# HANDOVER — V384E128 analytic outward elbow branch

## Summary

V384E128 is the current best checkpoint candidate for NEXT11 figure-four grip.

The root cause found in V383/V384D was the generic grip arm solve choosing the mirrored/wrong elbow branch for the same wrist/snap target. The hand orientation itself was not impossible; the solver picked the wrong IK branch.

V384E128 fixes this by using an analytic outward/natural elbow branch in the generic grip arm snap, while keeping the existing contact authority.

## Locked history

- V374/V373: separated front-shin snap authority.
- V382: lower sole-edge foot snap; fingers close under the sole instead of against the wrong edge.
- V383: right calf/shin moved inward 50 mm while preserving foot position.
- V384D105: useful probe with qPalm roll clamp, but not the final root-cause fix.
- V384E128: analytic outward elbow branch; selected as checkpoint candidate.

## Locked in V384E128

- `right_figure_four_peak` and `left_figure_four_peak` keep V383/V382/V374 contact structure.
- Same wrist/snap targets are reached via the outward/natural elbow branch.
- No new figure-four-specific solver.
- No new snap points.

## QA status

Passed:
- Node generic grip probe.
- Actual Nex FBX visual QA.
- Shaded software actual Nex mesh render.
- Dynamic Warmup 17 sweep: 16/17 PASS_NODE; Figure four REVIEW only because of broad solvePass gate despite grip pass.

Pending / not a pose blocker:
- Full Chromium/OpenGL screenshot is not locked yet.

Next recommended step:
- Continue from V384E128. Treat Chromium/OpenGL as a technical render-gate, not as a reason to reopen the grip/arm/leg logic.