Thank you for being so transparent about your development process. Since you’ve identified that “order dependency” is a core challenge for the next iteration of your framework, I thought it might be useful to share a mathematical approach I’ve been developing in the ROS community to solve exactly this: Non-associative modeling.
https://discourse.openrobotics.org/t/sipa-quantifying-physical-integrity-and-the-sim-to-real-gap-in-7-dof-trajectories/52884?u=zc_liu