ml/gen: 确定性老师（碰撞次数计时 + resetSession）、pos 任务冻结 J6、--consensus 邻域共识过滤、Dr 类、README（高性能机器运行说明）

webapp/js/ik-solver.js

@@ -463,6 +463,14 @@ function make(cfg) {
     }
     return hit;
   }
+  function setDeterministic(on, msPerCheck) { VCLK = on ? { base: 0, per: msPerCheck || 0.5, tick: 0 } : null; }
+  /* 清空所有跨调用状态（路网增广、坏边/死边/已验段缓存、实时路径、全量 IK 缓存），使下一次求解与历史无关 */
+  function resetSession() {
+    RMX.Q.length = 0; RMX.adj.length = 0; RMX.adjR = null;
+    BADE.clear(); DEAD.clear(); FINE.clear();
+    RT = null; RTSTALL.key = null; RTSTALL.n = 0;
+    FULLIK.key = null; FULLIK.cur = null; FULLIK.T = null; FULLIK.at = 0;
+  }
   /* 全胶囊对最小间隙（mm，= 距离 − need，负值为干涉；≥cap 一律记 cap，下界、保守）（2026-10-17，
      ml/gen 距离下界认证用）：不走 pair2d 查表、不提前退出，比 collideFree 慢，只给离线/安全层用。 */
   function clearance(q, cap) {
@@ -769,7 +777,11 @@ function make(cfg) {
     for (let i = 0; i < 6; i++) { const w = W ? W[i] : 1; t += Math.abs(wrap180(q[i] - ref[i])) * w; }
     return t + 1e-6 * c;
   };
-  const nowMs = () => (typeof performance !== 'undefined' ? performance.now() : Date.now());
+  /* 确定性时钟（2026-10-17，ml/gen 离线老师用）：开启后各处毫秒预算改按"碰撞判定次数 × msPerCheck"计，
+     另每次读时钟 +1 µs 防纯计算循环不前进。规划结果只取决于输入，不随机器快慢/负载变化。默认关闭。 */
+  let VCLK = null;
+  const nowMs = () => VCLK ? VCLK.base + PST.n * VCLK.per + (VCLK.tick += 0.001)
+                           : (typeof performance !== 'undefined' ? performance.now() : Date.now());
 
   /* 姿态求解原语工厂：位置闭式支把 θ1..θ3 吸收掉之后，姿态任务只剩「工具轴指向 =
      目标轴」这 2 个方程、2 个未知数 (θ4,θ5)，解是孤立点，滚转再由 θ6 闭式补上。
@@ -3163,7 +3175,7 @@ function make(cfg) {
            solveRoute: solveRoute, routeFrom: routeFrom, transitPt: transitPt, planAround: planAround, edgeFree: edgeFree, PST: PST, unwrapTo: unwrapTo, rtWarm: rtWarm, rtReset: () => { RT = null; }, rmPlan: rmPlan, rmSmooth: rmSmooth, modelFingerprint: modelFingerprint, RM: RM, wd: wd, classGap: classGap, classFingerprint: classFingerprint, P2D: P2D,
            mixSolve: mixSolve, closest: closest, closest6: closest6, closestOri: closestOri, orient: orient,
            branch: branch, selfTest: selfTest, poseSelfTest: poseSelfTest,
-           collideFree: collideFree, collideDetail: collideDetail, clearance: clearance, gapMatrix: gapMatrix, leverBounds: leverBounds,
+           collideFree: collideFree, collideDetail: collideDetail, clearance: clearance, gapMatrix: gapMatrix, leverBounds: leverBounds, setDeterministic: setDeterministic, resetSession: resetSession,
            dynLimit: dynLimit, dynLimits: dynLimits,
            K: K, LIM: LIM, P: P, D: D, ORDER: ORDER, wrap180: wrap180, costOf: costOf };
 }