Automatic checks
What is checked after generation, before anything reaches the robot.
Checks
CheckFrom
The 8 MUST violationsPrinciples › MUST guardrails
HARD H1–H7 · SOFT S1–S2Principles › Token combination rules
Robot joint and speed limits (26 of 60 Animation-style combinations exceed 400 °/s → clamp + notice)Template limits
Tokens outside the dictionaryPrimitive Tokens › Notation