Wrist-singularity torus model and offline avoidance planners — code and benchmark records

Code, per-scenario benchmark records and reproduction scripts for the manuscript "Task-space torus model of the wrist singularity and offline avoidance planning for 6R industrial arms" (De Reu & Chiu, submitted to Mechanism and Machine Theory, 2026). Version 2 adds the digitised hardware joint-rate curves and the measured-vs-simulated overlay (Fig. 11), the controller-disturbance and kinematic-mismatch Monte Carlo of Section 5.6 (Fig. 16, 1 ms NC cycle) and the CSV data of every data figure with a plotting guide. See DATASET_README.md inside the archive.