# Sweep40 calm cleaning head

The owner agreed with Sweep39's attention direction but found the turn excessive.
Sweep40 reduces the head turn and holds a quiet work-area direction through the
three strokes. It preserves the complete existing face, downward pitch, roll,
body, arms, paws and broom action.

## Performance choice

The prior target minimized floor-region bearing error, but produced a pronounced
counterrotation against the body. This version uses a modest10.5degree anchor,
a1.5degree response delayed0.14seconds, sustained attention during lifted returns,
and a gradual release after the third pull. The head supports the cleaning action.

World yaw maximum changes26.27 to11.76degrees.
During0.9..6.7seconds, yaw span changes10.03 to2.76degrees;
maximum yaw speed changes21.34 to6.13degrees/second.
Maximum head/Body yaw difference changes28.10 to19.27degrees.
These are score measurements, not proof of naturalness or anatomical limits.
The visual comparison supplies that judgment. The nose intentionally does not
track every broom position; no exact eye-ray or floor-intersection claim is made.

The frozen authoring input originally mislabeled a diagnostic that used the raw
Common yaw command without the Body carrier's10/26gain. The values above use the
corrected attention-analysis.json, checked against the actual Body carrier values
at all480prior source times. Every authored yaw knot is unchanged. The original
input and helper snapshot are retained for provenance; no native rebuild or
recapture is needed for this analysis correction.

## Native and visual verification

- Source39 SHA256: `b55a9deb9540033de7503a641cb788532186123d42ae11c5134678bdf60dac40`; original bytes preserved.
- New native: 221278304bytes, SHA256 `5ffb0b4506cd747a25321fe3fe218a50e9b6ba050c045d9713c88587720bbb2b`.
- Thirteen source poses restore exactly with Calmness0. Seventeen pilot/control
  rows and four reopened control rows pass. Calmness0/0.5/1 edits reset exactly.
- Every480output time plus132interstitial samples preserves all
  eleven protected non-head geometry fields against the SHA-bound39capture.
- Maximum rigid-head residual: 4.01904879e-07.
- Maximum native curve parity error: 1.58006425e-06degrees.
- Endpoint equals neutral exactly; no external native playback dependencies.
- All1440three-view sequence images,72work-pose angles and42pilot images reviewed.
- Three complete8second/60fps movies decode with recorded safe margins.
- Restored39 and selected40pilot renders match the corresponding sequence pixels
  exactly in21comparisons, including the reported work pose.

The capture uses actual evaluated native geometry, topology, material attributes
and driver values at every output time. Geometry hashes from the prior capture
avoid reevaluating the unchanged baseline; no temporal mesh or image interpolation
substitutes for evaluation of the new native.

## Delivery and limits

The comparison synchronizes40with39in front, side and oblique views. It includes
speed, seek, frame-step, loop and work-pose rotation controls. The editable native
has a Calmness control and an ordinary C1 Work yaw action. See RIG_GUIDE.md.

Main-agent visual review only. Owner adoption and the inherited15architecture
issues/11full-release gates remain open. Arbitrary control combinations, runtime
transport, stepping and tool pickup are outside this correction. Earlier originals
and releases are preserved. Publication/browser receipts are recorded separately.