{ "schema": "V266_RIGHT_GOLDEN_REGRESSION_NO_IMAGEGEN", "created": "2026-08-19T09:19:38.993817+00:00", "runtimeTrace": { "root": "/mnt/data/v266_clean_grip_contract_base/NEXT11_V266_CLEAN_GRIP_CONTRACT_BASE_ROOT", "runtime": "/mnt/data/v266_clean_grip_contract_base/NEXT11_V266_CLEAN_GRIP_CONTRACT_BASE_ROOT/assets/nexprod/nexprod01-runtime-candidate.mjs", "port": 40709, "events": [ "CONSOLE error Failed to load resource: the server responded with a status of 404 (File not found)", "CONSOLE warning THREE.FBXLoader: Vertex has more than 4 skinning weights assigned to vertex. Deleting additional weights.", "CONSOLE warning THREE.FBXLoader: Vertex has more than 4 skinning weights assigned to vertex. Deleting additional weights.", "CONSOLE warning THREE.FBXLoader: Vertex has more than 4 skinning weights assigned to vertex. Deleting additional weights." ], "url": "http://127.0.0.1:40709/tools/nexprod01-player-testhost-v03.html?exercise=hurdle-stretch&phase=0.75&play=0&safeBoot=0&debug=0&visualMode=nex&nativeRuntimeParity=1&idleSleepAfterReady=0&t=1787131164.0178773&v=V266_RIGHT_REGRESSION", "polls": [ [ { "i": 0, "url": "http://127.0.0.1:40709/tools/nexprod01-player-testhost-v03.html?exercise=hurdle-stretch&phase=0.75&play=0&safeBoot=0&debug=0&visualMode=nex&nativeRuntimeParity=1&idleSleepAfterReady=0&t=1787131164.0178773&v=V266_RIGHT_REGRESSION&caseId=warmup_hurdle_stretch", "ready": "complete", "hasModel": false }, { "i": 1, "url": "http://127.0.0.1:40709/assets/nexprod/nexprod01-player.html?exercise=hurdle-stretch&caseId=warmup_hurdle_stretch&phase=0.75&play=0&debug=0&visualMode=nex&instanceId=nexp-v26-mszvr3ot-m9h9zre0tl&safeBoot=0&lowPower=1&pixelRatioCap=1.15&antialias=1&maxFPS=24&staticAfterReady=0&idleSleepAfterReady=0&nativeRuntimeParity=1&nativeSkin=1&skinPreset=freeridehuman&readyTimeoutMs=9000&hostLifecycle=persistent-single-player-v32&build=NEXPROD01_PLAYER_TESTHOST_V58_OTHER_11_IK_BIOMECH_REAPPROVAL_2026_06_23", "ready": "complete", "hasModel": true } ] ], "href": "http://127.0.0.1:40709/assets/nexprod/nexprod01-player.html?exercise=hurdle-stretch&caseId=warmup_hurdle_stretch&phase=0.75&play=0&debug=0&visualMode=nex&instanceId=nexp-v26-mszvr3ot-m9h9zre0tl&safeBoot=0&lowPower=1&pixelRatioCap=1.15&antialias=1&maxFPS=24&staticAfterReady=0&idleSleepAfterReady=0&nativeRuntimeParity=1&nativeSkin=1&skinPreset=freeridehuman&readyTimeoutMs=9000&hostLifecycle=persistent-single-player-v32&build=NEXPROD01_PLAYER_TESTHOST_V58_OTHER_11_IK_BIOMECH_REAPPROVAL_2026_06_23", "ready": "complete", "hasModel": true, "globals": [ "__NEXPROD01_DEBUG_SCENE", "__NEXPROD01_PUBLISH", "__NEXPROD01_V100_GRIP_CAPSULE_SURFACE", "__NEXPROD01_V102_HEEL_TO_GLUTE_REACH", "__NEXPROD01_V110_DISTAL_GRIP_COUPLED", "__NEXPROD01_V140_GRIP_HAND_QA_TINT", "__NEXPROD01_V151_ACTUAL_MESH_TRUTH", "__NEXPROD01_V153_MESH_FEEDBACK", "__NEXPROD01_V157_REAL_MEDIAPIPE_HAND_FRAME", "__NEXPROD01_V169_LEG_CLOSER_ONLY", "__NEXPROD01_V175_LEG_OUT", "__NEXPROD01_V175_THUMB_BIND", "__NEXPROD01_V184_SNAP_ONLY", "__NEXPROD01_V184_SNAP_ONLY_FEASIBILITY", "__NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH", "__NEXPROD01_V198_V195_DELTA_SINGLE_WRITER", "__NEXPROD01_V199_LOCK_GREEN_ROLL_PINK", "__NEXPROD01_V238_APPROVED_GRIP", "__NEXPROD01_V239_APPROVED_GRIP", "__NEXPROD01_V266_CLEAN_GRIP_CONTRACT", "__NEXPROD01_V69_SHIN_GRIP_FINGER_LAYER", "__NEXPROD01_V70_BIORIG_FULL_GRIP_LAYER", "__NEXPROD01_V93_RIGHT_HAND_CONTROL_PROBE" ], "stages": { "__NEXPROD01_V157_REAL_MEDIAPIPE_HAND_FRAME": { "applied": false, "reason": "not_right_heel_grab" }, "__NEXPROD01_V169_LEG_CLOSER_ONLY": { "applied": false, "reason": "superseded_by_V183_neutral_snap_feasibility" }, "__NEXPROD01_V175_LEG_OUT": { "applied": false, "reason": "superseded_by_V183_neutral_snap_feasibility" }, "__NEXPROD01_V184_SNAP_ONLY": { "applied": false, "gripSide": "R", "fingersPaused": false, "thumbPaused": true, "supersededBy": "V200_LOCKED_HAND_FINGER_CLOSE", "policy": "Snap/wrist is V199 baseline; V200 begins finger close only." }, "__NEXPROD01_V266_CLEAN_GRIP_CONTRACT": { "schema": "NEXPROD01_V266_CLEAN_GRIP_CONTRACT_BASE", "requestedSide": "R", "version": "V266", "intent": "single named grip contract wrapper around golden V239 right process", "noNewLeftLogic": true, "noNearestPointAnchor": true, "noSemanticGuessAnchors": true, "noFingerPhaseUntilPalmContractPass": true, "policy": "V266 does not solve left. It first contains the approved right grip process as one contract. Left must be implemented by parameterizing this contract, not by adding new V-patches.", "applied": true, "implemented": true, "side": "R", "gate": { "v189Pass": true, "v198Pass": true, "v199Applied": true, "side": "R", "golden": "V239/V236 approved right grip pre-finger state", "rightDriftPolicy": "must match V239 before any left work is allowed" }, "stages": { "v189": { "schema": "NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH", "applied": true, "phase": "pre_snap_only", "snapDisabled": true, "fingersDisabled": true, "thumbDisabled": true, "settleDisabled": true, "xRollSource": "raw_I_minus_P_projected", "beforeAngles": { "palmRay_vs_forearm": 68.28, "mcpCenter_vs_forearm": 65.66, "mcpAxis_vs_forearm": 134.88, "palmNormal_vs_forearm": 119.49 }, "afterAngles": { "palmRay_vs_forearm": 10.68, "mcpCenter_vs_forearm": 6.37, "mcpAxis_vs_forearm": 90, "palmNormal_vs_forearm": 90 }, "pass": true, "policy": "Build a neutral Nex hand frame before snap: visual MCP/hand long axis follows forearm. Do not use object normal, thumb-down, palm settle or fingers at this stage." }, "v198": { "schema": "NEXPROD01_V198_V195_DELTA_SINGLE_WRITER", "applied": true, "deltaV195": { "x": 0.04303, "y": -0.00036, "z": -0.02451 }, "clamped": true, "armDelta": { "x": 0.04273, "y": 0.00722, "z": -0.02048 }, "armDeltaM": 0.04793, "legDelta": { "x": -0.0003, "y": 0.00758, "z": 0.00403 }, "legDeltaM": 0.00859, "reach": { "desiredDistance": 0.46, "minReach": 0.0105, "maxReach": 0.45141, "missing": 0.00859 }, "beforeAngles": { "palmRay_vs_forearm": 10.68, "mcpCenter_vs_forearm": 6.37, "mcpAxis_vs_forearm": 90, "palmNormal_vs_forearm": 90 }, "afterAngles": { "palmRay_vs_forearm": 12.56, "mcpCenter_vs_forearm": 8.31, "mcpAxis_vs_forearm": 85.36, "palmNormal_vs_forearm": 78.92 }, "neutralPass": true, "pass": true, "policy": "V198: single writer green->yellow. Fingers/thumb/wrist settle off." }, "v199": { "schema": "NEXPROD01_V199_LOCK_GREEN_ROLL_PINK", "applied": true, "mode": "wristPivotMoveLeg", "rollDeg": 55, "greenLockPolicy": "wrist is fixed; lower-leg is translated by green-point residual to preserve green/yellow contact", "greenBefore": { "x": -0.10797, "y": 0.93192, "z": -0.29516 }, "greenAfter": { "x": -0.14997, "y": 0.91566, "z": -0.26801 }, "pinkBefore": { "x": -0.15422, "y": 0.9504, "z": -0.32392 }, "pinkAfter": { "x": -0.14868, "y": 0.94665, "z": -0.31645 }, "pinkLegTargetBefore": { "x": -0.10186, "y": 0.76352, "z": -0.33015 }, "pinkLegTargetAfter": { "x": -0.14936, "y": 0.74386, "z": -0.3046 }, "legDelta": { "x": -0.0475, "y": -0.01966, "z": 0.02555 }, "legDeltaM": 0.0574, "pinkDistanceBefore": 0.19417, "pinkDistanceAfter": 0.20313, "reach": { "distance": 0.45141, "minReach": 0.0105, "maxReach": 0.45141, "overMax": 0 }, "beforeAngles": { "palmRay_vs_forearm": 12.56, "mcpCenter_vs_forearm": 8.31, "mcpAxis_vs_forearm": 85.36, "palmNormal_vs_forearm": 78.92 }, "afterAngles": { "palmRay_vs_forearm": 12.56, "mcpCenter_vs_forearm": 8.31, "mcpAxis_vs_forearm": 85.36, "palmNormal_vs_forearm": 78.92 }, "policy": "V199 only: after V198 green-yellow single-writer contact, rotate the wrist/palm plate so fixed magenta point approaches lower leg. No fingers, no thumb writer, no additional snap/cylinder/t sweep." } } }, "__NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH": { "schema": "NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH", "applied": true, "phase": "pre_snap_only", "snapDisabled": true, "fingersDisabled": true, "thumbDisabled": true, "settleDisabled": true, "xRollSource": "raw_I_minus_P_projected", "beforeAngles": { "palmRay_vs_forearm": 68.28, "mcpCenter_vs_forearm": 65.66, "mcpAxis_vs_forearm": 134.88, "palmNormal_vs_forearm": 119.49 }, "afterAngles": { "palmRay_vs_forearm": 10.68, "mcpCenter_vs_forearm": 6.37, "mcpAxis_vs_forearm": 90, "palmNormal_vs_forearm": 90 }, "pass": true, "policy": "Build a neutral Nex hand frame before snap: visual MCP/hand long axis follows forearm. Do not use object normal, thumb-down, palm settle or fingers at this stage." }, "__NEXPROD01_V194_THENAR_PATCH_SNAP_ONLY": null, "__NEXPROD01_V198_V195_DELTA_SINGLE_WRITER": { "schema": "NEXPROD01_V198_V195_DELTA_SINGLE_WRITER", "applied": true, "deltaV195": { "x": 0.04303, "y": -0.00036, "z": -0.02451 }, "clamped": true, "armDelta": { "x": 0.04273, "y": 0.00722, "z": -0.02048 }, "armDeltaM": 0.04793, "legDelta": { "x": -0.0003, "y": 0.00758, "z": 0.00403 }, "legDeltaM": 0.00859, "reach": { "desiredDistance": 0.46, "minReach": 0.0105, "maxReach": 0.45141, "missing": 0.00859 }, "beforeAngles": { "palmRay_vs_forearm": 10.68, "mcpCenter_vs_forearm": 6.37, "mcpAxis_vs_forearm": 90, "palmNormal_vs_forearm": 90 }, "afterAngles": { "palmRay_vs_forearm": 12.56, "mcpCenter_vs_forearm": 8.31, "mcpAxis_vs_forearm": 85.36, "palmNormal_vs_forearm": 78.92 }, "neutralPass": true, "pass": true, "policy": "V198: single writer green->yellow. Fingers/thumb/wrist settle off." }, "__NEXPROD01_V199_LOCK_GREEN_ROLL_PINK": { "schema": "NEXPROD01_V199_LOCK_GREEN_ROLL_PINK", "applied": true, "mode": "wristPivotMoveLeg", "rollDeg": 55, "greenLockPolicy": "wrist is fixed; lower-leg is translated by green-point residual to preserve green/yellow contact", "greenBefore": { "x": -0.10797, "y": 0.93192, "z": -0.29516 }, "greenAfter": { "x": -0.14997, "y": 0.91566, "z": -0.26801 }, "pinkBefore": { "x": -0.15422, "y": 0.9504, "z": -0.32392 }, "pinkAfter": { "x": -0.14868, "y": 0.94665, "z": -0.31645 }, "pinkLegTargetBefore": { "x": -0.10186, "y": 0.76352, "z": -0.33015 }, "pinkLegTargetAfter": { "x": -0.14936, "y": 0.74386, "z": -0.3046 }, "legDelta": { "x": -0.0475, "y": -0.01966, "z": 0.02555 }, "legDeltaM": 0.0574, "pinkDistanceBefore": 0.19417, "pinkDistanceAfter": 0.20313, "reach": { "distance": 0.45141, "minReach": 0.0105, "maxReach": 0.45141, "overMax": 0 }, "beforeAngles": { "palmRay_vs_forearm": 12.56, "mcpCenter_vs_forearm": 8.31, "mcpAxis_vs_forearm": 85.36, "palmNormal_vs_forearm": 78.92 }, "afterAngles": { "palmRay_vs_forearm": 12.56, "mcpCenter_vs_forearm": 8.31, "mcpAxis_vs_forearm": 85.36, "palmNormal_vs_forearm": 78.92 }, "policy": "V199 only: after V198 green-yellow single-writer contact, rotate the wrist/palm plate so fixed magenta point approaches lower leg. No fingers, no thumb writer, no additional snap/cylinder/t sweep." }, "__NEXPROD01_V200_LOCKED_HAND_FINGER_CLOSE": null, "__NEXPROD01_V238_APPROVED_GRIP": { "schema": "NEXPROD01_V239_WIRING_FIXED_APPROVED_GRIP", "active": true, "side": "R", "source": "V236_ALL_Z_STOP_INDEX_MCP_0p36", "terms": { "index": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.36, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "middle": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "ring": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "role": "V234_STOP_ON_CONTACT_DIP" } ], "pinky": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.68, "role": "V234_STOP_ON_CONTACT_PIP" } ] }, "rows": [ { "finger": "thumb", "active": false, "reason": "V238 approved grip keeps thumb writer off; V199 wrist/palm/leg lock remains authority" }, { "finger": "index", "bone": "R_Index1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "finger": "index", "bone": "R_Index2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "index", "bone": "R_Index3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "middle", "bone": "R_Mid1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "middle", "bone": "R_Mid2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "middle", "bone": "R_Mid3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "ring", "bone": "R_Ring1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "ring", "bone": "R_Ring2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "ring", "bone": "R_Ring3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "pinky", "bone": "R_Pinky1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "pinky", "bone": "R_Pinky2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.68, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" } ], "policy": "Canonical clean grip: all finger joints use z+ curl plane; MCP -> PIP -> DIP; index MCP override z+0.36 from user-approved V235 audit. Only finger bones are written. No hand, wrist, arm, thumb or leg mutation." }, "__NEXPROD01_V239_APPROVED_GRIP": { "schema": "NEXPROD01_V239_WIRING_FIXED_APPROVED_GRIP", "active": true, "side": "R", "source": "V236_ALL_Z_STOP_INDEX_MCP_0p36", "terms": { "index": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.36, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "middle": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "ring": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "role": "V234_STOP_ON_CONTACT_DIP" } ], "pinky": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.68, "role": "V234_STOP_ON_CONTACT_PIP" } ] }, "rows": [ { "finger": "thumb", "active": false, "reason": "V238 approved grip keeps thumb writer off; V199 wrist/palm/leg lock remains authority" }, { "finger": "index", "bone": "R_Index1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "finger": "index", "bone": "R_Index2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "index", "bone": "R_Index3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "middle", "bone": "R_Mid1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "middle", "bone": "R_Mid2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "middle", "bone": "R_Mid3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "ring", "bone": "R_Ring1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "ring", "bone": "R_Ring2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "ring", "bone": "R_Ring3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "pinky", "bone": "R_Pinky1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "pinky", "bone": "R_Pinky2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.68, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" } ], "policy": "Canonical clean grip: all finger joints use z+ curl plane; MCP -> PIP -> DIP; index MCP override z+0.36 from user-approved V235 audit. Only finger bones are written. No hand, wrist, arm, thumb or leg mutation." }, "__NEXPROD01_V69_SHIN_GRIP_FINGER_LAYER": { "schema": "V94_SPACE_CONTROL_FINGERTIP_TARGET_RUNTIME_META", "v84TipArc": { "schema": "NEXPROD01_V200_LOCKED_HAND_FINGER_CLOSE_LAYER", "active": true, "reason": "initial palm/wrist contact accepted from V199; now rotate fingers only", "policy": "V200: no hand/arm/leg writer in finger phase; only finger bone rotations from locked V199 hand state." }, "version": "BioRig_V126_43_HAND05_PLUS_MEDIAPIPE_21PT_FRAME", "handPreset": "v83_compact_heel_hook", "curl": [ 0.72, 0.88, 0.62 ], "thumbCurl": [ 0.54, 0.38, 0.26 ], "spread": -0.03, "blend": 0.78, "thumbDownRoll": 1.16, "contactStyle": "V92_thumb_down_lock_compact_hook_fingers_wrap_heel_shoe_not_side_clamp", "contactPriority": "grip_shape_first__surface_no_penetration__thumb_opposition__neutral_wrist", "axisMap": { "L": { "forward": "yPos", "normal": "xNeg", "thumb": "index_side_down" }, "R": { "forward": "yPos", "normal": "xPos", "thumb": "index_side_down" } }, "enabled": true, "active": true, "gripSide": "R", "freeSide": "L", "ruleType": "v94_space_control_right_finger_grip", "wristPolicy": "lock_v86_v91_roll_no_v87_90deg_compensation", "mediapipeHandFrame": null, "thumbVectorConstraint": "thumb_tip_world_y_negative_down_opposition", "policy": "V81_HEEL_CUP_HOOK_RUNTIME_META: V81 uses the user reference as a heel-cup hook: palm cups heel/ankle volume, fingers cross shoe/heel, thumb opposes down/in, wrist stays near forearm line and the hand reads as pulling the lower leg forward. V80 used the first facit heel-hook; V79 made thumb direction first-class. Finger layer remains child-layer curl after body IK.", "grip": { "schema": "NEXPROD01_V239_WIRING_FIXED_APPROVED_GRIP", "active": true, "side": "R", "source": "V236_ALL_Z_STOP_INDEX_MCP_0p36", "terms": { "index": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.36, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "middle": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "ring": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "role": "V234_STOP_ON_CONTACT_DIP" } ], "pinky": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.68, "role": "V234_STOP_ON_CONTACT_PIP" } ] }, "rows": [ { "finger": "thumb", "active": false, "reason": "V238 approved grip keeps thumb writer off; V199 wrist/palm/leg lock remains authority" }, { "finger": "index", "bone": "R_Index1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "finger": "index", "bone": "R_Index2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "index", "bone": "R_Index3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "middle", "bone": "R_Mid1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "middle", "bone": "R_Mid2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "middle", "bone": "R_Mid3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "ring", "bone": "R_Ring1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "ring", "bone": "R_Ring2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "ring", "bone": "R_Ring3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "pinky", "bone": "R_Pinky1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "pinky", "bone": "R_Pinky2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.68, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" } ], "policy": "Canonical clean grip: all finger joints use z+ curl plane; MCP -> PIP -> DIP; index MCP override z+0.36 from user-approved V235 audit. Only finger bones are written. No hand, wrist, arm, thumb or leg mutation." }, "free": { "side": "L", "preset": "open_relaxed", "chainCount": 5, "appliedBoneCount": 15, "missingChains": [], "rows": [ { "finger": "thumb", "bone": "L_Thumb1", "segment": 0, "curl": 0.029, "oppose": 0, "thumbDownRoll": 0, "spread": 0.066, "blend": 0.52 }, { "finger": "thumb", "bone": "L_Thumb2", "segment": 1, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "thumb", "bone": "L_Thumb3", "segment": 2, "curl": 0.025, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "index", "bone": "L_Index1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": 0.025, "blend": 0.52 }, { "finger": "index", "bone": "L_Index2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "index", "bone": "L_Index3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "middle", "bone": "L_Mid1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": 0.006, "blend": 0.52 }, { "finger": "middle", "bone": "L_Mid2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "middle", "bone": "L_Mid3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "ring", "bone": "L_Ring1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": -0.017, "blend": 0.52 }, { "finger": "ring", "bone": "L_Ring2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "ring", "bone": "L_Ring3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "pinky", "bone": "L_Pinky1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": -0.034, "blend": 0.52 }, { "finger": "pinky", "bone": "L_Pinky2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "pinky", "bone": "L_Pinky3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 } ] } }, "__NEXPROD01_V140_GRIP_HAND_QA_TINT": { "active": true, "mode": "actual_skinned_vertices", "tintedVertices": 10555, "totalVertices": 84132, "color": "#ff0805", "boneIds": [ 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74 ], "policy": "V150 QA-only vertex color from actual skin weights >0.20 for R_Hand/finger bones; no IK changes." }, "__NEXPROD01_V151_ACTUAL_MESH_TRUTH": { "active": true, "handVertexCount": 10755, "palmVertexCount": 4763, "legVertexCount": 2337, "meshToMeshNearestM": 0.0018859485073156627, "nearest": { "d": 0.0018859485073156627, "h": { "x": -0.1389330823865736, "y": 0.7824810345106867, "z": -0.30143597455150767, "i": 60165 }, "l": { "x": -0.14061904726004446, "y": 0.7826883074865423, "z": -0.302255341460254, "i": 71590 } }, "bones": { "H": { "x": -0.16070006902743622, "y": 0.7900209321939052, "z": -0.291282547747448 }, "M": { "x": -0.1747441019452825, "y": 0.7119213511042617, "z": -0.32456357633764243 }, "I": { "x": -0.1723263055996176, "y": 0.7032231758967112, "z": -0.3059229516598453 }, "P": { "x": -0.16662712888586392, "y": 0.7333805317460478, "z": -0.3524151019130419 }, "Th": { "x": -0.15727309700625403, "y": 0.7637270491618856, "z": -0.282602209621817 }, "Rg": { "x": -0.1710060054346073, "y": 0.7225649123258476, "z": -0.33879599010775663 }, "F": { "x": -0.12015514586769373, "y": 0.7918477239960523, "z": -0.3128757382777261 }, "K": { "x": -0.15848978443425818, "y": 0.41950636818699155, "z": -0.1855453433693381 } }, "radial": { "M": { "r": 0.060055821849175614, "vec": { "x": -0.04714268872818062, "y": -0.007601358641790472, "z": -0.036420982746991716 }, "axial": 0.013539126042739992 }, "I": { "r": 0.04885942285807779, "vec": { "x": -0.04337133537837428, "y": -0.0031525401921098616, "z": -0.022276264495156416 }, "axial": 0.02749938153387407 }, "P": { "r": 0.07034244745607214, "vec": { "x": -0.04193112358438671, "y": -0.014362178577383474, "z": -0.05462205246576246 }, "axial": -0.016426539743025388 }, "Th": { "r": 0.038710397057104926, "vec": { "x": -0.03325602386621133, "y": 0.009389923684338605, "z": 0.017445946524364833 }, "axial": -0.023428879803897615 }, "Rg": { "r": 0.06507606337925304, "vec": { "x": -0.044856004241558396, "y": -0.011055249257009183, "z": -0.04583245981056713 }, "axial": -0.0014303821617083195 } }, "sourceRadialSupport": { "legSurfaceM": 0.03352426772078437, "handContactFaceM": -0.004568276458548189, "gapM": -0.03809254417933256, "legCountBand": 214, "handCountBand": 5916 }, "palmSourceRadialSupport": { "legSurfaceM": 0.03352426772078437, "palmContactFaceM": -0.004202429765010646, "gapM": -0.03772669748579502, "legCountBand": 214, "palmCountBand": 4339 }, "note": "V153 actual posed skinned-mesh truth after all writers. palmSourceRadialSupport excludes distal fingers so wrap-around cannot masquerade as palm penetration." }, "__NEXPROD01_V153_MESH_FEEDBACK": { "schema": "NEXPROD01_V158_MESH_FEEDBACK_DISABLED_NONMONOTONIC_SENSOR", "targetPalmGapM": 0.002, "passes": [ { "pass": 0, "gapM": -0.03772669748579502, "nearestM": 0.0018859485073156627, "appliedCorrectionM": 0 } ], "disabledReason": "V151/V153 contact-patch metric is non-monotonic and was pushing the hand ~32mm outward despite the source-driven geometric target; diagnostic only until contact patch is repaired", "pass": false }, "__NEXPROD01_V93_RIGHT_HAND_CONTROL_PROBE": { "schema": "V93_RIGHT_HAND_CONTROL_PROBE", "side": "R", "profileId": "warmup_hurdle_stretch_right_pose_v50_ik_v1", "caseId": "v94_right_full", "phase": 0.75, "purpose": "Locate whether the bad heel-grab hand rotation is authored/normalized, one-writer commit/IK, or post-finger-layer.", "sourceContactRule": [ { "type": "v94_space_control_right_finger_grip", "gripSide": "R", "handPreset": "v83_compact_heel_hook", "contactStyle": "v94_space_control_normalized_same_side_fingertip_targets_thumb_down", "wristPolicy": "lock_v86_v91_roll_no_v87_90deg_compensation", "thumbVectorConstraint": "thumb_tip_world_y_negative_down_opposition" }, { "type": "support_foot_contact", "gripSide": null, "handPreset": null, "contactStyle": null, "wristPolicy": null, "thumbVectorConstraint": null } ], "rawAuthored": { "basis": { "ok": true, "forearmAxis": { "x": -0.1499619285617507, "y": -0.9122683987506505, "z": -0.38115323509444926 }, "palmRay": { "x": 0.5525321015128176, "y": -0.589367574947006, "z": -0.589367574947006 }, "mcpAxis": { "x": 0.6400261077368842, "y": 0.39227406603228293, "z": 0.6606721112122673 }, "palmNormal": { "x": 0.1641411504193291, "y": 0.7702007827368496, "z": -0.6163184542187287 }, "wristToIndex": { "x": 0.9678215817483968, "y": -0.24195539543709932, "z": -0.06913011298202934 }, "wristToPinky": { "x": -0.06991886350763156, "y": -0.6059634837328055, "z": -0.7924137864198243 }, "mcpCenter": { "x": -0.137, "y": 0.817, "z": -0.32199999999999995 }, "mcpCenterRay": { "x": 0.4556766353603054, "y": -0.6014931586756037, "z": -0.6561743549188405 }, "angles": { "palmRay_vs_forearm": 47.2, "mcpCenter_vs_forearm": 43.07, "mcpAxis_vs_forearm": 134.88, "palmNormal_vs_forearm": 119.49 } }, "points": { "R_Forearm": { "x": -0.138, "y": 0.996, "z": -0.225 }, "R_Hand": { "x": -0.162, "y": 0.85, "z": -0.286 }, "R_PalmBase": { "x": -0.132, "y": 0.818, "z": -0.318 }, "R_PalmIndexBase": { "x": -0.106, "y": 0.836, "z": -0.29 }, "R_PalmPinkyBase": { "x": -0.168, "y": 0.798, "z": -0.354 }, "R_Foot": { "x": -0.108, "y": 0.812, "z": -0.325 }, "R_ToeBase": { "x": -0.048, "y": 0.834, "z": -0.405 } } }, "finalNormalized": { "basis": { "ok": true, "forearmAxis": { "x": 0.037170039823558196, "y": -0.8816464610469787, "z": -0.4704443706357356 }, "palmRay": { "x": -0.1632099725116502, "y": -0.9076190237885076, "z": -0.3867689394586162 }, "mcpAxis": { "x": -0.10230306600552609, "y": -0.5413395132823214, "z": 0.8345571364772627 }, "palmNormal": { "x": 0.9838617724257905, "y": -0.17887157762712239, "z": 0.004579462453840322 }, "wristToIndex": { "x": -0.13094331796285757, "y": -0.9775810845218177, "z": -0.16489108728498494 }, "wristToPinky": { "x": -0.07094097175063069, "y": -0.6779293557506685, "z": -0.7316960893284586 }, "mcpCenter": { "x": -0.1702697099655641, "y": 0.7211065105144898, "z": -0.32790714868773163 }, "mcpCenterRay": { "x": -0.10757727212266881, "y": -0.8790765720224393, "z": -0.4643829357802915 }, "angles": { "palmRay_vs_forearm": 12.56, "mcpCenter_vs_forearm": 8.31, "mcpAxis_vs_forearm": 85.36, "palmNormal_vs_forearm": 78.92 } }, "points": { "R_Forearm": { "x": -0.16969, "y": 0.98719, "z": -0.18631 }, "R_Hand": { "x": -0.16149, "y": 0.79283, "z": -0.29002 }, "R_PalmBase": { "x": -0.17554, "y": 0.71473, "z": -0.3233 }, "R_PalmIndexBase": { "x": -0.17312, "y": 0.70603, "z": -0.30466 }, "R_PalmPinkyBase": { "x": -0.16742, "y": 0.73619, "z": -0.35115 }, "R_Foot": { "x": -0.12048, "y": 0.79051, "z": -0.31396 }, "R_ToeBase": { "x": -0.04836, "y": 0.81696, "z": -0.41013 } } }, "afterCommitBeforeFingers": { "basis": { "ok": true, "forearmAxis": { "x": 0.03717013503983851, "y": -0.8816464444187382, "z": -0.47044439427515455 }, "palmRay": { "x": -0.16320998248329202, "y": -0.9076190105902944, "z": -0.38676896622260026 }, "mcpAxis": { "x": -0.10230304820080673, "y": -0.5413394923547735, "z": 0.8345571522345845 }, "palmNormal": { "x": 0.9838617716225835, "y": -0.17887158255417382, "z": 0.004579442568351 }, "wristToIndex": { "x": -0.13094334779443775, "y": -0.9775810701973234, "z": -0.164891148519989 }, "wristToPinky": { "x": -0.07094102725039055, "y": -0.6779294097951619, "z": -0.7316960338743423 }, "mcpCenter": { "x": -0.16947671724274077, "y": 0.7183018538213795, "z": -0.32916902678644355 }, "mcpCenterRay": { "x": -0.10757731372807834, "y": -0.8790765683095254, "z": -0.46438293317067414 }, "angles": { "palmRay_vs_forearm": 12.56, "mcpCenter_vs_forearm": 8.31, "mcpAxis_vs_forearm": 85.36, "palmNormal_vs_forearm": 78.92 } }, "errors": [ { "joint": "R_Forearm", "ok": true, "distance": 0.00318, "target": { "x": -0.16969, "y": 0.98719, "z": -0.18631 }, "actual": { "x": -0.16889, "y": 0.98438, "z": -0.18757 }, "delta": { "x": 0.00079, "y": -0.0028, "z": -0.00126 } }, { "joint": "R_Hand", "ok": true, "distance": 0.00318, "target": { "x": -0.16149, "y": 0.79283, "z": -0.29002 }, "actual": { "x": -0.1607, "y": 0.79002, "z": -0.29128 }, "delta": { "x": 0.00079, "y": -0.0028, "z": -0.00126 } }, { "joint": "R_PalmBase", "ok": true, "distance": 0.00318, "target": { "x": -0.17554, "y": 0.71473, "z": -0.3233 }, "actual": { "x": -0.17474, "y": 0.71192, "z": -0.32456 }, "delta": { "x": 0.00079, "y": -0.0028, "z": -0.00126 } }, { "joint": "R_PalmIndexBase", "ok": true, "distance": 0.00318, "target": { "x": -0.17312, "y": 0.70603, "z": -0.30466 }, "actual": { "x": -0.17233, "y": 0.70322, "z": -0.30592 }, "delta": { "x": 0.00079, "y": -0.0028, "z": -0.00126 } }, { "joint": "R_PalmPinkyBase", "ok": true, "distance": 0.00318, "target": { "x": -0.16742, "y": 0.73619, "z": -0.35115 }, "actual": { "x": -0.16663, "y": 0.73338, "z": -0.35242 }, "delta": { "x": 0.00079, "y": -0.0028, "z": -0.00126 } }, { "joint": "R_Foot", "ok": true, "distance": 0.00175, "target": { "x": -0.12048, "y": 0.79051, "z": -0.31396 }, "actual": { "x": -0.12016, "y": 0.79185, "z": -0.31288 }, "delta": { "x": 0.00033, "y": 0.00134, "z": 0.00109 } }, { "joint": "R_ToeBase", "ok": true, "distance": 0.00175, "target": { "x": -0.04836, "y": 0.81696, "z": -0.41013 }, "actual": { "x": -0.04803, "y": 0.81829, "z": -0.40904 }, "delta": { "x": 0.00033, "y": 0.00134, "z": 0.00109 } } ] }, "afterFingerLayer": { "basis": { "ok": true, "forearmAxis": { "x": 0.03717013503983851, "y": -0.8816464444187382, "z": -0.47044439427515455 }, "palmRay": { "x": -0.16320998248329202, "y": -0.9076190105902944, "z": -0.38676896622260026 }, "mcpAxis": { "x": -0.10230304820080673, "y": -0.5413394923547735, "z": 0.8345571522345845 }, "palmNormal": { "x": 0.9838617716225835, "y": -0.17887158255417382, "z": 0.004579442568351 }, "wristToIndex": { "x": -0.13094334779443775, "y": -0.9775810701973234, "z": -0.164891148519989 }, "wristToPinky": { "x": -0.07094102725039055, "y": -0.6779294097951619, "z": -0.7316960338743423 }, "mcpCenter": { "x": -0.16947671724274077, "y": 0.7183018538213795, "z": -0.32916902678644355 }, "mcpCenterRay": { "x": -0.10757731372807834, "y": -0.8790765683095254, "z": -0.46438293317067414 }, "angles": { "palmRay_vs_forearm": 12.56, "mcpCenter_vs_forearm": 8.31, "mcpAxis_vs_forearm": 85.36, "palmNormal_vs_forearm": 78.92 } }, "errors": [ { "joint": "R_Forearm", "ok": true, "distance": 0.00318, "target": { "x": -0.16969, "y": 0.98719, "z": -0.18631 }, "actual": { "x": -0.16889, "y": 0.98438, "z": -0.18757 }, "delta": { "x": 0.00079, "y": -0.0028, "z": -0.00126 } }, { "joint": "R_Hand", "ok": true, "distance": 0.00318, "target": { "x": -0.16149, "y": 0.79283, "z": -0.29002 }, "actual": { "x": -0.1607, "y": 0.79002, "z": -0.29128 }, "delta": { "x": 0.00079, "y": -0.0028, "z": -0.00126 } }, { "joint": "R_PalmBase", "ok": true, "distance": 0.00318, "target": { "x": -0.17554, "y": 0.71473, "z": -0.3233 }, "actual": { "x": -0.17474, "y": 0.71192, "z": -0.32456 }, "delta": { "x": 0.00079, "y": -0.0028, "z": -0.00126 } }, { "joint": "R_PalmIndexBase", "ok": true, "distance": 0.00318, "target": { "x": -0.17312, "y": 0.70603, "z": -0.30466 }, "actual": { "x": -0.17233, "y": 0.70322, "z": -0.30592 }, "delta": { "x": 0.00079, "y": -0.0028, "z": -0.00126 } }, { "joint": "R_PalmPinkyBase", "ok": true, "distance": 0.00318, "target": { "x": -0.16742, "y": 0.73619, "z": -0.35115 }, "actual": { "x": -0.16663, "y": 0.73338, "z": -0.35242 }, "delta": { "x": 0.00079, "y": -0.0028, "z": -0.00126 } }, { "joint": "R_Foot", "ok": true, "distance": 0.00175, "target": { "x": -0.12048, "y": 0.79051, "z": -0.31396 }, "actual": { "x": -0.12016, "y": 0.79185, "z": -0.31288 }, "delta": { "x": 0.00033, "y": 0.00134, "z": 0.00109 } }, { "joint": "R_ToeBase", "ok": true, "distance": 0.00175, "target": { "x": -0.04836, "y": 0.81696, "z": -0.41013 }, "actual": { "x": -0.04803, "y": 0.81829, "z": -0.40904 }, "delta": { "x": 0.00033, "y": 0.00134, "z": 0.00109 } } ] }, "comparisons": [ { "label": "raw_authored_to_final_normalized_target", "ok": true, "roll_mcp_about_target_forearm_deg": 54.04, "roll_palmray_about_target_forearm_deg": -126.97, "angle_forearm_deg": 12.03, "angle_palmray_deg": 47.72, "angle_mcp_axis_deg": 74.13, "angle_palm_normal_deg": 88.8 }, { "label": "final_target_to_after_one_writer_commit_before_fingers", "ok": true, "roll_mcp_about_target_forearm_deg": -0.0, "roll_palmray_about_target_forearm_deg": 0, "angle_forearm_deg": 0, "angle_palmray_deg": 0, "angle_mcp_axis_deg": 0, "angle_palm_normal_deg": 0 }, { "label": "after_commit_to_after_finger_layer", "ok": true, "roll_mcp_about_target_forearm_deg": 0, "roll_palmray_about_target_forearm_deg": 0, "angle_forearm_deg": 0, "angle_palmray_deg": 0, "angle_mcp_axis_deg": 0, "angle_palm_normal_deg": 0 }, { "label": "final_target_to_after_finger_layer", "ok": true, "roll_mcp_about_target_forearm_deg": -0.0, "roll_palmray_about_target_forearm_deg": 0, "angle_forearm_deg": 0, "angle_palmray_deg": 0, "angle_mcp_axis_deg": 0, "angle_palm_normal_deg": 0 } ], "summary": { "maxPointErrorAfterCommitM": 0.00318, "maxPointErrorAfterFingerM": 0.00318, "firstBreak": "normalization/authoring-frame changes raw hand roll before runtime commit" }, "fingerLayer": { "schema": "V94_SPACE_CONTROL_FINGERTIP_TARGET_RUNTIME_META", "v84TipArc": { "schema": "NEXPROD01_V200_LOCKED_HAND_FINGER_CLOSE_LAYER", "active": true, "reason": "initial palm/wrist contact accepted from V199; now rotate fingers only", "policy": "V200: no hand/arm/leg writer in finger phase; only finger bone rotations from locked V199 hand state." }, "version": "BioRig_V126_43_HAND05_PLUS_MEDIAPIPE_21PT_FRAME", "handPreset": "v83_compact_heel_hook", "curl": [ 0.72, 0.88, 0.62 ], "thumbCurl": [ 0.54, 0.38, 0.26 ], "spread": -0.03, "blend": 0.78, "thumbDownRoll": 1.16, "contactStyle": "V92_thumb_down_lock_compact_hook_fingers_wrap_heel_shoe_not_side_clamp", "contactPriority": "grip_shape_first__surface_no_penetration__thumb_opposition__neutral_wrist", "axisMap": { "L": { "forward": "yPos", "normal": "xNeg", "thumb": "index_side_down" }, "R": { "forward": "yPos", "normal": "xPos", "thumb": "index_side_down" } }, "enabled": true, "active": true, "gripSide": "R", "freeSide": "L", "ruleType": "v94_space_control_right_finger_grip", "wristPolicy": "lock_v86_v91_roll_no_v87_90deg_compensation", "mediapipeHandFrame": null, "thumbVectorConstraint": "thumb_tip_world_y_negative_down_opposition", "policy": "V81_HEEL_CUP_HOOK_RUNTIME_META: V81 uses the user reference as a heel-cup hook: palm cups heel/ankle volume, fingers cross shoe/heel, thumb opposes down/in, wrist stays near forearm line and the hand reads as pulling the lower leg forward. V80 used the first facit heel-hook; V79 made thumb direction first-class. Finger layer remains child-layer curl after body IK.", "grip": { "schema": "NEXPROD01_V239_WIRING_FIXED_APPROVED_GRIP", "active": true, "side": "R", "source": "V236_ALL_Z_STOP_INDEX_MCP_0p36", "terms": { "index": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.36, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "middle": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "ring": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "role": "V234_STOP_ON_CONTACT_DIP" } ], "pinky": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.68, "role": "V234_STOP_ON_CONTACT_PIP" } ] }, "rows": [ { "finger": "thumb", "active": false, "reason": "V238 approved grip keeps thumb writer off; V199 wrist/palm/leg lock remains authority" }, { "finger": "index", "bone": "R_Index1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "finger": "index", "bone": "R_Index2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "index", "bone": "R_Index3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "middle", "bone": "R_Mid1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "middle", "bone": "R_Mid2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "middle", "bone": "R_Mid3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "ring", "bone": "R_Ring1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "ring", "bone": "R_Ring2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "ring", "bone": "R_Ring3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "pinky", "bone": "R_Pinky1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "pinky", "bone": "R_Pinky2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.68, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" } ], "policy": "Canonical clean grip: all finger joints use z+ curl plane; MCP -> PIP -> DIP; index MCP override z+0.36 from user-approved V235 audit. Only finger bones are written. No hand, wrist, arm, thumb or leg mutation." }, "free": { "side": "L", "preset": "open_relaxed", "chainCount": 5, "appliedBoneCount": 15, "missingChains": [], "rows": [ { "finger": "thumb", "bone": "L_Thumb1", "segment": 0, "curl": 0.029, "oppose": 0, "thumbDownRoll": 0, "spread": 0.066, "blend": 0.52 }, { "finger": "thumb", "bone": "L_Thumb2", "segment": 1, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "thumb", "bone": "L_Thumb3", "segment": 2, "curl": 0.025, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "index", "bone": "L_Index1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": 0.025, "blend": 0.52 }, { "finger": "index", "bone": "L_Index2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "index", "bone": "L_Index3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "middle", "bone": "L_Mid1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": 0.006, "blend": 0.52 }, { "finger": "middle", "bone": "L_Mid2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "middle", "bone": "L_Mid3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "ring", "bone": "L_Ring1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": -0.017, "blend": 0.52 }, { "finger": "ring", "bone": "L_Ring2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "ring", "bone": "L_Ring3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "pinky", "bone": "L_Pinky1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": -0.034, "blend": 0.52 }, { "finger": "pinky", "bone": "L_Pinky2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "pinky", "bone": "L_Pinky3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 } ] } } } }, "skeleton": { "R": { "basis": null, "points": { "R_Upperarm": { "x": -0.17665, "y": 1.18827, "z": -0.07936 }, "R_Forearm": { "x": -0.16889, "y": 0.98438, "z": -0.18757 }, "R_Hand": { "x": -0.1607, "y": 0.79002, "z": -0.29128 }, "R_PalmBase": null, "R_PalmIndexBase": null, "R_PalmPinkyBase": null, "R_Thumb1": { "x": -0.15727, "y": 0.76373, "z": -0.2826 }, "R_Thumb2": { "x": -0.15857, "y": 0.71441, "z": -0.2718 }, "R_Index1": { "x": -0.17233, "y": 0.70322, "z": -0.30592 }, "R_Pinky1": { "x": -0.16663, "y": 0.73338, "z": -0.35242 }, "R_Calf": { "x": -0.15849, "y": 0.41951, "z": -0.18555 }, "R_Foot": { "x": -0.12016, "y": 0.79185, "z": -0.31288 }, "R_ToeBase": { "x": -0.04803, "y": 0.81829, "z": -0.40904 } } }, "L": { "basis": null, "points": { "L_Upperarm": { "x": 0.14617, "y": 1.2324, "z": -0.04099 }, "L_Forearm": { "x": 0.30569, "y": 1.36533, "z": 0.06535 }, "L_Hand": { "x": 0.46189, "y": 1.50591, "z": 0.12783 }, "L_PalmBase": null, "L_PalmIndexBase": null, "L_PalmPinkyBase": null, "L_Thumb1": { "x": 0.44532, "y": 1.52398, "z": 0.14025 }, "L_Thumb2": { "x": 0.41641, "y": 1.56313, "z": 0.15331 }, "L_Index1": { "x": 0.43859, "y": 1.5897, "z": 0.13724 }, "L_Pinky1": { "x": 0.49268, "y": 1.58249, "z": 0.12522 }, "L_Calf": { "x": 0.12285, "y": 0.39467, "z": 0.04436 }, "L_Foot": { "x": 0.1036, "y": -0.0, "z": 0.05399 }, "L_ToeBase": { "x": 0.18465, "y": 0, "z": 0.14662 } } } }, "localMarkerContract": { "localGreen": { "x": 0.93966, "y": 0.70339, "z": 0.42636 }, "localPink": { "x": -0.08284, "y": 0.62487, "z": 0.34506 }, "localPoints": { "R_green_from_contract": null, "R_pink_from_contract": null, "L_same_local_green_diagnostic": null, "L_same_local_pink_diagnostic": null }, "vertices": { "R_green_58174": { "ok": true, "idx": 58174, "p": { "x": -0.14917, "y": 0.71196, "z": -0.26927 }, "skin": [ [ "R_Thumb2", 1 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ] ], "top": [ "R_Thumb2", 1 ], "mesh": "Body" }, "R_pink_58358": { "ok": true, "idx": 58358, "p": { "x": -0.14789, "y": 0.74294, "z": -0.31771 }, "skin": [ [ "R_Hand", 0.984 ], [ "R_Thumb1", 0.016 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ] ], "top": [ "R_Hand", 0.984 ], "mesh": "Body" } }, "distances": { "contract_green_to_v199_greenAfter": null, "contract_pink_to_v199_pinkAfter": null, "vertex58174_to_contract_green": null, "vertex58358_to_contract_pink": null } }, "status": "ok" }, "codeEvidence": { "runtime": "/mnt/data/v266_clean_grip_contract_base/NEXT11_V266_CLEAN_GRIP_CONTRACT_BASE_ROOT/assets/nexprod/nexprod01-runtime-candidate.mjs", "sha256": "385ad055c7de0a1596816574a93b9941885ed4075b9e09e34e3970c0092bb14e", "lineCount": 3016, "constants": { "localGreen": "{x:0.93966,y:0.70339,z:0.42636}", "localPink": "{x:-0.08284,y:0.62487,z:0.34506}", "pinkLegTarget": "{x:-0.10186,y:0.76352,z:-0.33015}", "deltaV195": "{x:0.04303, y:-0.00036, z:-0.02451}" }, "windows": [ { "name": "V238 approved finger layer", "start": 2321, "end": 2352, "lines": [ { "line": 2321, "text": " // V238 PRODUCTION CLEAN APPROVED GRIP" }, { "line": 2322, "text": " // Consolidated single source of truth from V236/V237. This replaces the legacy curl-profile" }, { "line": 2323, "text": " // for the approved right-hand shin/leg grip route. No target chasing, no hand/wrist/leg writes." }, { "line": 2324, "text": " // To temporarily compare legacy V200, set globalThis.__NEX_V238_USE_LEGACY_V200_FINGER_CLOSE=true before load." }, { "line": 2325, "text": " if(side==='R' && globalThis.__NEX_V238_USE_LEGACY_V200_FINGER_CLOSE!==true){" }, { "line": 2326, "text": " const axes={x:new THREE.Vector3(1,0,0),y:new THREE.Vector3(0,1,0),z:new THREE.Vector3(0,0,1)};" }, { "line": 2327, "text": " const approvedTerms={" }, { "line": 2328, "text": " index:[{seg:0,axis:'z',sign:1,amount:0.36,role:'V238_INDEX_MCP_VISUAL_AUDIT_APPROVED'},{seg:1,axis:'z',sign:1,amount:0.72,role:'V234_STOP_ON_CONTACT_PIP'},{seg:2,axis:'z',sign:1,amount:0.36,role:'V234_STOP_ON_CONTACT_DIP'}]," }, { "line": 2329, "text": " middle:[{seg:0,axis:'z',sign:1,amount:0.84,role:'V234_STOP_ON_CONTACT_MCP'},{seg:1,axis:'z',sign:1,amount:0.72,role:'V234_STOP_ON_CONTACT_PIP'},{seg:2,axis:'z',sign:1,amount:0.36,role:'V234_STOP_ON_CONTACT_DIP'}]," }, { "line": 2330, "text": " ring:[{seg:0,axis:'z',sign:1,amount:0.84,role:'V234_STOP_ON_CONTACT_MCP'},{seg:1,axis:'z',sign:1,amount:0.72,role:'V234_STOP_ON_CONTACT_PIP'},{seg:2,axis:'z',sign:1,amount:0.06,role:'V234_STOP_ON_CONTACT_DIP'}]," }, { "line": 2331, "text": " pinky:[{seg:0,axis:'z',sign:1,amount:0.84,role:'V234_STOP_ON_CONTACT_MCP'},{seg:1,axis:'z',sign:1,amount:0.68,role:'V234_STOP_ON_CONTACT_PIP'}]" }, { "line": 2332, "text": " };" }, { "line": 2333, "text": " for(const chain of v68FingerChains(side)){" }, { "line": 2334, "text": " if(chain.finger==='thumb'){" }, { "line": 2335, "text": " for(const b of chain.bones){ const base=v68BaseQuatByUuid.get(b.uuid); if(base) b.quaternion.copy(base); }" }, { "line": 2336, "text": " rows.push({finger:'thumb',active:false,reason:'V238 approved grip keeps thumb writer off; V199 wrist/palm/leg lock remains authority'});" }, { "line": 2337, "text": " continue;" }, { "line": 2338, "text": " }" }, { "line": 2339, "text": " const terms=approvedTerms[chain.finger]||[];" }, { "line": 2340, "text": " for(const t of terms){" }, { "line": 2341, "text": " const b=chain.bones[t.seg]; if(!b) continue;" }, { "line": 2342, "text": " const base=v68BaseQuatByUuid.get(b.uuid) || b.quaternion.clone();" }, { "line": 2343, "text": " const axis=axes[t.axis]; if(!axis) continue;" }, { "line": 2344, "text": " const q=new THREE.Quaternion().setFromAxisAngle(axis, t.sign*t.amount);" }, { "line": 2345, "text": " b.quaternion.copy(base.clone().multiply(q));" }, { "line": 2346, "text": " rows.push({finger:chain.finger,bone:b.name,segment:t.seg,axis:t.axis,sign:t.sign,amount:t.amount,active:true,role:t.role});" }, { "line": 2347, "text": " }" }, { "line": 2348, "text": " }" }, { "line": 2349, "text": " model.updateMatrixWorld(true);" }, { "line": 2350, "text": " try{ const __v239ApprovedGrip={schema:'NEXPROD01_V239_WIRING_FIXED_APPROVED_GRIP',active:true,side:gripSide,source:'V236_ALL_Z_STOP_INDEX_MCP_0p36',terms:approvedTerms,rows,policy:'Canonical clean grip: all finger joints use z+ curl plane; MCP -> PIP -> DIP; index MCP override z+0.36 from user-approved V235 audit. Only finger bones are written. No hand, wrist, arm, thumb or leg mutation.'}; globalThis.__NEXPROD01_V239_APPROVED_GRIP=__v239ApprovedGrip; globalThis.__NEXPROD01_V238_APPROVED_GRIP=__v239ApprovedGrip; }catch(e){}" }, { "line": 2351, "text": " return globalThis.__NEXPROD01_V238_APPROVED_GRIP || {active:true,side:gripSide,rows};" }, { "line": 2352, "text": " }" } ] }, { "name": "V189 neutral pre-snap right hand frame", "start": 2582, "end": 2633, "lines": [ { "line": 2582, "text": " function v189NeutralPreSnapRightHandFrame(targets, rawTargets){" }, { "line": 2583, "text": " const out={...(targets||{})};" }, { "line": 2584, "text": " const side='R', F='R_Forearm', H='R_Hand', M='R_PalmBase', I='R_PalmIndexBase', P='R_PalmPinkyBase';" }, { "line": 2585, "text": " const before=v93Basis(out, side);" }, { "line": 2586, "text": " if(!out[F]||!out[H]||!restTargetPoints?.[H]||!restTargetPoints?.[M]||!restTargetPoints?.[I]||!restTargetPoints?.[P]){" }, { "line": 2587, "text": " return {targets:out,audit:{schema:'NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH',applied:false,reason:'missing_required_targets_or_rest_points',before}};" }, { "line": 2588, "text": " }" }, { "line": 2589, "text": " // Pre-snap rule: hand long axis must be the forearm continuation. No palm-snap, no thumb-down, no finger curl." }, { "line": 2590, "text": " let y=safeNorm(sub(out[H],out[F]), {x:0,y:-1,z:0});" }, { "line": 2591, "text": " // Keep roll only as a passive neutral roll hint. Do not use object/vrist normal here." }, { "line": 2592, "text": " let xRef=null, xSource='none';" }, { "line": 2593, "text": " if(rawTargets?.[I]&&rawTargets?.[P]){ xRef=sub(rawTargets[I],rawTargets[P]); xSource='raw_I_minus_P_projected'; }" }, { "line": 2594, "text": " else if(out[I]&&out[P]){ xRef=sub(out[I],out[P]); xSource='current_I_minus_P_projected'; }" }, { "line": 2595, "text": " const projected=(v)=> v ? projectPerp(v,y) : null;" }, { "line": 2596, "text": " let x=projected(xRef);" }, { "line": 2597, "text": " if(!x || len(x)<1e-6){" }, { "line": 2598, "text": " if(out.R_Upperarm&&out.L_Upperarm){ x=projected(sub(out.R_Upperarm,out.L_Upperarm)); xSource='body_lateral_projected'; }" }, { "line": 2599, "text": " }" }, { "line": 2600, "text": " if(!x || len(x)<1e-6){" }, { "line": 2601, "text": " x=projectPerp({x:1,y:0,z:0},y); xSource='world_x_projected_fallback';" }, { "line": 2602, "text": " }" }, { "line": 2603, "text": " x=safeNorm(x,{x:1,y:0,z:0});" }, { "line": 2604, "text": " let z=safeNorm(crossP(x,y), {x:0,y:0,z:1});" }, { "line": 2605, "text": " // Re-orthogonalize exactly like orthonormalBasisFromBranch: x = index-pinky, y = wrist->center." }, { "line": 2606, "text": " y=safeNorm(crossP(z,x), y);" }, { "line": 2607, "text": " const rst=orthonormalBasisFromBranch(restTargetPoints[H],restTargetPoints[I],restTargetPoints[P],restTargetPoints[M]);" }, { "line": 2608, "text": " const qRest=qFromBasis(rst.x,rst.y,rst.z);" }, { "line": 2609, "text": " const qTarget=qFromBasis(toThree(x),toThree(y),toThree(z));" }, { "line": 2610, "text": " const qDelta=qTarget.clone().multiply(qRest.clone().invert());" }, { "line": 2611, "text": " const Orest=restTargetPoints[H];" }, { "line": 2612, "text": " for(const K of [M,I,P]) out[K]=addP(out[H], quatRotatePoint(qDelta, sub(restTargetPoints[K],Orest)));" }, { "line": 2613, "text": " const after=v93Basis(out, side);" }, { "line": 2614, "text": " const afterAngles=after?.angles||{};" }, { "line": 2615, "text": " const pass=(afterAngles.mcpCenter_vs_forearm??999)<=10 && (afterAngles.palmRay_vs_forearm??999)<=20;" }, { "line": 2616, "text": " return {targets:out,audit:{schema:'NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH',applied:true,phase:'pre_snap_only',snapDisabled:true,fingersDisabled:true,thumbDisabled:true,settleDisabled:true,xRollSource:xSource,beforeAngles:before?.angles||null,afterAngles,pass,policy:'Build a neutral Nex hand frame before snap: visual MCP/hand long axis follows forearm. Do not use object normal, thumb-down, palm settle or fingers at this stage.'}};" }, { "line": 2617, "text": " }" }, { "line": 2618, "text": "" }, { "line": 2619, "text": "" }, { "line": 2620, "text": " function v194ThenarPatchSnapOnly(targets, rawTargets){" }, { "line": 2621, "text": " const out={...(targets||{})};" }, { "line": 2622, "text": " const side='R', T='R_Thigh', K='R_Calf', F='R_Foot', U='R_Upperarm', E='R_Forearm', H='R_Hand', M='R_PalmBase', I='R_PalmIndexBase', P='R_PalmPinkyBase';" }, { "line": 2623, "text": " const required=[T,K,F,U,E,H,M,I,P];" }, { "line": 2624, "text": " const before=v93Basis(out, side);" }, { "line": 2625, "text": " if(!required.every(k=>out[k])) return {targets:out,audit:{schema:'NEXPROD01_V194_THENAR_PATCH_SNAP_ONLY',applied:false,reason:'missing_targets',present:Object.keys(out).filter(k=>k.startsWith('R_')),before}};" }, { "line": 2626, "text": " const pnum=(name, fallback)=>{ const v=Number(globalThis[name]); return Number.isFinite(v)?v:fallback; };" }, { "line": 2627, "text": " const sideBias=pnum('__NEX_V194_SIDE_BIAS', 0.42); // + = index/thenar side, - = pinky-side control" }, { "line": 2628, "text": " const proximalT=pnum('__NEX_V194_PROXIMAL_T', 0.32); // wrist -> MCP-center fraction" }, { "line": 2629, "text": " const contactT=pnum('__NEX_V194_CONTACT_T', 0.125); // foot -> calf fraction" }, { "line": 2630, "text": " const radiusM=pnum('__NEX_V194_RADIUS_M', 0.028);" }, { "line": 2631, "text": " const clearanceM=pnum('__NEX_V194_CLEARANCE_M', 0.002);" }, { "line": 2632, "text": " const mcpCenter={x:(out[I].x+out[P].x)/2,y:(out[I].y+out[P].y)/2,z:(out[I].z+out[P].z)/2};" }, { "line": 2633, "text": " const palmCenter={x:(out[M].x+out[I].x+out[P].x)/3,y:(out[M].y+out[I].y+out[P].y)/3,z:(out[M].z+out[I].z+out[P].z)/3};" } ] }, { "name": "V194 thenar patch historical right snap attempt", "start": 2636, "end": 2672, "lines": [ { "line": 2636, "text": " // Thenar/contact patch: proximal palm pad biased toward index/thumb side. This is intentionally not PalmBase/MCP-center." }, { "line": 2637, "text": " const thenarPatch=addP(addP(out[H],scaleP(longVec,proximalT)), scaleP(mcpSpan,sideBias));" }, { "line": 2638, "text": " const oppositePatch=addP(addP(out[H],scaleP(longVec,proximalT)), scaleP(mcpSpan,-sideBias));" }, { "line": 2639, "text": " const centerPatch=addP(out[H],scaleP(longVec,proximalT));" }, { "line": 2640, "text": " const axis=safeNorm(sub(out[K],out[F]),{x:0,y:1,z:0});" }, { "line": 2641, "text": " const axisPoint=addP(out[F],scaleP(sub(out[K],out[F]),contactT));" }, { "line": 2642, "text": " const radialOf=(q)=>{ const rel=sub(q,axisPoint); const t=dot(rel,axis); const perp=sub(rel,scaleP(axis,t)); const d=len(perp); return {t, d, perp, signedClearance:d-(radiusM+clearanceM)}; };" }, { "line": 2643, "text": " let radial=projectPerp(sub(thenarPatch,axisPoint),axis);" }, { "line": 2644, "text": " if(!radial||len(radial)<1e-6) radial=projectPerp(sub(centerPatch,axisPoint),axis);" }, { "line": 2645, "text": " radial=safeNorm(radial||{x:-1,y:0,z:0},{x:-1,y:0,z:0});" }, { "line": 2646, "text": " const contact=addP(axisPoint,scaleP(radial,radiusM+clearanceM));" }, { "line": 2647, "text": " const delta=sub(contact,thenarPatch);" }, { "line": 2648, "text": " const desiredH=addP(out[H],delta);" }, { "line": 2649, "text": " const l1=len(sub(out[E],out[U])), l2=len(sub(out[H],out[E])), d=len(sub(desiredH,out[U]));" }, { "line": 2650, "text": " const minReach=Math.abs(l1-l2)+1e-6, maxReach=l1+l2-1e-6;" }, { "line": 2651, "text": " const patchesBefore={thenar:roundObj(thenarPatch),opposite:roundObj(oppositePatch),center:roundObj(centerPatch),contact:roundObj(contact),axisPoint:roundObj(axisPoint)};" }, { "line": 2652, "text": " const clearBefore={thenar:+radialOf(thenarPatch).signedClearance.toFixed(5),opposite:+radialOf(oppositePatch).signedClearance.toFixed(5),center:+radialOf(centerPatch).signedClearance.toFixed(5),palmCenter:+radialOf(palmCenter).signedClearance.toFixed(5)};" }, { "line": 2653, "text": " if(!(d>=minReach && d<=maxReach)){" }, { "line": 2654, "text": " return {targets:out,audit:{schema:'NEXPROD01_V194_THENAR_PATCH_SNAP_ONLY',applied:false,reason:'thenar_patch_desired_wrist_unreachable_without_wrist_bend',params:{sideBias,proximalT,contactT,radiusM,clearanceM},beforeAngles:before?.angles||null,patchesBefore,clearBefore,reach:{distance:+d.toFixed(5),minReach:+minReach.toFixed(5),maxReach:+maxReach.toFixed(5)},policy:'Fail instead of bending wrist. V194 tests the thenar/palm-thumb-side patch as the first contact point. No fingers, thumb-down, wrist-settle or leg move.'}};" }, { "line": 2655, "text": " }" }, { "line": 2656, "text": " // Translation-only handframe. Hand/three palm landmarks move rigidly; no roll/settle/finger target is solved here." }, { "line": 2657, "text": " const u=safeNorm(sub(desiredH,out[U]),{x:0,y:-1,z:0});" }, { "line": 2658, "text": " const x=(l1*l1-l2*l2+d*d)/(2*d), hh=Math.sqrt(Math.max(0,l1*l1-x*x));" }, { "line": 2659, "text": " const rel=sub(out[E],out[U]), axial=scaleP(u,dot(rel,u));" }, { "line": 2660, "text": " let bend=sub(rel,axial);" }, { "line": 2661, "text": " if(len(bend)<1e-7){ const rawRel=(rawTargets?.[E]&&rawTargets?.[U])?sub(rawTargets[E],rawTargets[U]):{x:1,y:0,z:0}; bend=sub(rawRel,scaleP(u,dot(rawRel,u))); }" }, { "line": 2662, "text": " const n=safeNorm(bend,{x:1,y:0,z:0});" }, { "line": 2663, "text": " out[E]=addP(out[U],addP(scaleP(u,x),scaleP(n,hh)));" }, { "line": 2664, "text": " for(const KK of [H,M,I,P]) out[KK]=addP(out[KK],delta);" }, { "line": 2665, "text": " const after=v93Basis(out,side); const a=after?.angles||{};" }, { "line": 2666, "text": " const shifted=(q)=>addP(q,delta);" }, { "line": 2667, "text": " const clearAfter={thenar:+radialOf(shifted(thenarPatch)).signedClearance.toFixed(5),opposite:+radialOf(shifted(oppositePatch)).signedClearance.toFixed(5),center:+radialOf(shifted(centerPatch)).signedClearance.toFixed(5),palmCenter:+radialOf(shifted(palmCenter)).signedClearance.toFixed(5)};" }, { "line": 2668, "text": " const penetrationGuardPass=clearAfter.opposite>=-0.001 && clearAfter.center>=-0.001 && clearAfter.palmCenter>=-0.001;" }, { "line": 2669, "text": " const contactPass=Math.abs(clearAfter.thenar)<=0.002;" }, { "line": 2670, "text": " const neutralPass=(a.mcpCenter_vs_forearm??999)<=12 && (a.palmRay_vs_forearm??999)<=22;" }, { "line": 2671, "text": " return {targets:out,audit:{schema:'NEXPROD01_V194_THENAR_PATCH_SNAP_ONLY',applied:true,phase:'thenar_patch_translation_snap_only',params:{sideBias,proximalT,contactT,radiusM,clearanceM},beforeAngles:before?.angles||null,afterAngles:a,pass:contactPass&&penetrationGuardPass&&neutralPass,contactPass,penetrationGuardPass,neutralPass,patchesBefore,patchesAfter:{thenar:roundObj(shifted(thenarPatch)),opposite:roundObj(shifted(oppositePatch)),center:roundObj(shifted(centerPatch)),contact:roundObj(contact)},clearBefore,clearAfter,translationM:+len(delta).toFixed(5),translation:roundObj(delta),reach:{distance:+d.toFixed(5),minReach:+minReach.toFixed(5),maxReach:+maxReach.toFixed(5)},policy:'First contact is the thumb-side palm/thenar patch. Both sides are checked: thenar should touch, opposite/palm-center should not penetrate. Fingers, thumb-down, wrist-settle and leg movement remain disabled.'}};" }, { "line": 2672, "text": " }" } ] }, { "name": "V198 V195 delta single-writer right snap", "start": 2675, "end": 2707, "lines": [ { "line": 2675, "text": " function v198ActualV195DeltaGreenYellowSingleWriter(targets, rawTargets){" }, { "line": 2676, "text": " const out={...(targets||{})};" }, { "line": 2677, "text": " const side='R', U='R_Upperarm', E='R_Forearm', H='R_Hand', M='R_PalmBase', I='R_PalmIndexBase', P='R_PalmPinkyBase', K='R_Calf', F='R_Foot', Toe='R_ToeBase';" }, { "line": 2678, "text": " const before=v93Basis(out, side);" }, { "line": 2679, "text": " const required=[U,E,H,M,I,P,K,F];" }, { "line": 2680, "text": " if(!required.every(k=>out[k])) return {targets:out,audit:{schema:'NEXPROD01_V198_V195_DELTA_SINGLE_WRITER',applied:false,reason:'missing_targets',before}};" }, { "line": 2681, "text": " const deltaV195={x:0.04303, y:-0.00036, z:-0.02451};" }, { "line": 2682, "text": " const desiredH=addP(out[H],deltaV195);" }, { "line": 2683, "text": " const l1=len(sub(out[E],out[U])), l2=len(sub(out[H],out[E]));" }, { "line": 2684, "text": " const minReach=Math.abs(l1-l2)+1e-6, maxReach=l1+l2-1e-6, dDesired=len(sub(desiredH,out[U]));" }, { "line": 2685, "text": " let targetH=desiredH, armDelta=deltaV195, clamped=false, legDelta={x:0,y:0,z:0};" }, { "line": 2686, "text": " if(dDesiredmaxReach){" }, { "line": 2687, "text": " clamped=true;" }, { "line": 2688, "text": " const dir=safeNorm(sub(desiredH,out[U]), safeNorm(sub(out[H],out[U]),{x:0,y:-1,z:0}));" }, { "line": 2689, "text": " const clampedD=Math.max(minReach,Math.min(maxReach,dDesired));" }, { "line": 2690, "text": " targetH=addP(out[U],scaleP(dir,clampedD));" }, { "line": 2691, "text": " armDelta=sub(targetH,out[H]);" }, { "line": 2692, "text": " legDelta=sub(armDelta,deltaV195);" }, { "line": 2693, "text": " }" }, { "line": 2694, "text": " const d=len(sub(targetH,out[U]));" }, { "line": 2695, "text": " const u=safeNorm(sub(targetH,out[U]),{x:0,y:-1,z:0});" }, { "line": 2696, "text": " const xx=(l1*l1-l2*l2+d*d)/(2*d), hh=Math.sqrt(Math.max(0,l1*l1-xx*xx));" }, { "line": 2697, "text": " const rel=sub(out[E],out[U]), axial=scaleP(u,dot(rel,u));" }, { "line": 2698, "text": " let bend=sub(rel,axial);" }, { "line": 2699, "text": " if(len(bend)<1e-7){ const rawRel=(rawTargets?.[E]&&rawTargets?.[U])?sub(rawTargets[E],rawTargets[U]):{x:1,y:0,z:0}; bend=sub(rawRel,scaleP(u,dot(rawRel,u))); }" }, { "line": 2700, "text": " const n=safeNorm(bend,{x:1,y:0,z:0});" }, { "line": 2701, "text": " out[E]=addP(out[U],addP(scaleP(u,xx),scaleP(n,hh)));" }, { "line": 2702, "text": " for(const KK of [H,M,I,P]) out[KK]=addP(out[KK],armDelta);" }, { "line": 2703, "text": " if(clamped){ for(const KK of [K,F,Toe]) if(out[KK]) out[KK]=addP(out[KK],legDelta); }" }, { "line": 2704, "text": " const after=v93Basis(out, side); const a=after?.angles||{};" }, { "line": 2705, "text": " const neutralPass=(a.mcpCenter_vs_forearm??999)<=12 && (a.palmRay_vs_forearm??999)<=22;" }, { "line": 2706, "text": " return {targets:out,audit:{schema:'NEXPROD01_V198_V195_DELTA_SINGLE_WRITER',applied:true,deltaV195:roundObj(deltaV195),clamped,armDelta:roundObj(armDelta),armDeltaM:+len(armDelta).toFixed(5),legDelta:roundObj(legDelta),legDeltaM:+len(legDelta).toFixed(5),reach:{desiredDistance:+dDesired.toFixed(5),minReach:+minReach.toFixed(5),maxReach:+maxReach.toFixed(5),missing:+Math.max(0,dDesired-maxReach).toFixed(5)},beforeAngles:before?.angles||null,afterAngles:a,neutralPass,pass:neutralPass,policy:'V198: single writer green->yellow. Fingers/thumb/wrist settle off.'}};" }, { "line": 2707, "text": " }" } ] }, { "name": "V199 lock green / roll pink wrist only", "start": 2709, "end": 2756, "lines": [ { "line": 2709, "text": " function v199LockGreenRollPinkWristOnly(targets, rawTargets){" }, { "line": 2710, "text": " const out={...(targets||{})};" }, { "line": 2711, "text": " const side='R', U='R_Upperarm', E='R_Forearm', H='R_Hand', M='R_PalmBase', I='R_PalmIndexBase', P='R_PalmPinkyBase', K='R_Calf', F='R_Foot', Toe='R_ToeBase';" }, { "line": 2712, "text": " const before=v93Basis(out, side);" }, { "line": 2713, "text": " const required=[U,E,H,M,I,P,K,F];" }, { "line": 2714, "text": " if(!required.every(k=>out[k])) return {targets:out,audit:{schema:'NEXPROD01_V199_LOCK_GREEN_ROLL_PINK',applied:false,reason:'missing_targets',before}};" }, { "line": 2715, "text": " const localGreen={x:0.93966,y:0.70339,z:0.42636}; // fixed V195 green thenar vertex local coords" }, { "line": 2716, "text": " const localPink ={x:-0.08284,y:0.62487,z:0.34506}; // fixed V195 magenta/opposite-palm vertex local coords" }, { "line": 2717, "text": " const pinkLegTarget={x:-0.10186,y:0.76352,z:-0.33015}; // V198 closest lower-leg surface near pink; diagnostic target only" }, { "line": 2718, "text": " const makeBasis=(O)=>{" }, { "line": 2719, "text": " const C=scaleP(addP(addP(O[M],O[I]),O[P]),1/3);" }, { "line": 2720, "text": " let y=safeNorm(sub(C,O[H]),{x:0,y:-1,z:0});" }, { "line": 2721, "text": " let x=projectPerp(sub(O[I],O[P]),y); x=safeNorm(x,{x:1,y:0,z:0});" }, { "line": 2722, "text": " let z=safeNorm(crossP(x,y),{x:0,y:0,z:1});" }, { "line": 2723, "text": " y=safeNorm(crossP(z,x),y);" }, { "line": 2724, "text": " return {x,y,z,handLen:Math.max(0.001,len(sub(C,O[H]))),handSpan:Math.max(0.001,len(sub(O[I],O[P])))};" }, { "line": 2725, "text": " };" }, { "line": 2726, "text": " const pointLocal=(O,L)=>{ const b=makeBasis(O); return addP(O[H],addP(addP(scaleP(b.x,L.x*b.handSpan),scaleP(b.y,L.y*b.handLen)),scaleP(b.z,L.z*b.handSpan))); };" }, { "line": 2727, "text": " const rotateAround=(pt,pivot,axis,deg)=>{" }, { "line": 2728, "text": " const th=deg*Math.PI/180, ct=Math.cos(th), st=Math.sin(th), v=sub(pt,pivot), c=crossP(axis,v), ad=dot(axis,v);" }, { "line": 2729, "text": " return addP(pivot,{x:v.x*ct+c.x*st+axis.x*ad*(1-ct), y:v.y*ct+c.y*st+axis.y*ad*(1-ct), z:v.z*ct+c.z*st+axis.z*ad*(1-ct)});" }, { "line": 2730, "text": " };" }, { "line": 2731, "text": " const mode=String(globalThis.__NEX_V199_MODE||'wristPivotMoveLeg');" }, { "line": 2732, "text": " const roll=Number.isFinite(Number(globalThis.__NEX_V199_ROLL_DEG))?Number(globalThis.__NEX_V199_ROLL_DEG):55;" }, { "line": 2733, "text": " const green0=pointLocal(out,localGreen), pink0=pointLocal(out,localPink);" }, { "line": 2734, "text": " const axis=safeNorm(sub(out[H],out[E]),{x:0,y:-1,z:0});" }, { "line": 2735, "text": " const beforePinkDist=len(sub(pink0,pinkLegTarget));" }, { "line": 2736, "text": " let legDelta={x:0,y:0,z:0};" }, { "line": 2737, "text": " if(mode==='contactPivot'){" }, { "line": 2738, "text": " // Locked green is the pivot. Wrist may move; used to test pure contact-locked roll." }, { "line": 2739, "text": " const pivot=green0;" }, { "line": 2740, "text": " for(const KK of [H,M,I,P]) out[KK]=rotateAround(out[KK],pivot,axis,roll);" }, { "line": 2741, "text": " } else {" }, { "line": 2742, "text": " // More conservative anatomical wrist roll: rotate the palm plate about the wrist/forearm axis." }, { "line": 2743, "text": " // Then move the leg contact marker with the resulting green point so green/yellow remains snapped without moving the wrist past reach." }, { "line": 2744, "text": " const pivot=out[H];" }, { "line": 2745, "text": " for(const KK of [M,I,P]) out[KK]=rotateAround(out[KK],pivot,axis,roll);" }, { "line": 2746, "text": " const greenAfterHand=pointLocal(out,localGreen);" }, { "line": 2747, "text": " legDelta=sub(greenAfterHand,green0);" }, { "line": 2748, "text": " // V199C micro-correction from actual fixed skinned markers after V199B: move the second snap body, not the hand." }, { "line": 2749, "text": " legDelta=addP(legDelta,{x:-0.0055,y:-0.0034,z:-0.0016});" }, { "line": 2750, "text": " for(const KK of [K,F,Toe]) if(out[KK]) out[KK]=addP(out[KK],legDelta);" }, { "line": 2751, "text": " }" }, { "line": 2752, "text": " const green1=pointLocal(out,localGreen), pink1=pointLocal(out,localPink);" }, { "line": 2753, "text": " const pinkTarget1=addP(pinkLegTarget,legDelta);" }, { "line": 2754, "text": " const after=v93Basis(out,side); const a=after?.angles||{};" }, { "line": 2755, "text": " const l1=len(sub(out[E],out[U])), l2=len(sub(out[H],out[E])), d=len(sub(out[H],out[U])), maxReach=l1+l2-1e-6, minReach=Math.abs(l1-l2)+1e-6;" }, { "line": 2756, "text": " return {targets:out,audit:{schema:'NEXPROD01_V199_LOCK_GREEN_ROLL_PINK',applied:true,mode,rollDeg:roll,greenLockPolicy:mode==='contactPivot'?'green point is fixed pivot':'wrist is fixed; lower-leg is translated by green-point residual to preserve green/yellow contact',greenBefore:roundObj(green0),greenAfter:roundObj(green1),pinkBefore:roundObj(pink0),pinkAfter:roundObj(pink1),pinkLegTargetBefore:roundObj(pinkLegTarget),pinkLegTargetAfter:roundObj(pinkTarget1),legDelta:roundObj(legDelta),legDeltaM:+len(legDelta).toFixed(5),pinkDistanceBefore:+beforePinkDist.toFixed(5),pinkDistanceAfter:+len(sub(pink1,pinkTarget1)).toFixed(5),reach:{distance:+d.toFixed(5),minReach:+minReach.toFixed(5),maxReach:+maxReach.toFixed(5),overMax:+Math.max(0,d-maxReach).toFixed(5)},beforeAngles:before?.angles||null,afterAngles:a,policy:'V199 only: after V198 green-yellow single-writer contact, rotate the wrist/palm plate so fixed magenta point approaches lower leg. No fingers, no thumb writer, no additional snap/cylinder/t sweep.'}};" } ] }, { "name": "commit loop right-only truth/probe calls", "start": 2860, "end": 2893, "lines": [ { "line": 2860, "text": " try { globalThis.__NEXPROD01_V157_REAL_MEDIAPIPE_HAND_FRAME=v157SourceHand.audit; } catch(e) {}" }, { "line": 2861, "text": " const ikSourceLockPass=!!(sourceLock?.profileHash && sourceLock?.frameHash && approvalGate?.ikApproved && approvalGate?.nexTestEligible);" }, { "line": 2862, "text": " const retargetedBaseTargets=buildRetargetedActualLengthTargets(rawTargets);" }, { "line": 2863, "text": " const invariantAuthority=applyAuthoredInvariantPointAuthority(c, rawTargets, retargetedBaseTargets);" }, { "line": 2864, "text": " const retargetedTargets=invariantAuthority.targets;" }, { "line": 2865, "text": " const biomechAtlas=biomechAtlasNormalizeTargets(retargetedTargets, rawTargets);" }, { "line": 2866, "text": " const sourceContact=sourceContactAuthorityForCase(c);" }, { "line": 2867, "text": " // V183 neutral hand-snap feasibility stage: one owner decides whether the other snap point" }, { "line": 2868, "text": " // (the raised ankle) must move before the hand is solved. This replaces the previous separate" }, { "line": 2869, "text": " // V169 closer + V175 leg-out patches so no later body patch moves the ankle into a solved hand." }, { "line": 2870, "text": " const v183Closer=v169MoveRaisedLegTowardGluteOnly(biomechAtlas.targets,0.065);" }, { "line": 2871, "text": " let v183SnapTargets=v183Closer.targets;" }, { "line": 2872, "text": " const v183LegOut=v175AngleRaisedLegOutward(v183SnapTargets,-10);" }, { "line": 2873, "text": " v183SnapTargets=v183LegOut.targets;" }, { "line": 2874, "text": " biomechAtlas.targets=v183SnapTargets;" }, { "line": 2875, "text": " try { globalThis.__NEXPROD01_V184_SNAP_ONLY_FEASIBILITY={schema:'NEXPROD01_V184_SNAP_ONLY_FEASIBILITY',applied:true,closer:v183Closer.audit,legOut:v183LegOut.audit,policy:'Pre-snap feasibility only: raised ankle is placed before any hand frame is solved. No post-contact body patches.'}; } catch(e) {}" }, { "line": 2876, "text": " try { globalThis.__NEXPROD01_V169_LEG_CLOSER_ONLY={applied:false,reason:'superseded_by_V183_neutral_snap_feasibility'}; } catch(e) {}" }, { "line": 2877, "text": " try { globalThis.__NEXPROD01_V175_LEG_OUT={applied:false,reason:'superseded_by_V183_neutral_snap_feasibility'}; } catch(e) {}" }, { "line": 2878, "text": " const v266GripContract=v266ApplyCleanGripContract(biomechAtlas.targets, rawTargets, sourceContact, {caseId:c.caseId, phase:c.phase});" }, { "line": 2879, "text": " biomechAtlas.targets=v266GripContract.targets;" }, { "line": 2880, "text": " const v189Neutral={targets:biomechAtlas.targets,audit:v266GripContract.stages.v189||{schema:'NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH',applied:false,reason:'blocked_by_V266_clean_grip_contract',requestedSide:v266GripContract.audit.requestedSide}};" }, { "line": 2881, "text": " const v198Snap={targets:biomechAtlas.targets,audit:v266GripContract.stages.v198||{schema:'NEXPROD01_V198_V195_DELTA_SINGLE_WRITER',applied:false,reason:'blocked_by_V266_clean_grip_contract',requestedSide:v266GripContract.audit.requestedSide}};" }, { "line": 2882, "text": " const v199Roll={targets:biomechAtlas.targets,audit:v266GripContract.stages.v199||{schema:'NEXPROD01_V199_LOCK_GREEN_ROLL_PINK',applied:false,reason:'blocked_by_V266_clean_grip_contract',requestedSide:v266GripContract.audit.requestedSide}};" }, { "line": 2883, "text": " try { globalThis.__NEXPROD01_V266_CLEAN_GRIP_CONTRACT=v266GripContract.audit; } catch(e) {}" }, { "line": 2884, "text": " try { globalThis.__NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH=v189Neutral.audit; } catch(e) {}" }, { "line": 2885, "text": " try { globalThis.__NEXPROD01_V198_V195_DELTA_SINGLE_WRITER=v198Snap.audit; } catch(e) {}" }, { "line": 2886, "text": " try { globalThis.__NEXPROD01_V199_LOCK_GREEN_ROLL_PINK=v199Roll.audit; } catch(e) {}" }, { "line": 2887, "text": " const v110Grip={targets:biomechAtlas.targets,audit:{schema:'NEXPROD01_V266_CLEAN_GRIP_CONTRACT_NO_DISTAL_GRIP_YET',applied:!!v266GripContract.audit.applied,reason:v266GripContract.audit.applied?'clean grip contract completed pre-finger right golden path; fingers still owned by approved V238/V239 layer':'grip contract blocked; no palm/finger authority for this side yet',contract:v266GripContract.audit,v189:v189Neutral.audit,v198:v198Snap.audit,v199:v199Roll.audit,policy:'V266 sequence: one named contract wraps neutral pre-snap -> green/yellow contact -> wrist roll. It explicitly blocks side=L until the contract is parameterized from the right source-of-truth.'}};" }, { "line": 2888, "text": " try { globalThis.__NEXPROD01_V110_DISTAL_GRIP_COUPLED=v110Grip.audit; } catch(e) {}" }, { "line": 2889, "text": " let v102LegReach={targets:biomechAtlas.targets,audit:{applied:false,reason:'v110_distal_coupled_authority'}};" }, { "line": 2890, "text": " let v98GripContact={targets:biomechAtlas.targets,audit:{applied:false,reason:'v110_distal_coupled_authority'}};" }, { "line": 2891, "text": " let v100GripSurface={targets:biomechAtlas.targets,audit:{applied:false,reason:'v110_distal_coupled_authority'}};" }, { "line": 2892, "text": " if(false && !v110Grip.audit?.applied){" }, { "line": 2893, "text": " v102LegReach=v102RestoreHeelToGluteReach(biomechAtlas.targets, rawTargets, sourceContact); biomechAtlas.targets=v102LegReach.targets;" } ] } ], "grep": { "right_only_call_sites": [ { "line": 2325, "text": "if(side==='R' && globalThis.__NEX_V238_USE_LEGACY_V200_FINGER_CLOSE!==true){" }, { "line": 2584, "text": "const side='R', F='R_Forearm', H='R_Hand', M='R_PalmBase', I='R_PalmIndexBase', P='R_PalmPinkyBase';" }, { "line": 2622, "text": "const side='R', T='R_Thigh', K='R_Calf', F='R_Foot', U='R_Upperarm', E='R_Forearm', H='R_Hand', M='R_PalmBase', I='R_PalmIndexBase', P='R_PalmPinkyBase';" }, { "line": 2677, "text": "const side='R', U='R_Upperarm', E='R_Forearm', H='R_Hand', M='R_PalmBase', I='R_PalmIndexBase', P='R_PalmPinkyBase', K='R_Calf', F='R_Foot', Toe='R_ToeBase';" }, { "line": 2711, "text": "const side='R', U='R_Upperarm', E='R_Forearm', H='R_Hand', M='R_PalmBase', I='R_PalmIndexBase', P='R_PalmPinkyBase', K='R_Calf', F='R_Foot', Toe='R_ToeBase';" }, { "line": 2923, "text": "v140GripHandQaTint=v140InstallGripHandQaTint('R'); commit.v140GripHandQaTint=v140GripHandQaTint;" }, { "line": 2924, "text": "v151MeshTruth=v151ActualMeshTruthDiag('R'); commit.v151MeshTruth=v151MeshTruth;" } ], "generic_grip_side_sites": [ { "line": 452, "text": "const refSourceContact=sourceContactAuthorityForCase({...c,phase:0});" }, { "line": 923, "text": "function applyOneWriterCommit(targets, sourceContact=null){" }, { "line": 1023, "text": "const activeGroups=activeContactGroupsFromIk(targets,sourceContact);" }, { "line": 1065, "text": "function v98ReconcileNonFloorGripContact(targets, rawTargets, sourceContact){" }, { "line": 1067, "text": "const rules=(sourceContact?.rules||[]).filter(r=>r?.nonFloorContact===true && r?.gripSide && /grip|heel|shin|hook/i.test(String(r?.type||'')+' '+String(r?.contactStyle||'')+' '+String(r?.targetLimb||'')));" }, { "line": 1070, "text": "const side=String(rule.gripSide||'').toUpperCase()==='R'?'R':'L';" }, { "line": 1075, "text": "const sourceContactDelta=sub(rawTargets[M],rawTargets[F]);" }, { "line": 1076, "text": "const desiredPalm=addP(out[F],sourceContactDelta);" }, { "line": 1108, "text": "sourcePalmFootDelta:roundObj(sourceContactDelta), beforePalmFootDelta:roundObj(sub(targets[M],targets[F])), afterPalmFootDelta:roundObj(afterPalmFoot)," }, { "line": 1119, "text": "function v110SolveDistalAxisGripCoupled(targets, rawTargets, sourceContact){" }, { "line": 1121, "text": "const rules=(sourceContact?.rules||[]).filter(r=>r?.nonFloorContact===true && r?.gripSide && Array.isArray(r?.cylinderAxis) && r.cylinderAxis.length===2 && Number.isFinite(+r?.capsuleRadiusMeters) && /lower_shin|distal|ankle|calf/i.test(String(r?.targetLimb||'')+' '+String(r?.surface||'')));" }, { "line": 1125, "text": "const side=String(rule.gripSide||'').toUpperCase()==='R'?'R':'L';" }, { "line": 1327, "text": "function v102RestoreHeelToGluteReach(targets, rawTargets, sourceContact){" }, { "line": 1329, "text": "const rules=(sourceContact?.rules||[]).filter(r=>r?.nonFloorContact===true && r?.gripSide && Number.isFinite(+r?.capsuleRadiusMeters) && Array.isArray(r?.cylinderAxis));" }, { "line": 1339, "text": "const side=String(rule.gripSide||'').toUpperCase()==='R'?'R':'L';" }, { "line": 1367, "text": "function v100ResolveNonFloorGripCapsuleSurface(targets, rawTargets, sourceContact){" }, { "line": 1369, "text": "const rules=(sourceContact?.rules||[]).filter(r=>r?.nonFloorContact===true && r?.gripSide && Number.isFinite(+r?.capsuleRadiusMeters) && Array.isArray(r?.cylinderAxis) && r.cylinderAxis.length===2);" }, { "line": 1373, "text": "const side=String(rule.gripSide||'').toUpperCase()==='R'?'R':'L';" }, { "line": 1425, "text": "function sourceContactAuthorityForCase(c){" }, { "line": 1440, "text": "function activeContactGroupsFromIk(targets, sourceContact=null){" }, { "line": 1449, "text": "if(sourceContact?.activeGroups?.length){" }, { "line": 1450, "text": "const hasV53HandFloor=(sourceContact.rules||[]).some(r=>/v54_palmbase_floor_contact_authority|v53_floor_resolved_hand_support|hand_floor_contact_point_authority/i.test(String(r?.type||'')));" }, { "line": 1452, "text": "return [...new Set(sourceContact.activeGroups)];" }, { "line": 1454, "text": "const allowed=new Set(sourceContact.activeGroups);" }, { "line": 1456, "text": "band=Math.max(0.12,...(sourceContact.rules||[]).map(r=>Number(r?.toleranceMeters)||0));" }, { "line": 1462, "text": "function contactGateForProfile(profileId, contacts, targets, sourceContact=null){ const active=activeContactGroupsFromIk(targets,sourceContact); const rows=active.map(g=>{ const row=contacts.groups[g]; const minY=Number.isFinite(row?.minY)?row.minY:null; return {group:g,minY,penetration:minY===null?null:Math.max(0,-minY),status:minY===null?'missing':(minY>=-0.002?'clear':'penetrating'),sensor:row?.minPoint||null}; }); const maxPenetration=Math.max(0,...rows.map(r=>r.penetration||0)); const minActive=Math.min(...rows.map(r=>Number.isFinite(r.minY)?r.minY:Infinity)); const maxActive=Math.max(...rows.map(r=>Number.isFinite(r.minY)?r.minY:-Infinity)); const supportSpread=Number.isFinite(minActive)&&Number.isFinite(maxActive)?maxActive-minActive:null; const sourceTolerance=Math.max(0.18,...(sourceContact?.rules||[]).map(r=>Number(r?.toleranceMeters)||0)); const spreadTol=sourceContact?.used ? Math.max(0.18, sourceTolerance*4) : 0.18; return {floorY:0,contactAuthority:sourceContact?.used?'canonical_ik_contactRules':'generic_low_end_effector_fallback',sourceContact:sourceContact||null,activeGroups:active,rows,minActiveY:Number.isFinite(minActive)?+minActive.toFixed(5):null,maxActiveY:Number.isFinite(maxActive)?+maxActive.toFixed(5):null,supportSpread:supportSpread===null?null:+supportSpread.toFixed(5),supportSpreadTolerance:+spreadTol.toFixed(5),maxPenetration:+maxPenetration.toFixed(5),pass:rows.length>0 && rows.every(r=>r.status==='clear')&&(supportSpread===null?false:supportSpread<=spreadTol)}; }" }, { "line": 1482, "text": "function floorCanonicalizeByIkSupport(targets, sourceContact=null){" }, { "line": 1483, "text": "const active=activeContactGroupsFromIk(targets,sourceContact);" }, { "line": 1930, "text": "function v68GripRule(sourceContact){" }, { "line": 1931, "text": "const rules = sourceContact?.rules || [];" }, { "line": 1932, "text": "return rules.find(r => /shin_grip|heel_shin_grip|heel_hook|compact_heel_hook|outer_shin_grip|outer_shin|palmbase_contact|finger_grip|biorig_v126_full_grip/i.test(String(r?.type||'')) && r?.gripSide) || null;" }, { "line": 2269, "text": "const gripSide=side;" }, { "line": 2313, "text": "try{ globalThis.__NEXPROD01_V216_BIOMECH_SAFE_FINGER_ROLLBACK={schema:'NEXPROD01_V216_BIOMECH_SAFE_FINGER_ROLLBACK',active:true,side:gripSide,rows,caps,policy:'V215 visual QA rejected broken fingers. V216 backs out contact-at-any-cost. Default route is conservative and cap-gated; set __NEX_V216_DISABLE=true to use V200 fallback.'}; }catch(e){}" }, { "line": 2314, "text": "return globalThis.__NEXPROD01_V216_BIOMECH_SAFE_FINGER_ROLLBACK || {active:true,side:gripSide,rows,caps};" }, { "line": 2319, "text": "const gripSide=side;" }, { "line": 2350, "text": "try{ const __v239ApprovedGrip={schema:'NEXPROD01_V239_WIRING_FIXED_APPROVED_GRIP',active:true,side:gripSide,source:'V236_ALL_Z_STOP_INDEX_MCP_0p36',terms:approvedTerms,rows,policy:'Canonical clean grip: all finger joints use z+ curl plane; MCP -> PIP -> DIP; index MCP override z+0.36 from user-approved V235 audit. Only finger bones are written. No hand, wrist, arm, thumb or leg mutation.'}; globalThis.__NEXPROD01_V239_APPROVED_GRIP=__v239ApprovedGrip; globalThis.__NEXPROD01_V238_APPROVED_GRIP=__v239ApprovedGrip; }catch(e){}" }, { "line": 2351, "text": "return globalThis.__NEXPROD01_V238_APPROVED_GRIP || {active:true,side:gripSide,rows};" }, { "line": 2392, "text": "try{ globalThis.__NEXPROD01_V200_LOCKED_HAND_FINGER_CLOSE={schema:'NEXPROD01_V200_LOCKED_HAND_FINGER_CLOSE',active:true,side:gripSide,curlScale,sign,spreadScale,includeThumb,rows,policy:'After V199 palm/wrist lock: fingers only rotate in their own bones. They may not translate hand, wrist, arm, snap points, or leg. Thumb writer remains off unless includeThumb=true.'}; }catch(e){}" }, { "line": 2393, "text": "return globalThis.__NEXPROD01_V200_LOCKED_HAND_FINGER_CLOSE || {active:true,side:gripSide,rows};" }, { "line": 2396, "text": "function v68ApplyShinGripFingerLayer(sourceContact, targets=null){" }, { "line": 2398, "text": "const rule = v68GripRule(sourceContact);" }, { "line": 2400, "text": "const gripSide = String(rule.gripSide || '').toUpperCase() === 'R' ? 'R' : 'L';" }, { "line": 2401, "text": "const freeSide = gripSide === 'L' ? 'R' : 'L';" }, { "line": 2415, "text": "const grip = distalAxisGrip ? v200ApplyLockedHandFingerClose(gripSide) : v68ApplyFingerPreset(gripSide, presetName);" }, { "line": 2416, "text": "const v84TipArc = distalAxisGrip ? {schema:'NEXPROD01_V200_LOCKED_HAND_FINGER_CLOSE_LAYER', active:true, reason:'initial palm/wrist contact accepted from V199; now rotate fingers only', policy:'V200: no hand/arm/leg writer in finger phase; only finger bone rotations from locked V199 hand state.'} : v84ApplyHeelHookFingerTipCCD(gripSide, targets, rule);" }, { "line": 2417, "text": "try{globalThis.__NEXPROD01_V184_SNAP_ONLY={applied:false, gripSide, fingersPaused:false, thumbPaused:true, supersededBy:'V200_LOCKED_HAND_FINGER_CLOSE', policy:'Snap/wrist is V199 baseline; V200 begins finger close only.'};}catch(e){}" }, { "line": 2422, "text": "return {schema:'NEXPROD01_V84_COMPACT_HEEL_HOOK_WITH_FINGERTIP_CCD_LAYER', v84TipArc, version:'BioRig_V126_43_HAND05_PLUS_MEDIAPIPE_21PT_FRAME', ...presetMeta, axisMap:{L:{forward:'yPos',normal:'xNeg',thumb:'index_side_down'},R:{forward:'yPos',normal:'xPos',thumb:'index_side_down'}}, enabled:true, active:true, gripSide, freeSide, ruleType:rule.type, wristPolicy:rule.wristPolicy||'near_straight_thumb_down', mediapipeHandFrame:rule.mediapipeHandFrame||null, thumbVectorConstraint:rule.thumbVectorConstraint||'thumb_cmc_to_thumb_tip_world_y_negative', policy:'V81_HEEL_CUP_HOOK_RUNTIME_META: V81 uses the user reference as a heel-cup hook: palm cups heel/ankle volume, fingers cross shoe/heel, thumb opposes down/in, wrist stays near forearm line and the hand reads as pulling the lower leg forward. V80 used the first facit heel-hook; V79 made thumb direction first-class. Finger layer remains child-layer curl after body IK.', grip, free};" }, { "line": 2512, "text": "function v93BuildHandControlProbe(side, c, rawTargets, finalTargets, afterCommitTargets, afterFinalTargets, sourceContact, fingerLayer){" }, { "line": 2535, "text": "sourceContactRule:(sourceContact?.rules||[]).map(r=>({type:r.type, gripSide:r.gripSide, handPreset:r.handPreset, contactStyle:r.contactStyle, wristPolicy:r.wristPolicy, thumbVectorConstraint:r.thumbVectorConstraint}))," }, { "line": 2765, "text": "function v266ResolveGripSideFromSourceContact(sourceContact){" }, { "line": 2767, "text": "const rules=sourceContact?.rules||[];" }, { "line": 2768, "text": "const rule=rules.find(r=>r && r.gripSide) || null;" }, { "line": 2769, "text": "const side=String(rule?.gripSide||'R').toUpperCase();" }, { "line": 2774, "text": "function v266ApplyCleanGripContract(targets, rawTargets, sourceContact, opts={}){" }, { "line": 2775, "text": "const requestedSide=v266ResolveGripSideFromSourceContact(sourceContact);" }, { "line": 2866, "text": "const sourceContact=sourceContactAuthorityForCase(c);" }, { "line": 2878, "text": "const v266GripContract=v266ApplyCleanGripContract(biomechAtlas.targets, rawTargets, sourceContact, {caseId:c.caseId, phase:c.phase});" }, { "line": 2893, "text": "v102LegReach=v102RestoreHeelToGluteReach(biomechAtlas.targets, rawTargets, sourceContact); biomechAtlas.targets=v102LegReach.targets;" }, { "line": 2894, "text": "v98GripContact=v98ReconcileNonFloorGripContact(biomechAtlas.targets, rawTargets, sourceContact); biomechAtlas.targets=v98GripContact.targets;" }, { "line": 2895, "text": "v100GripSurface=v100ResolveNonFloorGripCapsuleSurface(biomechAtlas.targets, rawTargets, sourceContact); biomechAtlas.targets=v100GripSurface.targets;" }, { "line": 2900, "text": "const floorCanonical=floorCanonicalizeByIkSupport(biomechAtlas.targets, sourceContact);" }, { "line": 2919, "text": "commit=applyOneWriterCommit(finalTargets,sourceContact);" }, { "line": 2921, "text": "v68ShinGripFingerLayer=v68ApplyShinGripFingerLayer(sourceContact, finalTargets);" }, { "line": 2946, "text": "const v93RightHandControlProbe = v93BuildHandControlProbe('R', c, rawTargets, finalTargets, v93AfterCommitTargets, after, sourceContact, v68ShinGripFingerLayer); commit.v157SourceHandFrame=v157SourceHand.audit;" }, { "line": 2954, "text": "const contactGate=contactGateForProfile(c.profileId,contactSamples,metricTargets,sourceContact);" }, { "line": 2956, "text": "const rawBoneOriginContactGate=contactGateForProfile(c.profileId,rawBoneOriginContactSamples,metricTargets,sourceContact);" }, { "line": 3006, "text": "const metrics={minDot:+minDot.toFixed(5),avgDot:+avgDot.toFixed(5),landmarks,rawLandmarks,runtimeTargetLandmarks,strictNormalization,invariantPointAuthority:invariantAuthority.audit,finalInvariantPointAuthority:finalInvariantAuthority.audit,semanticLandmarkMap,semanticActualReadback,branchRigidFit,normIkVsNexBranchSignature:normIkVsNexBranch,ikSourceLock,ikNexTruth:truthGate,rawBoneOriginTruth:rawBoneOriginTruthGate,rawIkFidelity:sourceFidelityGate,rawAbsoluteLandmarkDiagnostic,sourceDerivedCanonical,sourceContact,v98GripContact:v98GripContact.audit,rawBoneOriginContactGate,wholeBodyFloor,morphology,hingeIntegrity,biomechConstraints,runtimeTargetSelfCompare:runtimeTargetGate,v68ShinGripFingerLayer,v93RightHandControlProbe,rootTravel:+dist(after.Hip,before.Hip).toFixed(5)};" } ] } }, "homology": { "rightSource": { "green": { "source": "R_green_approved_vertex_58174", "targetTop": "L_Thumb2", "targetGroup": "thumb", "dist": { "H_R_Hand": 0.08192, "M_R_Mid1": 0.06092, "I_R_Index1": 0.04422, "P_R_Pinky1": 0.08761, "T_R_Thumb1": 0.05407, "Fore_R_Forearm": 0.2851, "Index2_R_Index2": 0.06803, "Pinky2_R_Pinky2": 0.09449, "Thumb2_R_Thumb2": 0.01003 }, "skin": { "hand": 0, "thumb": 1, "index": 0, "mid": 0, "ring": 0, "pinky": 0, "forearm": 0, "other": 0, "top": "R_Thumb2", "topw": 1, "items": [ [ "R_Thumb2", 1 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ] ] }, "rightLocal": { "x": 0.93966, "y": 0.70339, "z": 0.42636 }, "rightWorld": { "x": -0.14917, "y": 0.71196, "z": -0.26927 }, "rightVertex": { "idx": 58174, "d": 0, "p": { "x": -0.14917, "y": 0.71196, "z": -0.26927 }, "local": { "x": 0.93966, "y": 0.70339, "z": 0.42636 }, "skin": { "hand": 0, "thumb": 1, "index": 0, "mid": 0, "ring": 0, "pinky": 0, "forearm": 0, "other": 0, "top": "R_Thumb2", "topw": 1, "items": [ [ "R_Thumb2", 1 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ] ] } } }, "pink": { "source": "R_pink_approved_vertex_58358", "targetTop": "L_Hand", "targetGroup": "hand", "dist": { "H_R_Hand": 0.05549, "M_R_Mid1": 0.0416, "I_R_Index1": 0.0481, "P_R_Pinky1": 0.04058, "T_R_Thumb1": 0.04187, "Fore_R_Forearm": 0.27509, "Index2_R_Index2": 0.06964, "Pinky2_R_Pinky2": 0.05245, "Thumb2_R_Thumb2": 0.0551 }, "skin": { "hand": 0.984, "thumb": 0.016, "index": 0, "mid": 0, "ring": 0, "pinky": 0, "forearm": 0, "other": 0, "top": "R_Hand", "topw": 0.984, "items": [ [ "R_Hand", 0.984 ], [ "R_Thumb1", 0.016 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ] ] }, "rightLocal": { "x": -0.08284, "y": 0.62487, "z": 0.34506 }, "rightWorld": { "x": -0.14789, "y": 0.74294, "z": -0.31771 }, "rightVertex": { "idx": 58358, "d": 0, "p": { "x": -0.14789, "y": 0.74294, "z": -0.31771 }, "local": { "x": -0.08284, "y": 0.62487, "z": 0.34506 }, "skin": { "hand": 0.984, "thumb": 0.016, "index": 0, "mid": 0, "ring": 0, "pinky": 0, "forearm": 0, "other": 0, "top": "R_Hand", "topw": 0.984, "items": [ [ "R_Hand", 0.984 ], [ "R_Thumb1", 0.016 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ] ] } } } }, "leftHomologs": {} }, "interpretation": { "steps": [ { "step": 1, "name": "Source contact selects right grip route", "authority": "sourceContact / v68GripRule", "operation": "Right case v94_right_full at phase 0.75 enters shin grip route. Generic distal-finger/arm infrastructure can see gripSide=R.", "after": { "v69": { "schema": "V94_SPACE_CONTROL_FINGERTIP_TARGET_RUNTIME_META", "v84TipArc": { "schema": "NEXPROD01_V200_LOCKED_HAND_FINGER_CLOSE_LAYER", "active": true, "reason": "initial palm/wrist contact accepted from V199; now rotate fingers only", "policy": "V200: no hand/arm/leg writer in finger phase; only finger bone rotations from locked V199 hand state." }, "version": "BioRig_V126_43_HAND05_PLUS_MEDIAPIPE_21PT_FRAME", "handPreset": "v83_compact_heel_hook", "curl": [ 0.72, 0.88, 0.62 ], "thumbCurl": [ 0.54, 0.38, 0.26 ], "spread": -0.03, "blend": 0.78, "thumbDownRoll": 1.16, "contactStyle": "V92_thumb_down_lock_compact_hook_fingers_wrap_heel_shoe_not_side_clamp", "contactPriority": "grip_shape_first__surface_no_penetration__thumb_opposition__neutral_wrist", "axisMap": { "L": { "forward": "yPos", "normal": "xNeg", "thumb": "index_side_down" }, "R": { "forward": "yPos", "normal": "xPos", "thumb": "index_side_down" } }, "enabled": true, "active": true, "gripSide": "R", "freeSide": "L", "ruleType": "v94_space_control_right_finger_grip", "wristPolicy": "lock_v86_v91_roll_no_v87_90deg_compensation", "mediapipeHandFrame": null, "thumbVectorConstraint": "thumb_tip_world_y_negative_down_opposition", "policy": "V81_HEEL_CUP_HOOK_RUNTIME_META: V81 uses the user reference as a heel-cup hook: palm cups heel/ankle volume, fingers cross shoe/heel, thumb opposes down/in, wrist stays near forearm line and the hand reads as pulling the lower leg forward. V80 used the first facit heel-hook; V79 made thumb direction first-class. Finger layer remains child-layer curl after body IK.", "grip": { "schema": "NEXPROD01_V239_WIRING_FIXED_APPROVED_GRIP", "active": true, "side": "R", "source": "V236_ALL_Z_STOP_INDEX_MCP_0p36", "terms": { "index": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.36, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "middle": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "ring": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "role": "V234_STOP_ON_CONTACT_DIP" } ], "pinky": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.68, "role": "V234_STOP_ON_CONTACT_PIP" } ] }, "rows": [ { "finger": "thumb", "active": false, "reason": "V238 approved grip keeps thumb writer off; V199 wrist/palm/leg lock remains authority" }, { "finger": "index", "bone": "R_Index1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "finger": "index", "bone": "R_Index2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "index", "bone": "R_Index3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "middle", "bone": "R_Mid1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "middle", "bone": "R_Mid2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "middle", "bone": "R_Mid3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.36, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "ring", "bone": "R_Ring1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "ring", "bone": "R_Ring2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.72, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" }, { "finger": "ring", "bone": "R_Ring3", "segment": 2, "axis": "z", "sign": 1, "amount": 0.06, "active": true, "role": "V234_STOP_ON_CONTACT_DIP" }, { "finger": "pinky", "bone": "R_Pinky1", "segment": 0, "axis": "z", "sign": 1, "amount": 0.84, "active": true, "role": "V234_STOP_ON_CONTACT_MCP" }, { "finger": "pinky", "bone": "R_Pinky2", "segment": 1, "axis": "z", "sign": 1, "amount": 0.68, "active": true, "role": "V234_STOP_ON_CONTACT_PIP" } ], "policy": "Canonical clean grip: all finger joints use z+ curl plane; MCP -> PIP -> DIP; index MCP override z+0.36 from user-approved V235 audit. Only finger bones are written. No hand, wrist, arm, thumb or leg mutation." }, "free": { "side": "L", "preset": "open_relaxed", "chainCount": 5, "appliedBoneCount": 15, "missingChains": [], "rows": [ { "finger": "thumb", "bone": "L_Thumb1", "segment": 0, "curl": 0.029, "oppose": 0, "thumbDownRoll": 0, "spread": 0.066, "blend": 0.52 }, { "finger": "thumb", "bone": "L_Thumb2", "segment": 1, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "thumb", "bone": "L_Thumb3", "segment": 2, "curl": 0.025, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "index", "bone": "L_Index1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": 0.025, "blend": 0.52 }, { "finger": "index", "bone": "L_Index2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "index", "bone": "L_Index3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "middle", "bone": "L_Mid1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": 0.006, "blend": 0.52 }, { "finger": "middle", "bone": "L_Mid2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "middle", "bone": "L_Mid3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "ring", "bone": "L_Ring1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": -0.017, "blend": 0.52 }, { "finger": "ring", "bone": "L_Ring2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "ring", "bone": "L_Ring3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "pinky", "bone": "L_Pinky1", "segment": 0, "curl": 0.04, "oppose": 0, "thumbDownRoll": 0, "spread": -0.034, "blend": 0.52 }, { "finger": "pinky", "bone": "L_Pinky2", "segment": 1, "curl": 0.055, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 }, { "finger": "pinky", "bone": "L_Pinky3", "segment": 2, "curl": 0.035, "oppose": 0, "thumbDownRoll": 0, "spread": 0, "blend": 0.52 } ] } } }, "blockers_for_generalization": [ "Need the same route to pass side=L without later R-only fallbacks." ] }, { "step": 2, "name": "V189 neutral handframe", "authority": "targets + restTargetPoints R_Hand/R_PalmBase/R_PalmIndexBase/R_PalmPinkyBase", "operation": "Build palm plate from forearm continuation. Roll source is raw I-P projected. No object snap, no fingers.", "after": { "beforeAngles": { "palmRay_vs_forearm": 68.28, "mcpCenter_vs_forearm": 65.66, "mcpAxis_vs_forearm": 134.88, "palmNormal_vs_forearm": 119.49 }, "afterAngles": { "palmRay_vs_forearm": 10.68, "mcpCenter_vs_forearm": 6.37, "mcpAxis_vs_forearm": 90, "palmNormal_vs_forearm": 90 }, "pass": true }, "blockers_for_generalization": [ "Function is hardcoded const side=R in V239. Must be side-parametric before left." ] }, { "step": 3, "name": "V198 approved translation snap", "authority": "hard-coded deltaV195 from approved right visual iteration", "operation": "Move R_Hand/R_PalmBase/R_PalmIndexBase/R_PalmPinkyBase by armDelta. If arm reach clamps, move R_Calf/R_Foot/R_ToeBase by legDelta.", "after": { "deltaV195": { "x": 0.04303, "y": -0.00036, "z": -0.02451 }, "armDelta": { "x": 0.04273, "y": 0.00722, "z": -0.02048 }, "legDelta": { "x": -0.0003, "y": 0.00758, "z": 0.00403 }, "reach": { "desiredDistance": 0.46, "minReach": 0.0105, "maxReach": 0.45141, "missing": 0.00859 }, "afterAngles": { "palmRay_vs_forearm": 12.56, "mcpCenter_vs_forearm": 8.31, "mcpAxis_vs_forearm": 85.36, "palmNormal_vs_forearm": 78.92 }, "pass": true }, "blockers_for_generalization": [ "This is not a reusable object-contact derivation. For new exercises/left it must be derived from target limb surface/contact spec." ] }, { "step": 4, "name": "V199 wrist roll with two palm markers", "authority": "fixed localGreen/localPink in hand branch basis", "operation": "Compute green/pink from local branch frame. Roll palm plate about wrist/forearm axis by +55 deg. In default wristPivotMoveLeg mode, wrist stays, palm plate rotates, and lower leg translates by green residual plus micro-correction to keep green contact consistent.", "after": { "localGreen": "{x:0.93966,y:0.70339,z:0.42636}", "localPink": "{x:-0.08284,y:0.62487,z:0.34506}", "rollDeg": 55, "mode": "wristPivotMoveLeg", "greenBefore": { "x": -0.10797, "y": 0.93192, "z": -0.29516 }, "greenAfter": { "x": -0.14997, "y": 0.91566, "z": -0.26801 }, "pinkBefore": { "x": -0.15422, "y": 0.9504, "z": -0.32392 }, "pinkAfter": { "x": -0.14868, "y": 0.94665, "z": -0.31645 }, "pinkLegTargetBefore": { "x": -0.10186, "y": 0.76352, "z": -0.33015 }, "pinkLegTargetAfter": { "x": -0.14936, "y": 0.74386, "z": -0.3046 }, "legDelta": { "x": -0.0475, "y": -0.01966, "z": 0.02555 }, "pinkDistanceBefore": 0.19417, "pinkDistanceAfter": 0.20313 }, "blockers_for_generalization": [ "V199 is hardcoded R and uses a fixed right pinkLegTarget. Must be replaced by active-side target limb patch." ] }, { "step": 5, "name": "Handpoint anatomy proof", "authority": "actual skinned mesh vertices", "operation": "Approved right green/pink correspond to concrete mesh vertices, not arbitrary semantic guesses.", "after": { "R_green_vertex_58174": { "ok": true, "idx": 58174, "p": { "x": -0.14917, "y": 0.71196, "z": -0.26927 }, "skin": [ [ "R_Thumb2", 1 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ] ], "top": [ "R_Thumb2", 1 ], "mesh": "Body" }, "R_pink_vertex_58358": { "ok": true, "idx": 58358, "p": { "x": -0.14789, "y": 0.74294, "z": -0.31771 }, "skin": [ [ "R_Hand", 0.984 ], [ "R_Thumb1", 0.016 ], [ "Pelvis", 0 ], [ "Pelvis", 0 ] ], "top": [ "R_Hand", 0.984 ], "mesh": "Body" }, "contract_distances_after_final": { "contract_green_to_v199_greenAfter": null, "contract_pink_to_v199_pinkAfter": null, "vertex58174_to_contract_green": null, "vertex58358_to_contract_pink": null } }, "blockers_for_generalization": [ "Left homologs must be mapped anatomically from these vertices/signatures; not same world coords, not nearest runtime point." ] }, { "step": 6, "name": "V238/V239 fingers", "authority": "finger bones only after palm/hand/wrist/leg state is locked", "operation": "Apply approved z+ terms to R index/middle/ring/pinky. Thumb remains neutral/off. No hand, wrist, arm, leg translation in finger layer.", "after": { "active": true, "side": "R", "source": "V236_ALL_Z_STOP_INDEX_MCP_0p36", "terms": { "index": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.36, "role": "V238_INDEX_MCP_VISUAL_AUDIT_APPROVED" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "middle": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.36, "role": "V234_STOP_ON_CONTACT_DIP" } ], "ring": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.72, "role": "V234_STOP_ON_CONTACT_PIP" }, { "seg": 2, "axis": "z", "sign": 1, "amount": 0.06, "role": "V234_STOP_ON_CONTACT_DIP" } ], "pinky": [ { "seg": 0, "axis": "z", "sign": 1, "amount": 0.84, "role": "V234_STOP_ON_CONTACT_MCP" }, { "seg": 1, "axis": "z", "sign": 1, "amount": 0.68, "role": "V234_STOP_ON_CONTACT_PIP" } ] }, "rowCount": 12 }, "blockers_for_generalization": [ "Approved branch guarded by if(side===R). Left z- is not enough until steps 2-5 are side-parametric and pass camera truth." ] } ] } }