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

webapp/js/ik-glue.js

@@ -708,6 +708,10 @@ function runSolve() {
   TGT = [X, Y, Z];
   lastTool = +$('ikTool').value || 0;
   refreshTarget();
+  /* 策略模式（?policy=1，ik-policy-glue.js）：目标交给闭环策略执行，不调用规划器（2026-10-17） */
+  if (window.__POLICY && window.__POLICY.active() && window.__POLICY.setGoal(TGT.slice(), poseOn ? Rsolver() : null, lastTool)) {
+    badge.textContent = '策略执行中…'; badge.className = 'badge wait'; return;
+  }
   badge.textContent = '计算中…'; badge.className = 'badge wait';
   setTimeout(() => {
     const opt = { tool: lastTool, step: +$('ikStep').value || 0.25, ref: curRef(),
@@ -746,6 +750,7 @@ function runSolveLive() {
   };
   try {
     lastTool = +$('ikTool').value || 0;
+    if (window.__POLICY && window.__POLICY.active() && window.__POLICY.setGoal(TGT.slice(), poseOn ? Rsolver() : null, lastTool)) { settle(true); return; }
     /* 实时追踪原来走 solveTo —— 一个碰撞判定都不做：实测把目标球横拖过立柱，
        1300 帧里 870 帧处于穿模状态。改用 solveRoute：按"从当前位形这条直线能不能走"
        挑解，走不通就贴着障碍停（blocked），不再把手势直接映射进立柱里。 */
@@ -1171,6 +1176,7 @@ function boot() {
 boot();
 
 window.IK = { solver: S, setTarget: p => { TGT = p.slice(); syncInputs(); refreshTarget(); },
+              setJoints: setJoints, curQ: () => ORDER.map(id => ang[id]),
               clampAxis: clampAxis, refreshJointLabels: refreshJointLabelsLazy,
               getTarget: () => TGT.slice(), run: runSolve, TCP0: TCP0, LIM: LIM,
               setView: setView, getView: () => VIEW,