# HANDOVER — V393 Hurdle Stretch natural neutral + deeper quad

## Base
V392 body-authority fix.

## Human QA request
1. Neutral arms looked unnaturally half-tensed/abducted.
2. At the stretch peak the grabbed foot was too far from the glute.

## V393 correction
- `warmup_hurdle_stretch_ik_v1` remains canonical body authority.
- Canonical neutral/free-arm targets were moved closer to the torso for a relaxed hang.
- Canonical grabbed-leg target was changed to greater knee flexion; ankle is closer to the pelvis/glute in XZ.
- Generic V50/V338/V339 grip is now stricter than V392: it owns only active clavicle/arm/hand/palm contact, **not the grabbed leg**.
- Existing V392 head/neck baked orientation is preserved because head was outside this change request.
- No solver added or changed. Production playback is baked/resolved with 720 frames and 0 live solver calls.

## Numeric/build gate
- Left generic grip peak: PASS.
- Right generic grip peak: PASS.
- Neutral toe vectors remain parallel +Z.
- Max frame-to-frame bone rotation: 1.464071°.
- Canonical peak ankle-to-pelvis XZ distance: 0.21272 m each side.

## QA
Two-loop actual Nex FBX CPU-skinned mesh film: `diagnostics/v393/V393_HURDLE_STRETCH_NATURAL_NEUTRAL_DEEPER_QUAD_CPU_SKINNED_MESH_TWO_LOOP_QA.mp4` (12 fps, 9.5 s).
Chromium/WebGL QA is not claimed in this environment. Human acceptance remains pending.