": { "ok": true, "stage": "v384e_arm_explicit_snap_outward_elbow_branch", "side": "L", "policy": "V384E: preserve explicit wrist target, solve upperarm/forearm through the outward natural elbow branch instead of accepting the mirrored CCD branch.", "L1": 0.23329, "L2": 0.21924, "requestedD": 0.4439, "usedD": 0.4439, "reachable": true, "oldBranchDot": -0.94664, "branchDot": 1, "elbowTarget": { "x": 0.18965, "y": 1.04569, "z": 0.18098 }, "wristTarget": { "x": 0.15633, "y": 0.89542, "z": 0.33711 }, "wristAfter": { "x": 0.15633, "y": 0.89542, "z": 0.33711 }, "finalError": 0, "upperAim": { "ok": true }, "foreAim": { "ok": true } } }, "legMeet": { "active": false, "applied": false, "reason": "arm_reached_explicit_snap" }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": true, "blocked": false, "side": "L", "curlAxis": "z", "curlSign": -1, "pass": true, "fullGripComplete": false, "results": [ { "finger": "index", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 0.56389, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 0.56389, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00536, "prevDistanceToSurfaceM": 0.02133, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.56389, "score": 0.005924, "distanceToSurfaceM": 0.00536 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00521, "prevDistanceToSurfaceM": 0.00521, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00521, "distanceToSurfaceM": 0.00521 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01341, "prevDistanceToSurfaceM": 0.01341, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.01341, "distanceToSurfaceM": 0.01341 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08145, "requiredRadialM": 0.06012, "normalizedEllipticRadius": 1.35487, "signedDistanceM": 0.02133, "signedOutsideM": 0.07838, "outsideScore": 0.96229, "distanceToSurfaceM": 0.02133, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.15925, "y": 0.8832, "z": 0.44199 }, "score": 0.02133 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06779, "requiredRadialM": 0.06258, "normalizedEllipticRadius": 1.08319, "signedDistanceM": 0.00521, "signedOutsideM": 0.05832, "outsideScore": 0.86036, "distanceToSurfaceM": 0.00521, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.16781, "y": 0.8626, "z": 0.45011 }, "score": 0.00521 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "middle", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 0.88611, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0.2, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 0.88611, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00599, "prevDistanceToSurfaceM": 0.02683, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.88611, "score": 0.006876, "distanceToSurfaceM": 0.00599 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0.2, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00587, "prevDistanceToSurfaceM": 0.0065, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.2, "score": 0.00607, "distanceToSurfaceM": 0.00587 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01358, "prevDistanceToSurfaceM": 0.01358, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.01358, "distanceToSurfaceM": 0.01358 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08847, "requiredRadialM": 0.06164, "normalizedEllipticRadius": 1.43523, "signedDistanceM": 0.02683, "signedOutsideM": 0.08298, "outsideScore": 0.938, "distanceToSurfaceM": 0.02683, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.17694, "y": 0.88949, "z": 0.43489 }, "score": 0.02683 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06545, "requiredRadialM": 0.05957, "normalizedEllipticRadius": 1.0986, "signedDistanceM": 0.00587, "signedOutsideM": 0.0491, "outsideScore": 0.75019, "distanceToSurfaceM": 0.00587, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.18789, "y": 0.8554, "z": 0.43998 }, "score": 0.00587 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.12778, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.12778, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00387, "prevDistanceToSurfaceM": 0.02724, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.12778, "score": 0.004998, "distanceToSurfaceM": 0.00387 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0037, "prevDistanceToSurfaceM": 0.0037, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.0037, "distanceToSurfaceM": 0.0037 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00875, "prevDistanceToSurfaceM": 0.00875, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.00875, "distanceToSurfaceM": 0.00875 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08971, "requiredRadialM": 0.06248, "normalizedEllipticRadius": 1.43593, "signedDistanceM": 0.02724, "signedOutsideM": 0.08174, "outsideScore": 0.91116, "distanceToSurfaceM": 0.02724, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.19313, "y": 0.89001, "z": 0.4259 }, "score": 0.02724 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06286, "requiredRadialM": 0.05916, "normalizedEllipticRadius": 1.06259, "signedDistanceM": 0.0037, "signedOutsideM": 0.04646, "outsideScore": 0.73905, "distanceToSurfaceM": 0.0037, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.20164, "y": 0.85525, "z": 0.42272 }, "score": 0.0037 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.36944, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 0, "active": true } ], "rows": [ { "finger": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.36944, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00442, "prevDistanceToSurfaceM": 0.02621, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.36944, "score": 0.007349, "distanceToSurfaceM": 0.00442 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00012, "prevDistanceToSurfaceM": 0.00012, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00168, "distanceToSurfaceM": 0.00012 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00001, "prevDistanceToSurfaceM": 0.00001, "worstPenetrationM": 0.00013, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00157, "distanceToSurfaceM": 0.00001 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.0889, "requiredRadialM": 0.06269, "normalizedEllipticRadius": 1.41805, "signedDistanceM": 0.02621, "signedOutsideM": 0.07945, "outsideScore": 0.89365, "distanceToSurfaceM": 0.02621, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.20769, "y": 0.88972, "z": 0.4136 }, "score": 0.02621 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0.00013, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.05465, "requiredRadialM": 0.05464, "normalizedEllipticRadius": 1.00013, "signedDistanceM": 0.00001, "signedOutsideM": 0.03408, "outsideScore": 0.62371, "distanceToSurfaceM": 0.00001, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.21713, "y": 0.84544, "z": 0.40503 }, "score": 0.00001 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true } ], "thumb": { "active": false, "blocked": true, "reason": "thumb_requires_its_own_anatomical_opposition_axis_after_four_finger_visual_approval" }, "parentDrift": { "checked": 13, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thigh", "changed": false, "localQuatDeltaRad": 3e-8, "worldPosDeltaM": 0 }, { "bone": "L_Calf", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Upperarm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Forearm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 1, "reason": "mediaPipe_normalized_ik_receiving_zone_minimum_palm_correction" }, "singleAuthority": true, "supersedes": [ "genericGripCollectGeometry", "genericGripNearest", "genericGripChooseFirstContact", "genericGripLocalSkinClearance", "full_wrist_roll_search", "mesh_target_chasing" ], "policy": "V338: source description/contact metadata declares grip intent; normalized MediaPipe/IK derives a broad receiver zone and radial approach on the target segment; the posed collision cylinder resolves exact contact. The approved neutral hand, actual palm anchors and side-specific finger closure remain unchanged." }, { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": true, "side": "R", "status": "PALM_PLUS_FOUR_FINGERS_READY_FOR_VISUAL_QA", "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "R", "resetFingerBones": [ "R_Thumb1", "R_Thumb2", "R_Thumb3", "R_Index1", "R_Index2", "R_Index3", "R_Mid1", "R_Mid2", "R_Mid3", "R_Ring1", "R_Ring2", "R_Ring3", "R_Pinky1", "R_Pinky2", "R_Pinky3" ], "beforeLocalQuat": { "x": 0.068229696, "y": 0.597390658, "z": 0.058107315, "w": 0.79692702 }, "restLocalQuat": { "x": -0.017111864, "y": -0.000074397, "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": 0.03231, "y": 0.87221, "z": 0.24002 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "R_Foot", "axisB": "R_Calf", "sourceAxisLengthM": 0.395374, "sourceT": 0.39397, "centerT": 0.39397, "minT": 0.39397, "maxT": 0.39397, "halfWidthT": 0, "radialFrame": { "lateralWeight": 0.023352, "forwardWeight": 0.999727, "sourceRadialM": 0.145127, "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 }, "v373SeparatedFrontShinSnap": { "t": 0.84, "radial": "front_visible_separated_from_sole", "minSeparationM": 0.08, "reason": "V371 put upper and lower hands into same cluster; upper shin snap must be separate from foot/sole snap." }, "v373FinalSeparatedFrontShinSnap": { "t": 0.7, "radial": "front_visible_separated_from_sole", "minSeparationM": 0.1, "reason": "avoid V371 collapse where upper/lower hands landed same cluster" } }, "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": 0.7, "radial": "front_visible_separated_from_sole", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V373 FINAL: visible/front lower-shin snap separated from foot/sole snap; t chosen by sweep to keep >0.10m bilateral separation and Node PASS." }, "radialSemantic": "explicit_front_lower_shin", "centerT": 0.3 }, "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": 0.7, "radial": "front_visible_separated_from_sole", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V373 FINAL: visible/front lower-shin snap separated from foot/sole snap; t chosen by sweep to keep >0.10m bilateral separation and Node PASS." }, "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": 0.39397, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.39397, "radialAngleDeg": 0, "indexDistanceM": 0.13436, "pinkyDistanceM": 0.163706, "movementM": 0.13436, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.13436 } ] } }, "cylinder": { "axisA": "R_Foot", "axisB": "R_Calf", "axisPoint": { "x": 0.05872, "y": 0.82726, "z": 0.38433 }, "axis": { "x": 0.99365, "y": -0.10377, "z": 0.04351 }, "bodyRight": { "x": -0.98043, "y": 0.19642, "z": -0.01292 }, "outward": { "x": -0.41465, "y": 0.31574, "z": -0.85345 }, "radiusM": 0.03974, "selectedT": 0.39397, "radialAngleDeg": 0, "snapPoint": { "x": 0.04224, "y": 0.83981, "z": 0.35042 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.13436, "pinkySnapDistanceBeforeM": 0.163706, "firstSnapErrorM": 0.005768, "lineAngleDeg": 0, "closeDirectionDot": 0.862461, "rollDeg": 162.3564, "indexAnchor": { "x": 0.04153, "y": 0.84458, "z": 0.34725 }, "pinkyAnchor": { "x": -0.00505, "y": 0.84945, "z": 0.34521 }, "palmNormal": { "x": -0.10091, "y": -0.30027, "z": 0.9485 }, "indexPlaneAnchor": { "x": 0.04226, "y": 0.84141, "z": 0.32789 }, "pinkyPlaneAnchor": { "x": -0.001, "y": 0.87594, "z": 0.33422 }, "calibration": { "indexSurfaceDepthM": 0.02052463188328707, "pinkySurfaceDepthM": 0.020500638736697226, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03938, "requiredRadialM": 0.03965, "normalizedEllipticRadius": 0.9932, "signedDistanceM": -0.00027, "signedOutsideM": 0.03437, "outsideScore": 0.87278, "distanceToSurfaceM": 0.00027, "penetrationM": 0.00027, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03938, "requiredRadialM": 0.03965, "normalizedEllipticRadius": 0.9932, "signedDistanceM": -0.00027, "signedOutsideM": 0.03437, "outsideScore": 0.87278, "distanceToSurfaceM": 0.00027, "penetrationM": 0.00027, "surfaceOk": true, "sideOk": true }, "pass": true }, "arm": { "initial": { "ok": true, "stage": "v384e_clavicle_reach_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 128, "finalError": 0.00821, "rows": [ { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 15.689 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 3.108 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 4.119 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 1, "joint": "rForearm", "angle": 3.271 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 1, "joint": "rUpperarm", "angle": 3.088 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 1, "joint": "rClavicle", "angle": 3.94 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 2, "joint": "rForearm", "angle": 2.539 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 2, "joint": "rUpperarm", "angle": 3.085 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 2, "joint": "rClavicle", "angle": 3.752 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 3, "joint": "rForearm", "angle": 1.972 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 3, "joint": "rUpperarm", "angle": 3.072 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 3, "joint": "rClavicle", "angle": 3.556 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 4, "joint": "rForearm", "angle": 1.528 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 4, "joint": "rUpperarm", "angle": 3.039 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 4, "joint": "rClavicle", "angle": 3.357 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 5, "joint": "rForearm", "angle": 1.177 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 5, "joint": "rUpperarm", "angle": 2.986 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 5, "joint": "rClavicle", "angle": 3.157 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 6, "joint": "rForearm", "angle": 0.9 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 6, "joint": "rUpperarm", "angle": 2.914 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 6, "joint": "rClavicle", "angle": 2.961 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 7, "joint": "rForearm", "angle": 0.682 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 7, "joint": "rUpperarm", "angle": 2.827 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 7, "joint": "rClavicle", "angle": 2.771 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 8, "joint": "rForearm", "angle": 0.514 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 8, "joint": "rUpperarm", "angle": 2.729 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 8, "joint": "rClavicle", "angle": 2.589 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 9, "joint": "rForearm", "angle": 0.39 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 9, "joint": "rUpperarm", "angle": 2.624 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 9, "joint": "rClavicle", "angle": 2.416 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 10, "joint": "rForearm", "angle": 0.307 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 10, "joint": "rUpperarm", "angle": 2.514 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 10, "joint": "rClavicle", "angle": 2.254 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 11, "joint": "rForearm", "angle": 0.26 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 11, "joint": "rUpperarm", "angle": 2.403 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 11, "joint": "rClavicle", "angle": 2.103 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 12, "joint": "rForearm", "angle": 0.245 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 12, "joint": "rUpperarm", "angle": 2.293 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 12, "joint": "rClavicle", "angle": 1.963 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 13, "joint": "rForearm", "angle": 0.248 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 13, "joint": "rUpperarm", "angle": 2.184 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 13, "joint": "rClavicle", "angle": 1.833 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 14, "joint": "rForearm", "angle": 0.26 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 14, "joint": "rUpperarm", "angle": 2.078 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 14, "joint": "rClavicle", "angle": 1.713 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 15, "joint": "rForearm", "angle": 0.274 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 15, "joint": "rUpperarm", "angle": 1.976 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 15, "joint": "rClavicle", "angle": 1.602 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 16, "joint": "rForearm", "angle": 0.287 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 16, "joint": "rUpperarm", "angle": 1.879 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 16, "joint": "rClavicle", "angle": 1.501 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 17, "joint": "rForearm", "angle": 0.298 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 17, "joint": "rUpperarm", "angle": 1.786 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 17, "joint": "rClavicle", "angle": 1.407 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 18, "joint": "rForearm", "angle": 0.306 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 18, "joint": "rUpperarm", "angle": 1.698 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 18, "joint": "rClavicle", "angle": 1.322 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 19, "joint": "rForearm", "angle": 0.311 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 19, "joint": "rUpperarm", "angle": 1.615 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 19, "joint": "rClavicle", "angle": 1.243 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 20, "joint": "rForearm", "angle": 0.313 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 20, "joint": "rUpperarm", "angle": 1.536 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 20, "joint": "rClavicle", "angle": 1.17 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 21, "joint": "rForearm", "angle": 0.314 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 21, "joint": "rUpperarm", "angle": 1.462 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 21, "joint": "rClavicle", "angle": 1.103 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 22, "joint": "rForearm", "angle": 0.313 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 22, "joint": "rUpperarm", "angle": 1.393 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 22, "joint": "rClavicle", "angle": 1.041 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 23, "joint": "rForearm", "angle": 0.311 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 23, "joint": "rUpperarm", "angle": 1.327 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 23, "joint": "rClavicle", "angle": 0.985 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 24, "joint": "rForearm", "angle": 0.307 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 24, "joint": "rUpperarm", "angle": 1.266 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 24, "joint": "rClavicle", "angle": 0.932 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 25, "joint": "rForearm", "angle": 0.303 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 25, "joint": "rUpperarm", "angle": 1.208 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 25, "joint": "rClavicle", "angle": 0.883 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 26, "joint": "rForearm", "angle": 0.298 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 26, "joint": "rUpperarm", "angle": 1.154 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 26, "joint": "rClavicle", "angle": 0.838 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 27, "joint": "rForearm", "angle": 0.292 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 27, "joint": "rUpperarm", "angle": 1.103 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 27, "joint": "rClavicle", "angle": 0.797 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 28, "joint": "rForearm", "angle": 0.286 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 28, "joint": "rUpperarm", "angle": 1.055 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 28, "joint": "rClavicle", "angle": 0.758 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 29, "joint": "rForearm", "angle": 0.28 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 29, "joint": "rUpperarm", "angle": 1.01 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 29, "joint": "rClavicle", "angle": 0.722 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 30, "joint": "rForearm", "angle": 0.273 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 30, "joint": "rUpperarm", "angle": 0.968 }, { "stage": 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"signedDistanceM": 0.02983, "signedOutsideM": 0.05335, "outsideScore": 0.7907, "distanceToSurfaceM": 0.02983, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.04602, "y": 0.87532, "z": 0.33461 }, "score": 0.02983 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03715, "requiredRadialM": 0.03258, "normalizedEllipticRadius": 1.14009, "signedDistanceM": 0.00456, "signedOutsideM": 0.01498, "outsideScore": 0.40326, "distanceToSurfaceM": 0.00456, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": 0.03807, "y": 0.86627, "z": 0.3772 }, "score": 0.00456 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 1.45, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ], "rows": [ { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 1.45, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0059, "prevDistanceToSurfaceM": 0.03352, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.45, "score": 0.00735, "distanceToSurfaceM": 0.0059 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00334, "prevDistanceToSurfaceM": 0.00334, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00334, "distanceToSurfaceM": 0.00334 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00387, "prevDistanceToSurfaceM": 0.00387, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00387, "distanceToSurfaceM": 0.00387 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.07025, "requiredRadialM": 0.03673, "normalizedEllipticRadius": 1.91274, "signedDistanceM": 0.03352, "signedOutsideM": 0.05236, "outsideScore": 0.74536, "distanceToSurfaceM": 0.03352, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.03005, "y": 0.88415, "z": 0.33738 }, "score": 0.03352 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03485, "requiredRadialM": 0.03151, "normalizedEllipticRadius": 1.106, "signedDistanceM": 0.00334, "signedOutsideM": 0.00643, "outsideScore": 0.18457, "distanceToSurfaceM": 0.00334, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": 0.01411, "y": 0.86678, "z": 0.38578 }, "score": 0.00334 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 1.45, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.6, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ], "rows": [ { "finger": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 1.45, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01566, "prevDistanceToSurfaceM": 0.0351, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.45, "score": 0.01711, "distanceToSurfaceM": 0.01566 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0.6, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00547, "prevDistanceToSurfaceM": 0.01175, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.6, "score": 0.02227, "distanceToSurfaceM": 0.00547 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00019, "prevDistanceToSurfaceM": 0.00019, "worstPenetrationM": 0.00135, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.01639, "distanceToSurfaceM": 0.00019 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.0712, "requiredRadialM": 0.0361, "normalizedEllipticRadius": 1.97223, "signedDistanceM": 0.0351, "signedOutsideM": 0.0506, "outsideScore": 0.71066, "distanceToSurfaceM": 0.0351, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": 0.01223, "y": 0.8899, "z": 0.33996 }, "score": 0.0351 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0.00135, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03228, "requiredRadialM": 0.03208, "normalizedEllipticRadius": 1.00597, "signedDistanceM": 0.00019, "signedOutsideM": 0.01044, "outsideScore": 0.32336, "distanceToSurfaceM": 0.00019, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.00855, "y": 0.86667, "z": 0.37919 }, "score": 0.00019 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true } ], "thumb": { "active": false, "blocked": true, "reason": "thumb_requires_its_own_anatomical_opposition_axis_after_four_finger_visual_approval" }, "parentDrift": { "checked": 13, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Calf", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Upperarm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 4.2e-8, "worldPosDeltaM": 0 }, { "bone": "R_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 1, "reason": "mediaPipe_normalized_ik_receiving_zone_minimum_palm_correction" }, "singleAuthority": true, "supersedes": [ "genericGripCollectGeometry", "genericGripNearest", "genericGripChooseFirstContact", "genericGripLocalSkinClearance", "full_wrist_roll_search", "mesh_target_chasing" ], "policy": "V338: source description/contact metadata declares grip intent; normalized MediaPipe/IK derives a broad receiver zone and radial approach on the target segment; the posed collision cylinder resolves exact contact. The approved neutral hand, actual palm anchors and side-specific finger closure remain unchanged." } ], "perSolveReceiverDrift": [ { "order": 0, "side": "L", "drift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "R_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] } }, { "order": 1, "side": "R", "drift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "R_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] } } ], "sharedReceiverDrift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "R_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "R_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] }, "policy": "V342 step 3: consume the ordered source grips[] collection with the existing generic single-hand grip capability. Each hand solves independently. The shared lifted-leg receiver is locked for every solve, so the existing leg-meet fallback is forbidden. No exercise-name branch, fallback geometry or guessed snap point is introduced." }, "actualSample": null }, { "label": "left", "caseId": "v93_warmup_figure_four_walk_2", "phase": 0.75, "runtime": "NEXPROD01_RUNTIME_V346_COLLISION_RECEIVER_AXIS_CANONICALIZATION_2026_08_20", "genericGrip": { "schema": "NEXPROD01_GENERIC_MULTI_GRIP_SOLVER_V1", "version": "V342_LOCKED_SHARED_RECEIVER", "active": true, "applied": true, "ok": true, "pass": true, "gripCount": 2, "receiverSide": "L", "receiverLocked": true, "solves": [ { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": true, "side": "R", "status": "PALM_PLUS_FOUR_FINGERS_READY_FOR_VISUAL_QA", "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "R", "resetFingerBones": [ "R_Thumb1", "R_Thumb2", "R_Thumb3", "R_Index1", "R_Index2", "R_Index3", "R_Mid1", "R_Mid2", "R_Mid3", "R_Ring1", "R_Ring2", "R_Ring3", "R_Pinky1", "R_Pinky2", "R_Pinky3" ], "beforeLocalQuat": { "x": -0.097841723, "y": 0.603620256, "z": -0.037562329, "w": 0.790353516 }, "restLocalQuat": { "x": -0.017111864, "y": -0.000074397, "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": -0.07206, "y": 0.88319, "z": 0.31453 }, "palmSeedKeys": [ "R_PalmBase", "R_PalmIndexBase", "R_PalmPinkyBase" ], "axisA": "L_Foot", "axisB": "L_ToeBase", "sourceAxisLengthM": 0.123089, "sourceT": 0.613822, "centerT": 0.613822, "minT": 0.613822, "maxT": 0.613822, "halfWidthT": 0, "radialFrame": { "lateralWeight": 0.920135, "forwardWeight": -0.391601, "sourceRadialM": 0.225876, "fallbackUsed": false, "radialSemantic": "explicit_lower_sole_lip_under_edge", "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 }, "v381LowerSoleEdgeSnap": { "fromT": 0.18, "toT": 0.2, "underSoleEdgeOffsetM": 0.006, "reason": "user requested sole grip snap at lower edge so fingers close under foot" } }, "explicitMeshSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.2, "radial": "lower_sole_lip_under_edge", "source": "V381_FOOT_SOLE_EDGE_POLISH", "policy": "V381: move sole-hand snap to lower edge/lip of existing FootShoe underside so fingers can close under the foot; do not rediscover receiver.", "underSoleEdgeOffsetM": 0.006, "palmBiasUnderFootM": 0.018 }, "radialSemantic": "explicit_lower_sole_lip_under_edge", "centerT": 0.2 }, "explicitSnapPoint": { "schema": "NEXPROD01_EXPLICIT_MESH_SNAP_POINT_V1", "valid": true, "surface": "foot_underside_sole", "proxy": "FootShoe", "proxyAxis": "Foot->ToeBase/MidToe", "t": 0.2, "radial": "lower_sole_lip_under_edge", "source": "V381_FOOT_SOLE_EDGE_POLISH", "policy": "V381: move sole-hand snap to lower edge/lip of existing FootShoe underside so fingers can close under the foot; do not rediscover receiver.", "underSoleEdgeOffsetM": 0.006, "palmBiasUnderFootM": 0.018 }, "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": 0.613822, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.613822, "radialAngleDeg": 0, "indexDistanceM": 0.27169, "pinkyDistanceM": 0.25991, "movementM": 0.25991, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.25991 } ] } }, "cylinder": { "axisA": "L_Foot", "axisB": "L_ToeBase", "axisPoint": { "x": -0.27976, "y": 0.85486, "z": 0.41372 }, "axis": { "x": 0.65021, "y": -0.0912, "z": 0.75426 }, "bodyRight": { "x": -0.98451, "y": -0.17291, "z": 0.02919 }, "outward": { "x": 0.03742, "y": 0.99541, "z": 0.0881 }, "radiusM": 0.05533, "selectedT": 0.613822, "radialAngleDeg": 0, "snapPoint": { "x": -0.27746, "y": 0.91591, "z": 0.41912 } }, "palm": { "firstPalm": "pinkyAnchor", "secondPalm": "indexAnchor", "indexSnapDistanceBeforeM": 0.27169, "pinkySnapDistanceBeforeM": 0.25991, "firstSnapErrorM": 0, "lineAngleDeg": 0, "closeDirectionDot": 0.999612, "rollDeg": 76.382, "indexAnchor": { "x": -0.24698, "y": 0.91163, "z": 0.45448 }, "pinkyAnchor": { "x": -0.27746, "y": 0.91591, "z": 0.41912 }, "palmNormal": { "x": -0.05551, "y": -0.99248, "z": -0.10906 }, "indexPlaneAnchor": { "x": -0.23942, "y": 0.92928, "z": 0.45038 }, "pinkyPlaneAnchor": { "x": -0.29296, "y": 0.93388, "z": 0.43573 }, "calibration": { "indexSurfaceDepthM": 0.020524636752536823, "pinkySurfaceDepthM": 0.020500637489517057, "indexSurfaceCount": 8, "pinkySurfaceCount": 11 }, "indexCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06133, "requiredRadialM": 0.05357, "normalizedEllipticRadius": 1.14488, "signedDistanceM": 0.00776, "signedOutsideM": 0.06133, "outsideScore": 1, "distanceToSurfaceM": 0.00776, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pinkyCylinder": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06133, "requiredRadialM": 0.05357, "normalizedEllipticRadius": 1.14488, "signedDistanceM": 0.00776, "signedOutsideM": 0.06133, "outsideScore": 1, "distanceToSurfaceM": 0.00776, "penetrationM": 0, "surfaceOk": true, "sideOk": true }, "pass": true }, "arm": { "initial": { "ok": true, "stage": "v384e_clavicle_reach_to_explicit_snap", "chain": "rClavicle->rUpperarm->rForearm->rHand", "iterations": 128, "finalError": 0.00083, "rows": [ { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 0, "joint": "rForearm", "angle": 40.482 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 0, "joint": "rUpperarm", "angle": 2.139 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 0, "joint": "rClavicle", "angle": 2.376 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 1, "joint": "rForearm", "angle": 4.489 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 1, "joint": "rUpperarm", "angle": 1.84 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 1, "joint": "rClavicle", "angle": 2.167 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 2, "joint": "rForearm", "angle": 3.622 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 2, "joint": "rUpperarm", "angle": 1.652 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 2, "joint": "rClavicle", "angle": 1.998 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 3, "joint": "rForearm", "angle": 2.966 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 3, "joint": "rUpperarm", "angle": 1.528 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 3, "joint": "rClavicle", "angle": 1.855 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 4, "joint": "rForearm", "angle": 2.455 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 4, "joint": "rUpperarm", "angle": 1.442 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 4, "joint": "rClavicle", "angle": 1.732 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 5, "joint": "rForearm", 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"v384e_clavicle_reach_to_explicit_snap", "iter": 127, "joint": "rUpperarm", "angle": 0.018 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 127, "joint": "rClavicle", "angle": 0.015 } ] }, "relock": { "ok": true, "stage": "v384e_arm_explicit_snap_outward_elbow_branch", "side": "R", "policy": "V384E: preserve explicit wrist target, solve upperarm/forearm through the outward natural elbow branch instead of accepting the mirrored CCD branch.", "L1": 0.23095, "L2": 0.22045, "requestedD": 0.44464, "usedD": 0.44464, "reachable": true, "oldBranchDot": -0.92432, "branchDot": 1, "elbowTarget": { "x": -0.23634, "y": 1.06949, "z": 0.19637 }, "wristTarget": { "x": -0.25379, "y": 0.9386, "z": 0.3729 }, "wristAfter": { "x": -0.25379, "y": 0.9386, "z": 0.3729 }, "finalError": 0, "upperAim": { "ok": true }, "foreAim": { "ok": true } } }, "legMeet": { "active": false, "applied": false, "reason": "arm_reached_explicit_snap" }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": true, "blocked": false, "side": "R", "curlAxis": "z", "curlSign": 1, "pass": true, "fullGripComplete": false, "results": [ { "finger": "index", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.56389, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.56389, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00352, "prevDistanceToSurfaceM": 0.02104, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.56389, "score": 0.004084, "distanceToSurfaceM": 0.00352 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00249, "prevDistanceToSurfaceM": 0.00249, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00249, "distanceToSurfaceM": 0.00249 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00752, "prevDistanceToSurfaceM": 0.00752, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.00752, "distanceToSurfaceM": 0.00752 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08085, "requiredRadialM": 0.0598, "normalizedEllipticRadius": 1.35187, "signedDistanceM": 0.02104, "signedOutsideM": 0.07827, "outsideScore": 0.96812, "distanceToSurfaceM": 0.02104, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.24824, "y": 0.92601, "z": 0.48477 }, "score": 0.02104 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.063, "requiredRadialM": 0.06051, "normalizedEllipticRadius": 1.04113, "signedDistanceM": 0.00249, "signedOutsideM": 0.05482, "outsideScore": 0.87014, "distanceToSurfaceM": 0.00249, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.25519, "y": 0.90206, "z": 0.4922 }, "score": 0.00249 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "middle", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.88611, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 0.88611, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00407, "prevDistanceToSurfaceM": 0.02638, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0.88611, "score": 0.004956, "distanceToSurfaceM": 0.00407 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00417, "prevDistanceToSurfaceM": 0.00417, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00417, "distanceToSurfaceM": 0.00417 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01362, "prevDistanceToSurfaceM": 0.01362, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.01362, "distanceToSurfaceM": 0.01362 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08686, "requiredRadialM": 0.06047, "normalizedEllipticRadius": 1.43626, "signedDistanceM": 0.02638, "signedOutsideM": 0.083, "outsideScore": 0.95561, "distanceToSurfaceM": 0.02638, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.26512, "y": 0.93239, "z": 0.47359 }, "score": 0.02638 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.06308, "requiredRadialM": 0.05901, "normalizedEllipticRadius": 1.06903, "signedDistanceM": 0.00407, "signedOutsideM": 0.05183, "outsideScore": 0.82164, "distanceToSurfaceM": 0.00407, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.27313, "y": 0.90092, "z": 0.47877 }, "score": 0.00407 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 1.12778, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 1.12778, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00361, "prevDistanceToSurfaceM": 0.0273, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.12778, "score": 0.004738, "distanceToSurfaceM": 0.00361 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00321, "prevDistanceToSurfaceM": 0.00321, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.00321, "distanceToSurfaceM": 0.00321 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00699, "prevDistanceToSurfaceM": 0.00699, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.2, "score": 0.00699, "distanceToSurfaceM": 0.00699 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08844, "requiredRadialM": 0.06114, "normalizedEllipticRadius": 1.4465, "signedDistanceM": 0.0273, "signedOutsideM": 0.08187, "outsideScore": 0.92571, "distanceToSurfaceM": 0.0273, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.28196, "y": 0.93256, "z": 0.46603 }, "score": 0.0273 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.05909, "requiredRadialM": 0.05588, "normalizedEllipticRadius": 1.05747, "signedDistanceM": 0.00321, "signedOutsideM": 0.04382, "outsideScore": 0.74158, "distanceToSurfaceM": 0.00321, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.29004, "y": 0.89478, "z": 0.46444 }, "score": 0.00321 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 1.45, "active": true }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0, "active": true } ], "rows": [ { "finger": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": 1, "amount": 1.45, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00454, "prevDistanceToSurfaceM": 0.02743, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": 1, "amount": 1.45, "score": 0.03335, "distanceToSurfaceM": 0.00454 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00022, "prevDistanceToSurfaceM": 0.00022, "worstPenetrationM": 0.00137, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.02758, "distanceToSurfaceM": 0.00022 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": 1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00166, "prevDistanceToSurfaceM": 0.00166, "worstPenetrationM": 0.00228, "bestCandidate": { "axis": "z", "sign": 1, "amount": 0, "score": 0.02902, "distanceToSurfaceM": 0.00166 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.08852, "requiredRadialM": 0.06108, "normalizedEllipticRadius": 1.44913, "signedDistanceM": 0.02743, "signedOutsideM": 0.07986, "outsideScore": 0.90224, "distanceToSurfaceM": 0.02743, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.29744, "y": 0.93208, "z": 0.45521 }, "score": 0.02743 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0.00228, "best": { "shapeType": "mesh_derived_tapered_elliptic_foot_shoe_v1", "radialM": 0.0578, "requiredRadialM": 0.05758, "normalizedEllipticRadius": 1.00387, "signedDistanceM": 0.00022, "signedOutsideM": 0.04531, "outsideScore": 0.78386, "distanceToSurfaceM": 0.00022, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.30226, "y": 0.89849, "z": 0.44459 }, "score": 0.00022 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true } ], "thumb": { "active": false, "blocked": true, "reason": "thumb_requires_its_own_anatomical_opposition_axis_after_four_finger_visual_approval" }, "parentDrift": { "checked": 13, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Calf", "changed": false, "localQuatDeltaRad": 3e-8, "worldPosDeltaM": 0 }, { "bone": "R_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Upperarm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "R_Forearm", "changed": false, "localQuatDeltaRad": 4.2e-8, "worldPosDeltaM": 0 }, { "bone": "R_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 1, "reason": "mediaPipe_normalized_ik_receiving_zone_minimum_palm_correction" }, "singleAuthority": true, "supersedes": [ "genericGripCollectGeometry", "genericGripNearest", "genericGripChooseFirstContact", "genericGripLocalSkinClearance", "full_wrist_roll_search", "mesh_target_chasing" ], "policy": "V338: source description/contact metadata declares grip intent; normalized MediaPipe/IK derives a broad receiver zone and radial approach on the target segment; the posed collision cylinder resolves exact contact. The approved neutral hand, actual palm anchors and side-specific finger closure remain unchanged." }, { "schema": "NEXPROD01_GENERIC_GRIP_SOLVER_V1", "version": "V339_TEMPORAL_RECEIVER_SECTOR", "active": true, "applied": true, "ok": true, "pass": true, "side": "L", "status": "PALM_PLUS_FOUR_FINGERS_READY_FOR_VISUAL_QA", "neutralization": { "schema": "NEXPROD01_GENERIC_GRIP_NEUTRAL_HAND_V1", "ok": true, "side": "L", "resetFingerBones": [ "L_Thumb1", "L_Thumb2", "L_Thumb3", "L_Index1", "L_Index2", "L_Index3", "L_Mid1", "L_Mid2", "L_Mid3", "L_Ring1", "L_Ring2", "L_Ring3", "L_Pinky1", "L_Pinky2", "L_Pinky3" ], "beforeLocalQuat": { "x": 0.13322287, "y": -0.668218682, "z": -0.043801073, "w": 0.730627749 }, "restLocalQuat": { "x": -0.017111981, "y": 0.000074568, "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": -0.01481, "y": 0.87274, "z": 0.25612 }, "palmSeedKeys": [ "L_PalmBase", "L_PalmIndexBase", "L_PalmPinkyBase" ], "axisA": "L_Foot", "axisB": "L_Calf", "sourceAxisLengthM": 0.39526, "sourceT": 0.717716, "centerT": 0.717716, "minT": 0.717716, "maxT": 0.717716, "halfWidthT": 0, "radialFrame": { "lateralWeight": -0.668284, "forwardWeight": 0.743907, "sourceRadialM": 0.130837, "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 }, "v373SeparatedFrontShinSnap": { "t": 0.84, "radial": "front_visible_separated_from_sole", "minSeparationM": 0.08, "reason": "V371 put upper and lower hands into same cluster; upper shin snap must be separate from foot/sole snap." }, "v373FinalSeparatedFrontShinSnap": { "t": 0.7, "radial": "front_visible_separated_from_sole", "minSeparationM": 0.1, "reason": "avoid V371 collapse where upper/lower hands landed same cluster" } }, "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": 0.7, "radial": "front_visible_separated_from_sole", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V373 FINAL: visible/front lower-shin snap separated from foot/sole snap; t chosen by sweep to keep >0.10m bilateral separation and Node PASS." }, "radialSemantic": "explicit_front_lower_shin", "centerT": 0.3 }, "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": 0.7, "radial": "front_visible_separated_from_sole", "source": "user_correction_existing_collision_mesh_snap_point", "policy": "V373 FINAL: visible/front lower-shin snap separated from foot/sole snap; t chosen by sweep to keep >0.10m bilateral separation and Node PASS." }, "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": 0.717716, "selectedRadialAngleDeg": 0, "candidateCount": 1, "candidates": [ { "t": 0.717716, "radialAngleDeg": 0, "indexDistanceM": 0.231787, "pinkyDistanceM": 0.271459, "movementM": 0.231787, "centerPenaltyM": 0, "angularPenaltyM": 0, "score": 0.231787 } ] } }, "cylinder": { "axisA": "L_Foot", "axisB": "L_Calf", "axisPoint": { "x": -0.18049, "y": 0.88286, "z": 0.38262 }, "axis": { "x": -0.96657, "y": -0.24944, "z": 0.05937 }, "bodyRight": { "x": -0.98451, "y": -0.17291, "z": 0.02919 }, "outward": { "x": 0.43473, "y": 0.43512, "z": 0.78847 }, "radiusM": 0.03973, "selectedT": 0.717716, "radialAngleDeg": 0, "snapPoint": { "x": -0.16322, "y": 0.90015, "z": 0.41395 } }, "palm": { "firstPalm": "indexAnchor", "secondPalm": "pinkyAnchor", "indexSnapDistanceBeforeM": 0.231787, "pinkySnapDistanceBeforeM": 0.271459, "firstSnapErrorM": 0, "lineAngleDeg": 0, "closeDirectionDot": 0.866631, "rollDeg": 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"v384e_clavicle_reach_to_explicit_snap", "iter": 121, "joint": "lUpperarm", "angle": 0.019 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 121, "joint": "lClavicle", "angle": 0.016 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 122, "joint": "lUpperarm", "angle": 0.019 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 122, "joint": "lClavicle", "angle": 0.016 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 123, "joint": "lUpperarm", "angle": 0.018 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 123, "joint": "lClavicle", "angle": 0.015 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 124, "joint": "lUpperarm", "angle": 0.018 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 124, "joint": "lClavicle", "angle": 0.015 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 125, "joint": "lUpperarm", "angle": 0.017 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 125, "joint": "lClavicle", "angle": 0.014 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 126, "joint": "lUpperarm", "angle": 0.017 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 126, "joint": "lClavicle", "angle": 0.014 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 127, "joint": "lUpperarm", "angle": 0.016 }, { "stage": "v384e_clavicle_reach_to_explicit_snap", "iter": 127, "joint": "lClavicle", "angle": 0.013 } ] }, "relock": { "ok": true, "stage": "v384e_arm_explicit_snap_outward_elbow_branch", "side": "L", "policy": "V384E: preserve explicit wrist target, solve upperarm/forearm through the outward natural elbow branch instead of accepting the mirrored CCD branch.", "L1": 0.23329, "L2": 0.21924, "requestedD": 0.44436, "usedD": 0.44436, "reachable": true, "oldBranchDot": -0.99127, "branchDot": 1, "elbowTarget": { "x": 0.02115, "y": 1.05183, "z": 0.26465 }, "wristTarget": { "x": -0.11822, "y": 0.96623, "z": 0.41065 }, "wristAfter": { "x": -0.11822, "y": 0.96623, "z": 0.41065 }, "finalError": 0, "upperAim": { "ok": true }, "foreAim": { "ok": true } } }, "legMeet": { "active": false, "applied": false, "reason": "arm_reached_explicit_snap" }, "fingerLayer": { "schema": "NEXPROD01_V335_STEP3_PER_SIDE_Z_SEQUENTIAL_FOUR_FINGER_CONTACT", "active": true, "blocked": false, "side": "L", "curlAxis": "z", "curlSign": -1, "pass": true, "fullGripComplete": false, "results": [ { "finger": "index", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 0.725, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0.5, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "index", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 0.725, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00597, "prevDistanceToSurfaceM": 0.01648, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.725, "score": 0.006695, "distanceToSurfaceM": 0.00597 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0.5, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00585, "prevDistanceToSurfaceM": 0.00792, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.5, "score": 0.00635, "distanceToSurfaceM": 0.00585 }, "reason": "stopped_at_first_contact" }, { "finger": "index", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.00772, "prevDistanceToSurfaceM": 0.00772, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.00772, "distanceToSurfaceM": 0.00772 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.05511, "requiredRadialM": 0.03862, "normalizedEllipticRadius": 1.4267, "signedDistanceM": 0.01648, "signedOutsideM": 0.04601, "outsideScore": 0.83486, "distanceToSurfaceM": 0.01648, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.17402, "y": 0.88774, "z": 0.43729 }, "score": 0.01648 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03845, "requiredRadialM": 0.0326, "normalizedEllipticRadius": 1.17949, "signedDistanceM": 0.00585, "signedOutsideM": 0.01622, "outsideScore": 0.42179, "distanceToSurfaceM": 0.00585, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.1711, "y": 0.85959, "z": 0.4118 }, "score": 0.00585 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "middle", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.20833, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 1.2, "active": true } ], "rows": [ { "finger": "middle", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.20833, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.005, "prevDistanceToSurfaceM": 0.02762, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.20833, "score": 0.006208, "distanceToSurfaceM": 0.005 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.0051, "prevDistanceToSurfaceM": 0.0051, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.0051, "distanceToSurfaceM": 0.0051 }, "reason": "stopped_at_first_contact" }, { "finger": "middle", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 1.2, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.0127, "prevDistanceToSurfaceM": 0.0127, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.2, "score": 0.0127, "distanceToSurfaceM": 0.0127 }, "reason": "approved_axis_safe_cap_no_contact_signal" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06481, "requiredRadialM": 0.03719, "normalizedEllipticRadius": 1.74262, "signedDistanceM": 0.02762, "signedOutsideM": 0.05003, "outsideScore": 0.77192, "distanceToSurfaceM": 0.02762, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.15635, "y": 0.88055, "z": 0.44566 }, "score": 0.02762 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.0379, "requiredRadialM": 0.0329, "normalizedEllipticRadius": 1.15198, "signedDistanceM": 0.005, "signedOutsideM": 0.0174, "outsideScore": 0.45907, "distanceToSurfaceM": 0.005, "penetrationM": 0, "surfaceOk": true, "sideOk": true, "point": { "x": -0.14874, "y": 0.86723, "z": 0.41115 }, "score": 0.005 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "ring", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.45, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 0, "active": true } ], "rows": [ { "finger": "ring", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.45, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00413, "prevDistanceToSurfaceM": 0.03059, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.45, "score": 0.00558, "distanceToSurfaceM": 0.00413 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00271, "prevDistanceToSurfaceM": 0.00271, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00271, "distanceToSurfaceM": 0.00271 }, "reason": "stopped_at_first_contact" }, { "finger": "ring", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00393, "prevDistanceToSurfaceM": 0.00393, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00393, "distanceToSurfaceM": 0.00393 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06698, "requiredRadialM": 0.03638, "normalizedEllipticRadius": 1.84082, "signedDistanceM": 0.03059, "signedOutsideM": 0.04894, "outsideScore": 0.73066, "distanceToSurfaceM": 0.03059, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.13792, "y": 0.87877, "z": 0.44572 }, "score": 0.03059 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03424, "requiredRadialM": 0.03153, "normalizedEllipticRadius": 1.08586, "signedDistanceM": 0.00271, "signedOutsideM": 0.00789, "outsideScore": 0.2306, "distanceToSurfaceM": 0.00271, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": -0.12633, "y": 0.8683, "z": 0.39996 }, "score": 0.00271 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true }, { "finger": "pinky", "terms": [ { "seg": 0, "axis": "z", "sign": -1, "amount": 1.45, "active": true }, { "seg": 1, "axis": "z", "sign": -1, "amount": 0.3, "active": true }, { "seg": 2, "axis": "z", "sign": -1, "amount": 0, "active": true } ], "rows": [ { "finger": "pinky", "segment": 0, "joint": "MCP", "active": true, "axis": "z", "sign": -1, "amount": 1.45, "approvedSideZ": true, "contactOk": false, "bestDistanceToSurfaceM": 0.01202, "prevDistanceToSurfaceM": 0.03089, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 1.45, "score": 0.01347, "distanceToSurfaceM": 0.01202 }, "reason": "best_nonpenetrating_improvement" }, { "finger": "pinky", "segment": 1, "joint": "PIP", "active": true, "axis": "z", "sign": -1, "amount": 0.3, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00562, "prevDistanceToSurfaceM": 0.00909, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0.3, "score": 0.00592, "distanceToSurfaceM": 0.00562 }, "reason": "stopped_at_first_contact" }, { "finger": "pinky", "segment": 2, "joint": "DIP", "active": true, "axis": "z", "sign": -1, "amount": 0, "approvedSideZ": true, "contactOk": true, "bestDistanceToSurfaceM": 0.00239, "prevDistanceToSurfaceM": 0.00239, "worstPenetrationM": 0, "bestCandidate": { "axis": "z", "sign": -1, "amount": 0, "score": 0.00239, "distanceToSurfaceM": 0.00239 }, "reason": "stopped_at_first_contact" } ], "startMetric": { "contactOk": false, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.06678, "requiredRadialM": 0.03589, "normalizedEllipticRadius": 1.86067, "signedDistanceM": 0.03089, "signedOutsideM": 0.04693, "outsideScore": 0.70267, "distanceToSurfaceM": 0.03089, "penetrationM": 0, "surfaceOk": false, "sideOk": true, "point": { "x": -0.11902, "y": 0.87997, "z": 0.44351 }, "score": 0.03089 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "finalMetric": { "contactOk": true, "anySide": true, "worstPenetrationM": 0, "best": { "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1", "radialM": 0.03356, "requiredRadialM": 0.03117, "normalizedEllipticRadius": 1.07655, "signedDistanceM": 0.00239, "signedOutsideM": 0.00319, "outsideScore": 0.09496, "distanceToSurfaceM": 0.00239, "penetrationM": 0, "surfaceOk": false, "sideOk": false, "point": { "x": -0.10596, "y": 0.87125, "z": 0.39383 }, "score": 0.00239 }, "sampleCount": 24, "metricType": "simplified_existing_cylinder", "segment": null }, "contactOk": true, "active": true } ], "thumb": { "active": false, "blocked": true, "reason": "thumb_requires_its_own_anatomical_opposition_axis_after_four_finger_visual_approval" }, "parentDrift": { "checked": 13, "changed": [], "pass": true, "rows": [ { "bone": "Hip", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Pelvis", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Thigh", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Calf", "changed": false, "localQuatDeltaRad": 3e-8, "worldPosDeltaM": 0 }, { "bone": "L_Foot", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_ToeBase", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Waist", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine01", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Spine02", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "Head", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Upperarm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Forearm", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 }, { "bone": "L_Hand", "changed": false, "localQuatDeltaRad": 0, "worldPosDeltaM": 0 } ] }, "policy": "V335 step 3: preserve the approved palm/hand/arm/leg lock. Close Index/Mid/Ring/Pinky one joint at a time MCP -> PIP -> DIP, only on the anatomical side-specific local Z direction (L -Z, R +Z). Every joint stops against the same existing collision cylinder. The thumb remains rig-neutral because applying the finger Z rule to it penetrated the cylinder; no unapproved thumb axis, mesh target, wrist, arm, leg or snap-point writer is allowed." }, "search": { "active": true, "candidateCount": 1, "reason": "mediaPipe_normalized_ik_receiving_zone_minimum_palm_correction" }, "singleAuthority": true, "supersedes": [ "genericGripCollectGeometry", "genericGripNearest", "genericGripChooseFirstContact", "genericGripLocalSkinClearance", "full_wrist_roll_search", "mesh_target_chasing" ], "policy": "V338: source description/contact metadata declares grip intent; normalized MediaPipe/IK derives a broad receiver zone and radial approach on the target segment; the posed collision cylinder resolves exact contact. The approved neutral hand, actual palm anchors and side-specific finger closure remain unchanged." } ], "perSolveReceiverDrift": [ { "order": 0, "side": "R", "drift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "L_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] } }, { "order": 1, "side": "L", "drift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "L_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] } } ], "sharedReceiverDrift": { "pass": true, "maxPositionDriftM": 0, "maxQuaternionComponentDrift": 0, "rows": [ { "name": "L_Thigh", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Calf", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_Foot", "positionDriftM": 0, "quaternionComponentDrift": 0 }, { "name": "L_ToeBase", "positionDriftM": 0, "quaternionComponentDrift": 0 } ] }, "policy": "V342 step 3: consume the ordered source grips[] collection with the existing generic single-hand grip capability. Each hand solves independently. The shared lifted-leg receiver is locked for every solve, so the existing leg-meet fallback is forbidden. No exercise-name branch, fallback geometry or guessed snap point is introduced." }, "actualSample": null } ] }