{
  "max_numeric_diff": 0,
  "by_stage": {
    "__NEXPROD01_V189_PRE_SNAP_NEUTRAL_APPROACH": {
      "diff_count": 0,
      "sample": []
    },
    "__NEXPROD01_V198_V195_DELTA_SINGLE_WRITER": {
      "diff_count": 0,
      "sample": []
    },
    "__NEXPROD01_V199_LOCK_GREEN_ROLL_PINK": {
      "diff_count": 0,
      "sample": []
    },
    "__NEXPROD01_V238_APPROVED_GRIP": {
      "diff_count": 0,
      "sample": []
    }
  },
  "v266_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."
      }
    }
  }
}