feat(ik): 实时避障版：离线路网 PRM + 在线 Lazy A* + 终身增广 + 拖拽热启动；实时管线全程细验（拖拽穿模帧 430→0，重规划 P50 5 ms）；前端每帧碰撞守护

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Hark

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

committed by cbb

parent 318ad0e264

commit 46bdb98dd8

6 changed files with 512 additions and 21 deletions

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