# V345 — Hurdle regression against rebuilt collision authority

Purpose:
Validate the rebuilt central lower-leg collision proxy against the previously approved Hurdle Stretch before returning to Figure Four.

Result:
- LEFT Hurdle: palm PASS, four-finger PASS, no finger penetration.
- RIGHT Hurdle: palm PASS, four-finger PASS, no finger penetration.
- Lower-leg surface authority is the central mesh-derived tapered elliptic proxy.
- The old per-exercise 52 mm `capsuleRadiusMeters` is ignored for proxied Foot<->Calf receivers.
- No Hurdle/exercise-name branch was added.
- Figure Four was NOT run.

One generic regression correction was required:
the old finger safety caps (0.84/0.72/0.36 rad) were implicitly tuned to the oversized 52 mm cylinder.
The existing sequential local-Z first-contact solver now has conservative anatomical safety ceilings instead.
It still stops at first non-penetrating contact and cannot move palm/wrist/arm/leg.

STOP:
This checkpoint ends after Hurdle L/R Chromium regression.