ml: 全流程代码与运行手册（数据打包/可微运动学与对拍/MeanFlow+WTA 模型/训练/闭环仿真/APG/挖错循环/ONNX 导出）；webapp 策略运行时 ik-policy.js + ?policy=1 接入；tests/policy_bench.cjs；ik-solver 增 pairList/clusterExport/criticalPairs/pairGap/leverTable

ml/gen/timelaw.cjs

@@ -19,15 +19,15 @@ function timeParam(P, opt) {
     const u = segT[i] > 0 ? (tau - cum[i]) / segT[i] : 1;
     return P[i].map((v, j) => v + (P[i + 1][j] - v) * u);
   };
-  const out = [P[0].slice()]; let tau = 0, v = 0, guard = 0;
+  const out = [P[0].slice()], taus = [0]; let tau = 0, v = 0, guard = 0;
   while (tau < total - 1e-9 && guard++ < 100000) {
     const rem = total - tau;
     const v1 = Math.min(1, v + a * dt, Math.sqrt(2 * a * Math.max(0, rem - 0.5 * v * dt)) + 1e-9);
     let step = 0.5 * (v + v1) * dt;
     if (step <= 1e-9) step = Math.min(rem, a * dt * dt);   // 防止末端速度掉到 0 卡住
     tau = Math.min(total, tau + step); v = v1;
-    out.push(at(tau));
+    out.push(at(tau)); taus.push(tau);
   }
-  return { traj: out, total, steps: out.length - 1 };
+  return { traj: out, taus, cum, total, steps: out.length - 1 };
 }
 module.exports = { timeParam, VMAX, A, DT };