# START HERE V403

V403 is the accepted-process retry after V402 rejection. Base authority is V401.

- V402 is rejected and must not be used as a base.
- V401 upper-body source-conformity is preserved.
- Lower-body patch is transition-focused: narrower lateral stance plus modest airborne step clearance.
- No knee-drive keypose was introduced.
- Timing remains exactly V401 (7.0 s cycle).
- No new IK profile, no new solver, 720 baked frames, 0 live solver calls.
- Human visual acceptance remains mandatory.