# NEXT11 V6.33 R7 — ATG front-foot world authority

## Base
Apply this single consolidated delta on top of the locked V6.32 fullroot. It physically includes the cumulative R2→R7 chain; separate R2/R3/R4/R5/R6 deltas are not required.

## ATG correction
- R2 movement remains the source motion authority.
- During each `rise_front_foot_authority` window, the lead/front foot is the hard IK/contact authority.
- Pelvis/root moves forward and upward over that foot.
- Rear leg is released from bilateral hard lock.
- Parent presentation yaw is held during the two planted-rise windows so shoulder-derived normalization cannot rotate the planted foot in world space.
- Travel root remains stationary during rise.

## Real passplayer QA
Route: `preview.html?workout=dynamic-warmup#pass`, exercise 7/18.
Measured in the actual Chromium passplayer:
- right-front rise: ~0.019 mm max world drift (phases 0.32–0.38)
- left-front rise: ~0.028 mm max world drift (phases 0.82–0.88)
- fixed camera vertical drift: 0 mm
- pelvis moves forward and up over the lead foot

## Preserved cumulative fixes
- R2 lunge/transition work
- R3 reverse rear-foot authority / Hurdle entry work
- R4 Hurdle structural-head authority
- fixed vertical camera authority
- Reverse lunge existing rear-foot rise lock

Status: WIP checkpoint; technical real-passplayer QA passed, pending user visual approval.