Build a leg model from a PDF datasheet that keeps to its real dimensions, servo limits and kinematics

# Build a leg model from a PDF datasheet that keeps to its real dimensions and limits Inputs: `datasheet.pdf` (a synthetic datasheet for a mock hexapod leg module; `pdftotext -layout datasheet.pdf -` reads it), `poses.json` (servo commands) and `targets.json` (foot targets in the body frame, mm). The datasheet is the record, including any errata it contains. Rules: - Link lengths come from the datasheet in mm (convert inches at 25.4 mm per inch); an erratum replaces the value it corrects. - Joint angles: coxa yaw θ1 = coxa servo − its centre; femur pitch θ2 = femur servo − its horizontal reading, negated if the datasheet says increasing the servo lowers the femur; knee bend k = 180 − tibia servo. Joint limits are the servo stops mapped this way, each written as [low, high]. - Foot position in the leg frame: r = coxa + femur·cos θ2 + tibia·cos(θ2 − k), z = femur·sin θ2 + tibia·sin(θ2 − k), x = r·cos θ1, y = r·sin θ1. The leg frame's origin is the coxa joint, which sits at the datasheet's mount offset in the body frame (body = leg + offset, same axes). - For each target, solve for the unique servo commands with the knee bent (k between 0 and 180) that put the foot there, or mark it "unreachable" if it is out of reach or any servo would pass a stop. - Report servo angles in degrees rounded to 0.01 and positions in mm rounded to 0.01 (servo angles are compared to within 0.02). - Write `out/leg.json`: `{"links_mm": {"coxa": <mm>, "femur": <mm>, "tibia": <mm>}, "joint_limits_deg": {"coxa": [lo, hi], "femur": [lo, hi], "knee": [lo, hi]}, "poses": {"<pose id>": [x, y, z], ...} (foot in the body frame), "ik": {"<target id>": {"coxa": <servo>, "femur": <servo>, "tibia": <servo>} or "unreachable", ...}}`. ## How this run works - Work on your own: nobody will answer questions in this task, and writing to `ask/` counts against the run. - Write only under `out/`. Create `out/` if it is missing. Inputs are synthetic; don't fetch anything from the network. - Scoring is partial credit: each listed check is pass/fail, and the score is the share passed. Numbers are compared to within 0.005 unless the task says otherwise.