1. FK FIDELITY — our FK(q) vs RoboDK SolveFK(q): position error (mm) + angle (°). Proves "our model == RoboDK model" (expected 0.00 mm). 2. IK PRECISION — round ...
1. solve_ik_all -- returns N x 6 (v2 returned a flattened single solution). 2. get_all_collisions-- pairs list matches the count (v2 returned count=1, pairs=[]). 3. list_objects_on_table -- returns ...
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