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      "name": "L_IndexToe1",
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    {
      "name": "L_BigToe1",
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    {
      "name": "L_CalfTwist01",
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    {
      "name": "L_CalfTwist01",
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    {
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    {
      "name": "L_CalfTwist02",
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    {
      "name": "L_KneeShareBone",
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    {
      "name": "L_KneeShareBone",
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    {
      "name": "L_ThighTwist01",
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    },
    {
      "name": "L_ThighTwist01",
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    {
      "name": "L_ThighTwist01",
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    {
      "name": "L_ThighTwist02",
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    {
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    {
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    {
      "name": "R_Thigh",
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      "parent": "Pelvis"
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    {
      "name": "R_Calf",
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        0.41262,
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      "parent": "R_Thigh"
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    {
      "name": "R_KneeShareBone",
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    {
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    {
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      "parent": "R_Calf"
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    {
      "name": "R_Foot",
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      "parent": "R_Foot"
    },
    {
      "name": "R_ToeBase",
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        0,
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      "parent": "R_Foot"
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    {
      "name": "R_BigToe1",
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      "parent": "R_ToeBase"
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    {
      "name": "R_PinkyToe1",
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    {
      "name": "R_RingToe1",
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        -0.03437
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    {
      "name": "R_IndexToe1",
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      "parent": "R_ToeBase"
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    {
      "name": "R_MidToe1",
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    },
    {
      "name": "R_MidToe1",
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    {
      "name": "R_ToeBaseShareBone",
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      "parent": "R_Foot"
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    {
      "name": "R_CalfTwist01",
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    {
      "name": "R_CalfTwist01",
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    {
      "name": "R_CalfTwist01",
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    {
      "name": "R_CalfTwist02",
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    {
      "name": "R_ThighTwist01",
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    },
    {
      "name": "R_ThighTwist01",
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    },
    {
      "name": "R_ThighTwist01",
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    {
      "name": "R_ThighTwist02",
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    {
      "name": "R_ThighTwist02",
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    {
      "name": "R_ThighTwist02",
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      "parent": "R_ThighTwist02"
    },
    {
      "name": "Waist",
      "p": [
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      "parent": "Hip"
    },
    {
      "name": "Waist",
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    },
    {
      "name": "Waist",
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    {
      "name": "Spine01",
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      "parent": "Waist"
    },
    {
      "name": "Spine01",
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    },
    {
      "name": "Spine01",
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    {
      "name": "Spine02",
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    },
    {
      "name": "Spine02",
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    },
    {
      "name": "Spine02",
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    },
    {
      "name": "Spine02",
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    },
    {
      "name": "NeckTwist01",
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        0.01102
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      "parent": "Spine02"
    },
    {
      "name": "NeckTwist01",
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    },
    {
      "name": "NeckTwist01",
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    },
    {
      "name": "NeckTwist01",
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    },
    {
      "name": "NeckTwist02",
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      "parent": "NeckTwist01"
    },
    {
      "name": "NeckTwist02",
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      "parent": "NeckTwist02"
    },
    {
      "name": "NeckTwist02",
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      "parent": "NeckTwist02"
    },
    {
      "name": "NeckTwist02",
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      "parent": "NeckTwist02"
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    {
      "name": "Head",
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        0.04624
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      "parent": "NeckTwist02"
    },
    {
      "name": "Head",
      "p": [
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        0.04624
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      "parent": "Head"
    },
    {
      "name": "Head",
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    },
    {
      "name": "Head",
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    },
    {
      "name": "Head",
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    },
    {
      "name": "FacialBone",
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    },
    {
      "name": "JawRoot",
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    },
    {
      "name": "JawRoot",
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    {
      "name": "Tongue01",
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    {
      "name": "Tongue02",
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    {
      "name": "Tongue03",
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    {
      "name": "Teeth02",
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    {
      "name": "R_Eye",
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      "parent": "FacialBone"
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    {
      "name": "L_Eye",
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      "parent": "FacialBone"
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    {
      "name": "UpperJaw",
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    {
      "name": "Teeth01",
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    {
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      "parent": "Spine02"
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    {
      "name": "L_Clavicle",
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    {
      "name": "L_Clavicle",
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    {
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      "parent": "L_Clavicle"
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    {
      "name": "L_Forearm",
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    },
    {
      "name": "L_ForearmTwist01",
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      "parent": "L_Forearm"
    },
    {
      "name": "L_ForearmTwist01",
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      "parent": "L_ForearmTwist01"
    },
    {
      "name": "L_ForearmTwist01",
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      "parent": "L_ForearmTwist01"
    },
    {
      "name": "L_ForearmTwist02",
      "p": [
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      "parent": "L_ForearmTwist01"
    },
    {
      "name": "L_ForearmTwist02",
      "p": [
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      "parent": "L_ForearmTwist02"
    },
    {
      "name": "L_ForearmTwist02",
      "p": [
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        1.00903,
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      "parent": "L_ForearmTwist02"
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    {
      "name": "L_ElbowShareBone",
      "p": [
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        1.05183,
        0.26465
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      "parent": "L_Forearm"
    },
    {
      "name": "L_ElbowShareBone",
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        1.05183,
        0.26465
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      "parent": "L_ElbowShareBone"
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    {
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      "p": [
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        0.96623,
        0.41065
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      "parent": "L_Forearm"
    },
    {
      "name": "L_Hand",
      "p": [
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        0.96623,
        0.41065
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      "parent": "L_Hand"
    },
    {
      "name": "L_Pinky1",
      "p": [
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        0.88907,
        0.44003
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      "parent": "L_Hand"
    },
    {
      "name": "L_Pinky2",
      "p": [
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        0.87621,
        0.41813
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      "parent": "L_Pinky1"
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    {
      "name": "L_Pinky3",
      "p": [
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        0.87357,
        0.40521
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      "parent": "L_Pinky2"
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    {
      "name": "L_Ring1",
      "p": [
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        0.89175,
        0.44068
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      "parent": "L_Hand"
    },
    {
      "name": "L_Ring2",
      "p": [
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        0.87321,
        0.40943
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      "parent": "L_Ring1"
    },
    {
      "name": "L_Ring3",
      "p": [
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        0.86338,
        0.39049
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      "parent": "L_Ring2"
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    {
      "name": "L_Mid1",
      "p": [
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        0.89481,
        0.44036
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      "parent": "L_Hand"
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    {
      "name": "L_Mid2",
      "p": [
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        0.86723,
        0.41115
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      "parent": "L_Mid1"
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    {
      "name": "L_Mid3",
      "p": [
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        0.84885,
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      "parent": "L_Mid2"
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    {
      "name": "L_Index1",
      "p": [
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      "parent": "L_Hand"
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    {
      "name": "L_Index2",
      "p": [
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        0.86736,
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      "parent": "L_Index1"
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    {
      "name": "L_Index3",
      "p": [
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      "parent": "L_Index2"
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    {
      "name": "L_Thumb1",
      "p": [
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      "parent": "L_Hand"
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    {
      "name": "L_Thumb1",
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      "parent": "L_Thumb1"
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    {
      "name": "L_Thumb2",
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      "parent": "L_Thumb1"
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    {
      "name": "L_Thumb3",
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    {
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    },
    {
      "name": "L_UpperarmTwist01",
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    },
    {
      "name": "L_UpperarmTwist02",
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    },
    {
      "name": "L_UpperarmTwist02",
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    },
    {
      "name": "L_RibsTwist",
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    },
    {
      "name": "L_RibsTwist",
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    {
      "name": "L_Breast",
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    },
    {
      "name": "L_Breast",
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      "parent": "L_Breast"
    },
    {
      "name": "R_RibsTwist",
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    },
    {
      "name": "R_RibsTwist",
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      "parent": "R_RibsTwist"
    },
    {
      "name": "R_Breast",
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    },
    {
      "name": "R_Breast",
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    },
    {
      "name": "R_Clavicle",
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    },
    {
      "name": "R_Clavicle",
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    },
    {
      "name": "R_Clavicle",
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    },
    {
      "name": "R_Upperarm",
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      "parent": "R_Clavicle"
    },
    {
      "name": "R_Forearm",
      "p": [
        -0.23634,
        1.06949,
        0.19637
      ],
      "parent": "R_Upperarm"
    },
    {
      "name": "R_ElbowShareBone",
      "p": [
        -0.23634,
        1.06949,
        0.19637
      ],
      "parent": "R_Forearm"
    },
    {
      "name": "R_ElbowShareBone",
      "p": [
        -0.23634,
        1.06949,
        0.19637
      ],
      "parent": "R_ElbowShareBone"
    },
    {
      "name": "R_ForearmTwist01",
      "p": [
        -0.23634,
        1.06949,
        0.19637
      ],
      "parent": "R_Forearm"
    },
    {
      "name": "R_ForearmTwist01",
      "p": [
        -0.23634,
        1.06949,
        0.19637
      ],
      "parent": "R_ForearmTwist01"
    },
    {
      "name": "R_ForearmTwist01",
      "p": [
        -0.23634,
        1.06949,
        0.19637
      ],
      "parent": "R_ForearmTwist01"
    },
    {
      "name": "R_ForearmTwist02",
      "p": [
        -0.24506,
        1.00404,
        0.28464
      ],
      "parent": "R_ForearmTwist01"
    },
    {
      "name": "R_ForearmTwist02",
      "p": [
        -0.24506,
        1.00404,
        0.28464
      ],
      "parent": "R_ForearmTwist02"
    },
    {
      "name": "R_ForearmTwist02",
      "p": [
        -0.24506,
        1.00404,
        0.28464
      ],
      "parent": "R_ForearmTwist02"
    },
    {
      "name": "R_Hand",
      "p": [
        -0.25379,
        0.9386,
        0.3729
      ],
      "parent": "R_Forearm"
    },
    {
      "name": "R_Hand",
      "p": [
        -0.25379,
        0.9386,
        0.3729
      ],
      "parent": "R_Hand"
    },
    {
      "name": "R_Ring1",
      "p": [
        -0.2781,
        0.93366,
        0.45227
      ],
      "parent": "R_Hand"
    },
    {
      "name": "R_Ring2",
      "p": [
        -0.28848,
        0.89986,
        0.46316
      ],
      "parent": "R_Ring1"
    },
    {
      "name": "R_Ring3",
      "p": [
        -0.29469,
        0.87954,
        0.46828
      ],
      "parent": "R_Ring2"
    },
    {
      "name": "R_Mid1",
      "p": [
        -0.26104,
        0.93381,
        0.45851
      ],
      "parent": "R_Hand"
    },
    {
      "name": "R_Mid2",
      "p": [
        -0.27313,
        0.90092,
        0.47877
      ],
      "parent": "R_Mid1"
    },
    {
      "name": "R_Mid3",
      "p": [
        -0.2812,
        0.87858,
        0.49215
      ],
      "parent": "R_Mid2"
    },
    {
      "name": "R_Thumb1",
      "p": [
        -0.23839,
        0.9281,
        0.39367
      ],
      "parent": "R_Hand"
    },
    {
      "name": "R_Thumb1",
      "p": [
        -0.23839,
        0.9281,
        0.39367
      ],
      "parent": "R_Thumb1"
    },
    {
      "name": "R_Thumb2",
      "p": [
        -0.21374,
        0.91615,
        0.4361
      ],
      "parent": "R_Thumb1"
    },
    {
      "name": "R_Thumb3",
      "p": [
        -0.20796,
        0.91178,
        0.46075
      ],
      "parent": "R_Thumb2"
    },
    {
      "name": "R_Index1",
      "p": [
        -0.24115,
        0.9283,
        0.46018
      ],
      "parent": "R_Hand"
    },
    {
      "name": "R_Index2",
      "p": [
        -0.25248,
        0.90752,
        0.48576
      ],
      "parent": "R_Index1"
    },
    {
      "name": "R_Index3",
      "p": [
        -0.2597,
        0.89296,
        0.50293
      ],
      "parent": "R_Index2"
    },
    {
      "name": "R_Pinky1",
      "p": [
        -0.2947,
        0.9329,
        0.44553
      ],
      "parent": "R_Hand"
    },
    {
      "name": "R_Pinky2",
      "p": [
        -0.30026,
        0.90745,
        0.44507
      ],
      "parent": "R_Pinky1"
    },
    {
      "name": "R_Pinky3",
      "p": [
        -0.30346,
        0.89312,
        0.4443
      ],
      "parent": "R_Pinky2"
    },
    {
      "name": "R_UpperarmTwist01",
      "p": [
        -0.14807,
        1.22148,
        0.04655
      ],
      "parent": "R_Upperarm"
    },
    {
      "name": "R_UpperarmTwist01",
      "p": [
        -0.14807,
        1.22148,
        0.04655
      ],
      "parent": "R_UpperarmTwist01"
    },
    {
      "name": "R_UpperarmTwist02",
      "p": [
        -0.1922,
        1.14549,
        0.12146
      ],
      "parent": "R_UpperarmTwist01"
    },
    {
      "name": "R_UpperarmTwist02",
      "p": [
        -0.1922,
        1.14549,
        0.12146
      ],
      "parent": "R_UpperarmTwist02"
    }
  ],
  "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",
                "angle": 2.049
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 5,
                "joint": "rUpperarm",
                "angle": 1.378
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 5,
                "joint": "rClavicle",
                "angle": 1.621
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 6,
                "joint": "rForearm",
                "angle": 1.721
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 6,
                "joint": "rUpperarm",
                "angle": 1.326
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 6,
                "joint": "rClavicle",
                "angle": 1.521
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 7,
                "joint": "rForearm",
                "angle": 1.454
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 7,
                "joint": "rUpperarm",
                "angle": 1.28
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 7,
                "joint": "rClavicle",
                "angle": 1.43
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 8,
                "joint": "rForearm",
                "angle": 1.234
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 8,
                "joint": "rUpperarm",
                "angle": 1.238
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 8,
                "joint": "rClavicle",
                "angle": 1.346
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 9,
                "joint": "rForearm",
                "angle": 1.051
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 9,
                "joint": "rUpperarm",
                "angle": 1.197
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 9,
                "joint": "rClavicle",
                "angle": 1.268
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 10,
                "joint": "rForearm",
                "angle": 0.899
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 10,
                "joint": "rUpperarm",
                "angle": 1.158
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 10,
                "joint": "rClavicle",
                "angle": 1.195
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 11,
                "joint": "rForearm",
                "angle": 0.771
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 11,
                "joint": "rUpperarm",
                "angle": 1.118
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 11,
                "joint": "rClavicle",
                "angle": 1.128
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 12,
                "joint": "rForearm",
                "angle": 0.664
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 12,
                "joint": "rUpperarm",
                "angle": 1.079
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 12,
                "joint": "rClavicle",
                "angle": 1.065
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 13,
                "joint": "rForearm",
                "angle": 0.573
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                    "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": -19.1813,
          "indexAnchor": {
            "x": -0.16322,
            "y": 0.90015,
            "z": 0.41395
          },
          "pinkyAnchor": {
            "x": -0.11866,
            "y": 0.91165,
            "z": 0.41122
          },
          "palmNormal": {
            "x": 0.05435,
            "y": -0.35445,
            "z": -0.93349
          },
          "indexPlaneAnchor": {
            "x": -0.16789,
            "y": 0.90902,
            "z": 0.42948
          },
          "pinkyPlaneAnchor": {
            "x": -0.11361,
            "y": 0.89799,
            "z": 0.43683
          },
          "calibration": {
            "indexSurfaceDepthM": 0.02077060422251469,
            "pinkySurfaceDepthM": 0.020474905096489998,
            "indexSurfaceCount": 5,
            "pinkySurfaceCount": 11
          },
          "indexCylinder": {
            "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1",
            "radialM": 0.03481,
            "requiredRadialM": 0.03973,
            "normalizedEllipticRadius": 0.87622,
            "signedDistanceM": -0.00492,
            "signedOutsideM": 0.03051,
            "outsideScore": 0.87622,
            "distanceToSurfaceM": 0.00492,
            "penetrationM": 0.00492,
            "surfaceOk": true,
            "sideOk": true
          },
          "pinkyCylinder": {
            "shapeType": "mesh_derived_tapered_elliptic_lower_leg_v1",
            "radialM": 0.03481,
            "requiredRadialM": 0.03973,
            "normalizedEllipticRadius": 0.87622,
            "signedDistanceM": -0.00492,
            "signedOutsideM": 0.03051,
            "outsideScore": 0.87622,
            "distanceToSurfaceM": 0.00492,
            "penetrationM": 0.00492,
            "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": 0.0007,
            "rows": [
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 0,
                "joint": "lForearm",
                "angle": 40.914
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 0,
                "joint": "lUpperarm",
                "angle": 1.053
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 0,
                "joint": "lClavicle",
                "angle": 3.668
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 1,
                "joint": "lForearm",
                "angle": 7.001
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 1,
                "joint": "lUpperarm",
                "angle": 0.204
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 1,
                "joint": "lClavicle",
                "angle": 3.57
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 2,
                "joint": "lForearm",
                "angle": 5.553
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 2,
                "joint": "lUpperarm",
                "angle": 0.482
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 2,
                "joint": "lClavicle",
                "angle": 3.495
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 3,
                "joint": "lForearm",
                "angle": 4.475
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 3,
                "joint": "lUpperarm",
                "angle": 0.961
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 3,
                "joint": "lClavicle",
                "angle": 3.422
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 4,
                "joint": "lForearm",
                "angle": 3.642
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 4,
                "joint": "lUpperarm",
                "angle": 1.327
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 4,
                "joint": "lClavicle",
                "angle": 3.341
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 5,
                "joint": "lForearm",
                "angle": 2.983
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 5,
                "joint": "lUpperarm",
                "angle": 1.603
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 5,
                "joint": "lClavicle",
                "angle": 3.248
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 6,
                "joint": "lForearm",
                "angle": 2.451
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 6,
                "joint": "lUpperarm",
                "angle": 1.805
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 6,
                "joint": "lClavicle",
                "angle": 3.14
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 7,
                "joint": "lForearm",
                "angle": 2.016
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 7,
                "joint": "lUpperarm",
                "angle": 1.946
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 7,
                "joint": "lClavicle",
                "angle": 3.02
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 8,
                "joint": "lForearm",
                "angle": 1.656
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 8,
                "joint": "lUpperarm",
                "angle": 2.038
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 8,
                "joint": "lClavicle",
                "angle": 2.89
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 9,
                "joint": "lForearm",
                "angle": 1.357
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 9,
                "joint": "lUpperarm",
                "angle": 2.088
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 9,
                "joint": "lClavicle",
                "angle": 2.753
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 10,
                "joint": "lForearm",
                "angle": 1.106
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 10,
                "joint": "lUpperarm",
                "angle": 2.106
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 10,
                "joint": "lClavicle",
                "angle": 2.612
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 11,
                "joint": "lForearm",
                "angle": 0.895
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 11,
                "joint": "lUpperarm",
                "angle": 2.097
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 11,
                "joint": "lClavicle",
                "angle": 2.47
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 12,
                "joint": "lForearm",
                "angle": 0.719
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 12,
                "joint": "lUpperarm",
                "angle": 2.068
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 12,
                "joint": "lClavicle",
                "angle": 2.328
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
                "iter": 13,
                "joint": "lForearm",
                "angle": 0.57
              },
              {
                "stage": "v384e_clavicle_reach_to_explicit_snap",
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                  "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."
  },
  "solvePass": false
}