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MCP linkage explanation, not internal CAD, contact simulation or newly measured hardware. Rod lengths, pivot/attachment coordinates and transforms use vendor inverse IK. Rail/block shape and casing location are schematic. Stroke and delta bounds visualize the existing vendor projection; current left-hand physical stop and right-log correspondence remains unverified. The page reach table was built with default RIGHT calibration and use_envelope=True, while this explanation uses LEFT calibration with the optional d3 empirical window disabled. It is not a re-derivation of that boundary. Displayed slider d is inverse IK at the vendor projected hand q to keep linkage closure exact; projected_d preserves the vendor clipped distances and recorded numerical FK residual."}