# V420H Recovered — Single Leg Toe Touch

Status: **PASS — recovered implementation persisted.**

- Authority: supplied original MOV -> canonical IK -> generic Nex solver -> resolved bake.
- Preserved V420H QA movie was used only as a visual acceptance reference.
- Canonical keyposes: 5/5 generic-solver PASS.
- Final resolved loop: 22.0 s, 660 samples, 5 reps left + switch + 5 reps right.
- Live solver calls during playback: 0.
- No new solver, no runtime primitive, no post-solve pose override.
- Chromium/OpenGL one-view gates: left balance front PASS; left bottom front PASS; left bottom side PASS; right bottom front PASS.
- Renderer: WebGL 2.0 via ANGLE/SwiftShader.

Movement contract: knee-up single-leg balance -> hip-driven toe-touch hinge with deeper support leg, sagittal/backward free leg and opposite-hand cross reach -> return; then mirrored side.