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fix(ik): trajectory residual is the maximum, and document trajectory behaviour - #712

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fix/ik-trajectory-docs-residual

Commits on Oct 4, 2026

fix(ik): trajectory residual is the maximum, and document trajectory behaviour

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claude
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docs(ik): trajectory notices name 1.5.0

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claude
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docs(ik): document a matrix q0, and clarify the Tep shape error

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