P1: body point (0.5, 0.2) at pose (1, 2, 90 deg) -> [0.8 2.5]
P2: IK (0.1, 0.4): r 0.4123 q(up) deg [48.75, 70.53]  q(down) deg [103.18, -70.53]  FK check [0.1 0.4] [0.1 0.4]
P3: wheel speeds m/s 0.18 0.42  rad/s 5.455 12.727  feasible True
P4: eps 0.2 percent over 10 m: true end 9.984 0.625  heading deg 7.16  small-angle heading 0.125 rad, lateral 0.625  position error 0.625
P5: 2000 counts = 314.2 mm; heading change if only one wheel moves 1.963 rad = 112.5 deg
resolution: distance per count mm 0.1571  heading per count (one wheel) mrad 0.982 deg 0.056  both wheels opposite:  1.963 mrad per count pair
R5 budget: random rms at 20 m (simulated) 0.831 m; allowed 2.0 m; systematic allowed sqrt(2.0^2-0.831^2) = 1.819 m -> eps <= 0.147 percent
calibration resolution: dy = 1 cm over 5 m -> d eps = 0.000128 ( 0.012799999999999999 percent )
usable workspace: joint rate for 0.1 m/s under 1.0 rad/s for r between 0.126 and 0.449 m
