# NEXT11 V6.31 R2L — planted-foot step-turn WIP

Base authority: V6.30 R9 locked fullroot. R2K transition/camera architecture retained.

## Change
The 0↔+90° transition no longer rotates both feet around the presentation root.

- +90°: right foot is support/world-plant, left foot is swing/step.
- +90→0°: mirrored support/swing policy.
- Support leg remains in neutral authority.
- Only swing-leg gait articulation is borrowed for the transition pose.
- Parent presentation root compensates X/Z to hold the support foot fixed in world space through the main pivot.
- Plant compensation eases out over the final 28% so feet can gather naturally.
- Product timing remains: neutral 360 ms, turn 460 ms, intro 320 ms, pause 0 ms.
- Persistent Nex/model/canvas/WebGL and R2K camera authority remain unchanged.
- No exercise motion/IK/resolved authority was edited.

## QA
SwiftShader can skip intermediate real-time frames. For visual inspection only, transition durations were stretched at runtime and then time-compressed back to product-speed timing. This QA override is not packaged in product code.

Files:
- qa/V6_31_R2L_PLANTED_FOOT_STEP_TURN_TIME_COMPRESSED_TO_PRODUCT_SPEED_30FPS_QA.mp4
- qa/R2L_PRODUCT_SPEED_CONTACT.jpg
- qa/R2L_PLANTED_STEP_SLOW_CONTACT.jpg
- qa/R2L_PLANTED_STEP_SLOW_TELEMETRY.json

Measured gate: support-foot X/Z drift = 0 mm while full plant hold is active.

Status: WIP; requires user visual approval before lock.