# V404 ATG Split Squat Knee Continuity

Human QA on V403 identified a brief anatomical knee branch flip during the left step/plant transition.

V404 preserves V403 as motion authority and changes only the thigh/calf branch needed to keep the swing knee on one continuous anatomical bend plane. The V403 foot world target and foot world orientation are preserved to numerical tolerance; timing and upper body are unchanged.

No new IK profile. No new solver. 720 baked frames. 0 live solver calls.

New gate: frame-to-frame knee bend-plane delta must remain below 4.1 degrees. Human visual acceptance remains mandatory.