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Profiles stored as constant-jerk segments, so sampling integrates a cubic exactly and never drifts. 13 tests, one integrating velocity over 200,000 steps to confirm the endpoint.
IK is easy until full extension, where the Jacobian loses rank and a pseudo-inverse snaps the arm. Damped least squares in C++17, with a manipulability readout as a warning light.
Worst-case stacking assumes every part goes wrong at once. This samples what dimensions actually do. On my test assembly worst case said fail; 200,000 sampled builds said 125 ppm
