触觉信息融合：在密集接触场景中引入触觉反馈，提升稳定性与鲁棒性。
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be greyish (with some subtle lavender touches on Sun Aurora case used by the
Instead, you should treat Business-Modules as the units you want to test. A module has a clear, explicit API (public methods as well as required interfaces). It means that all the results and side effects can be observed via the API. So in tests you can apply stimulus to the module and assert the results/side effects - that should cover all possible paths (except for time based logic, but there are other methods to cover these cases).