TEST THE MODEL. NAME THE LIMITS.

Simulation is useful when its assumptions are explicit. A state model, a visual animation, and a physics model answer different questions. This collection keeps those roles separate so a successful test is not asked to prove more than it actually checks.

Begin with the beginner’s guide and coordinate frames article to identify the contract you want to test. The simulation checklist then explores invalid inputs, mismatched configuration, stale state, cancellation, and reproducibility. The virtual claw article offers a smaller example in which capture regions and round transitions can be inspected directly.

The ArmAPI.com playground is an illustration of local state, not a physics simulator. It has no collision checking, calibrated geometry, or hardware feedback. Use it to explore transitions and rendering while keeping physical feasibility outside its claims. The safety and scope notes explain that boundary, and the code examples show how to inspect independent state models.