# V316 POST-FLOOR ACTUAL MCP SECOND-PALM SOLVE

V315 introduced actual MCP-only second-palm solving, but browser readback showed that the V315 step could pass and then be invalidated by later knee/floor correction before the final pre-finger gate. V316 moves actual MCP authority to the final pre-finger point by rerunning it after knee aim and floor alignment.

This keeps the intended ownership order: body/foot/floor first, then final actual palm contact, then fingers.