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…esn't make sense.
Add a private _debug module that centralises the per-constraint debug printing into a single, consistent message grammar: a fixed-width category tag (radius / plane / orientation / insertion / rcm) plus the entity index, then key=value fields with a fixed numeric format. The violation lines are emitted in red with a consistent VIOLATION prefix. The `verbose` setting is now a single value (bool or dict) rather than a bare bool: `True` enables every category, `False` disables all, and a dict selects individual categories by name. It is normalised into a per-category flag mapping at the controller boundary, so each helper gates on its own category. This avoids adding many verbose_* kwargs to the controller and needle_w signatures. needle_w now prints radius, plane, orientation and insertion blocks; the ICRA19 controller prints an RCM block. Existing bool callers keep working unchanged. Co-authored-by: openhands <openhands@all-hands.dev>
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