# CURRENT STEP — V384E128 LOCKED

Active checkpoint: `NEXT11_V384E128_ANALYTIC_OUTWARD_ELBOW_BRANCH_LOCKED_FULL_ROOT_LIBRARY_READY`.

Current state:
- Figure-four is accepted as current best candidate.
- Root-cause fix: generic grip arm solve now uses the outward/natural elbow branch instead of mirrored/backward elbow branch.
- Leg geometry and snap authorities are locked from V383/V382/V374.

Stop boundary:
- Do not continue modifying pose logic before user explicitly requests the next patch.
- If asked for QA, start from V384E128 and run visual/Node regression.
- If Chromium fails, report render-gate failure separately; do not treat it as pose failure.