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[Wave RHO][3/4] Preserve receding-horizon outcomes and expose Acados diagnostics - #1072

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[Wave RHO][3/4] Preserve receding-horizon outcomes and expose Acados diagnostics#1072
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test: adapt receding horizon mocks to master

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Tests on ubuntu-latest-shard 5
succeeded Jul 27, 2026 in 5m 56s