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Fix mimic coordinates in pose and rotation references - #14
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Correct end-effector pose and rotation references to apply mimic multipliers and offsets through the existing joint-coordinate mapping. Restore mimic-target comparisons and add an affine-chain regression. Local fast reference suite: 837 passed, 1 skipped, 88 slow tests deselected. GRiD validation against this exact commit also passed. Please merge with a merge commit to retain the tested commit identity; the parent GRiD gitlink intentionally pins this reviewed source commit.