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fix: check numerical IK convergence before solver step - #667

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petercorke merged 2 commits into
petercorke:mainfrom
tahazarif10:fix/664-ik-prestep-convergence
Sep 12, 2026
Merged

fix: check numerical IK convergence before solver step#667
petercorke merged 2 commits into
petercorke:mainfrom
tahazarif10:fix/664-ik-prestep-convergence

test: cover exact IK initial solution

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succeeded Sep 12, 2026 in 4s