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Reasons from the closed sensor-to-actuator loop, kinematic reachability, and dynamic feasibility (friction cones, actuator saturation) through DH/PoE kinematics, RRT*/CHOMP planning, MPC and whole-body control, SLAM, and ROS 2 rosbag logging while treating TF-frame and timestamp mismatches, the sim-to-real gap, grasp slip, and ISO 10218/15066 force-limit violations as first-class failure modes.