feat(ik): 避障路径改为多目标 Lazy RRT-Connect + 规划提速 32%

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- 避障路径改为多目标 Lazy RRT-Connect + 捷径平滑；碰撞窄相位预测提速。
- 规划提速 32%：(2,4) 零件对类离线间隙表、撞点前移、判定记忆、routeFrom 惰性回退、平滑预算收紧。

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Hark

2026-10-18 06:40:22 +08:00

committed by cbb

parent 1dfdd48792

commit 318ad0e264

7 changed files with 541 additions and 21 deletions

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docs/collide.json

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