test: 加 IK/数据/截图三重基线关卡，并刷新过期的截图基线

重构 2955 行的单文件查看器必须有"行为没变"的可判据，否则改到什么程度全靠感觉。
tests/ik_baseline.mjs 在 Node 里直接跑求解器（它本就是 UMD，带 module.exports 分支，
不需要浏览器），输出分两段：
  exact  —— 件数/顶点/三角、TCP 推断、限位、固定 FK/fkChain/orient、固定目标的
            solveDyn 解向量、selfTest/poseSelfTest 的误差与命中数。selfTest 内部走
            Math.random，这里锁成定 LCG，所以 exact 跨进程逐字节可复现。
  timing —— solveDyn 中位耗时（9 次去头 3 次预热）。本机进程间抖动实测约 ±28%，
            因此只按 ±10% 报 WARN，不当硬门。
关卡灵敏度已验：指向 scratch/arm-ik-solver_before.js 时报 5 处 exact 差异并 FAIL。

docs/shots/ 里 92 张是 10-09 生成的，早于 10-14 的重建，属过期基线；重跑 96 视图
全部 OK、0 FAIL。另发现既有非幂等问题：committed 的 mesh 是"端到端构建后再单跑一次
screw_mesh.py"的产物（螺钉 idx 118..214、ENV 件排在第 19 位），端到端构建则为
20..116、ENV 排在末尾，两者零件集合相同但顺序不同，导致 2 张线束透视图的透明排序
像素级不同。本提交以端到端构建为准。

tests/baselines/data_by_name.md5

@@ -0,0 +1,6 @@
+533c100b58b33c0317de179f65c5c681  travel.json
+c66c230557548bd03f003bb4bd52ff6a  travel_detail.json
+4a8f14be95ed32121166a9bd37e74752  collide.json
+82f8fa459be497ae0cfc92d5816497bf  screws.json
+83dfad6817c766ee893f54cca8fa7774  mesh_arm.json
+f74cf5148cfc03c2d785829f45a608f9  sheets.jsdata

tests/baselines/ik_exact.json

@@ -0,0 +1,228 @@
+{
+ "meta": {
+  "solver": "web/arm-ik-solver.js",
+  "mesh": "web/mesh_arm.json"
+ },
+ "exact": {
+  "counts": {
+   "parts": 117,
+   "verts": 367118,
+   "tris": 351491,
+   "printed": 13,
+   "env": 1,
+   "joints": 6
+  },
+  "tcpZ": 93,
+  "TCP0": [
+   19.5,
+   128,
+   93
+  ],
+  "motorTravel": 360,
+  "noAdjAxes": [],
+  "caps": 1936,
+  "lim": {
+   "J1": [
+    -180,
+    180,
+    true
+   ],
+   "J2": [
+    -93,
+    126,
+    false
+   ],
+   "J3": [
+    -180,
+    180,
+    true
+   ],
+   "J4": [
+    -113,
+    113,
+    false
+   ],
+   "J5": [
+    -94,
+    89,
+    false
+   ],
+   "J6": [
+    -180,
+    180,
+    true
+   ]
+  },
+  "fkQ0": [
+   106.498451,
+   235.370133,
+   140.165364
+  ],
+  "fkChainQ0": [
+   106.498451,
+   235.370133,
+   140.165364
+  ],
+  "orientQ0": [
+   0.595153,
+   0.645892,
+   -0.478139,
+   -0.757749,
+   0.649173,
+   -0.06626,
+   0.267598,
+   0.401744,
+   0.875781
+  ],
+  "solveDyn": [
+   {
+    "T": [
+     150,
+     128,
+     260
+    ],
+    "ok": true,
+    "err": 0,
+    "q": [
+     0.041,
+     5.809,
+     0.094,
+     -17.507,
+     -94,
+     0
+    ]
+   },
+   {
+    "T": [
+     180,
+     128,
+     300
+    ],
+    "ok": true,
+    "err": 0,
+    "q": [
+     0.049,
+     -0.026,
+     0.094,
+     -26.821,
+     -94,
+     0
+    ]
+   },
+   {
+    "T": [
+     120,
+     -150,
+     320
+    ],
+    "ok": true,
+    "err": 0,
+    "q": [
+     -43.713,
+     6.027,
+     0.239,
+     -0.279,
+     -89.002,
+     0
+    ]
+   },
+   {
+    "T": [
+     60,
+     128,
+     420
+    ],
+    "ok": true,
+    "err": 0,
+    "q": [
+     38.165,
+     0.129,
+     70.062,
+     -89.578,
+     -80.719,
+     0
+    ]
+   }
+  ],
+  "selfTest": {
+   "maxFkErr": 4.689582056016661e-13,
+   "maxIkErr": 7.082653493385528e-13,
+   "ikHit": 200,
+   "ikTried": 200,
+   "structWarn": [],
+   "poseHit": 8,
+   "poseTried": 8,
+   "poseErr": 0.0000017075472925031877,
+   "K": {
+    "X0": 19.5,
+    "Y0": 128,
+    "Z1": 610,
+    "Z2": 490,
+    "Z3": 445,
+    "Z4": 332,
+    "Z5": 222,
+    "TCP0": [
+     19.5,
+     128,
+     93
+    ],
+    "ax": [
+     0,
+     0,
+     -1
+    ],
+    "C0": -120,
+    "A43": -113,
+    "A32": -45,
+    "A54": -110,
+    "L5": 129
+   },
+   "LIM": {
+    "J1": {
+     "lo": -180,
+     "hi": 180,
+     "cont": true
+    },
+    "J2": {
+     "lo": -93,
+     "hi": 126,
+     "cont": false
+    },
+    "J3": {
+     "lo": -180,
+     "hi": 180,
+     "cont": true
+    },
+    "J4": {
+     "lo": -113,
+     "hi": 113,
+     "cont": false
+    },
+    "J5": {
+     "lo": -94,
+     "hi": 89,
+     "cont": false
+    },
+    "J6": {
+     "lo": -180,
+     "hi": 180,
+     "cont": true
+    }
+   }
+  },
+  "poseSelfTest": {
+   "poseHit": 8,
+   "poseTried": 8,
+   "poseErr": 0.0000012074182697257333
+  }
+ },
+ "timing": {
+  "solveDynMedianMs": [
+   252.53,
+   239.83,
+   192.01,
+   192.92
+  ],
+  "poseSelfTestAvgMs": 93.48
+ }
+}

tests/baselines/shots.md5

@@ -0,0 +1,228 @@
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tests/ik_baseline.mjs

@@ -0,0 +1,170 @@
+/**
+ * IK 数值基线探针（Node，不需要浏览器）。
+ *
+ *   node tests/ik_baseline.mjs                          生成基线到 stdout
+ *   node tests/ik_baseline.mjs --out scratch/_gate/ik.json
+ *   node tests/ik_baseline.mjs --compare scratch/_gate/ik.json   重构后跑这条，FAIL 就退出码 1
+ *   node tests/ik_baseline.mjs --solver web/arm-ik-solver.js     指定求解器文件
+ *
+ * 输出分两段，因为它们的判定方式不同：
+ *   exact  —— 件数/顶点数、TCP 推断、限位、固定 FK、固定目标的解向量、selfTest 误差与命中数。
+ *            这些必须逐字节相同；用定种子 RNG 保证可复现（selfTest 内部原本走 Math.random）。
+ *   timing —— solveDyn 中位耗时。机器负载会变，只按 ±10% 报 WARN，不作 FAIL。
+ *
+ * 求解器配置构造与查看器里的 ik-glue 逐行对齐（JMap/COL/TR/TCP0），
+ * 否则两边算的不是同一个问题，对比无意义。
+ */
+import fs from 'fs';
+import path from 'path';
+import { pathToFileURL } from 'url';
+
+const ROOT = path.resolve(import.meta.dirname, '..');
+const first = (...cands) => cands.find(p => fs.existsSync(p));
+
+const argv = process.argv.slice(2);
+const argVal = (name, dflt) => {
+  const i = argv.indexOf('--' + name);
+  return i >= 0 && argv[i + 1] && !argv[i + 1].startsWith('--') ? argv[i + 1] : dflt;
+};
+
+const SOLVER = argVal('solver', first(
+  path.join(ROOT, 'webapp/js/ik/solver.js'),
+  path.join(ROOT, 'web/arm-ik-solver.js')));
+const MESH = first(path.join(ROOT, 'webapp/data/mesh_arm.json'),
+                   path.join(ROOT, 'web/mesh_arm.json'));
+const TRAVEL = path.join(ROOT, 'docs/travel.json');
+const COLLIDE = path.join(ROOT, 'docs/collide.json');
+
+const mod = await import(pathToFileURL(SOLVER).href);
+const ArmIK = mod.ArmIK || mod.default;
+if (!ArmIK) throw new Error('求解器没有导出 ArmIK: ' + SOLVER);
+
+const mesh = JSON.parse(fs.readFileSync(MESH, 'utf8'));
+const travel = JSON.parse(fs.readFileSync(TRAVEL, 'utf8'));
+const collide = fs.existsSync(COLLIDE) ? JSON.parse(fs.readFileSync(COLLIDE, 'utf8')) : null;
+
+/* ---- 与 ik-glue.js:16-52 同构的配置 ---- */
+const JO = mesh.joints;
+const JJ = {}; for (const j of JO) JJ[j.id] = j;
+const JMap = {}; for (const j of JO) JMap[j.id] = { rear: j.rear, d: j.d };
+const COL = (collide && collide.caps && collide.caps.length) ? collide : null;
+const ADJ = (COL && COL.adj) || {};
+const MOTOR = +((COL && COL.motor_limit_deg) || 360);
+const TR = {}; const noAdj = [];
+for (const t of travel) {
+  const a = ADJ[t.axis];
+  if (!a && !t.continuous) noAdj.push(t.axis);
+  TR[t.axis] = { lo: a ? a[0] : t.lo, hi: a ? a[1] : t.hi, continuous: !!t.continuous };
+}
+/* TCP 高度：J6 组内实打印件（排除 ENV_）顶点的最小查看器 y，查看器 y = CAD z。
+   与 ik-glue.js:17-27 同语义：只有真找到才覆盖默认值 93，不是拿 93 当下界。 */
+let tcpZ = 93, loFound = Infinity;
+for (const p of mesh.parts) {
+  if (p.grp !== 'J6' || !p.printed || String(p.name).slice(0, 4) === 'ENV_') continue;
+  if (!p.v || !p.v.length) continue;
+  for (const q of p.v) loFound = Math.min(loFound, q[2]);
+}
+if (isFinite(loFound)) tcpZ = loFound;
+const TCP0 = [JJ.J6.rear[0], JJ.J6.rear[1], tcpZ];
+
+const S = ArmIK.make({ joints: JMap, travel: TR, tcp: TCP0, collide: COL });
+const ORDER = ArmIK.ORDER;
+
+/* selfTest/poseSelfTest 内部用 Math.random()，不锁种子的话两次跑的误差数字就不同，
+   关卡会退化成"看大概"。这里换成定LCG，让 exact 段逐字节可复现。 */
+const _rand = Math.random;
+function seeded(seed, fn) {
+  let s = seed >>> 0;
+  Math.random = () => { s = (s * 1664525 + 1013904223) >>> 0; return s / 4294967296; };
+  try { return fn(); } finally { Math.random = _rand; }
+}
+
+const parts = mesh.parts;
+const r6 = v => +v.toFixed(6);
+
+/* ---- 固定输入（不含随机）的可复现输出 ---- */
+const Q0 = [10, -20, 30, 40, -50, 15];
+const zeros = ORDER.map(() => 0);
+const targets = [[150, 128, 260], [180, 128, 300], [120, -150, 320], [60, 128, 420]];
+
+const solveRuns = targets.map(T => {
+  const xs = [];
+  for (let k = 0; k < 9; k++) {
+    const t0 = performance.now();
+    const r = S.solveDyn(T.slice(), { tool: 0, step: 0.25, ref: zeros, from: zeros.slice() });
+    xs.push({ ms: performance.now() - t0, q: r && r.q ? r.q.map(v => +v.toFixed(3)) : null,
+              ok: !!(r && r.q), err: r && r.err != null ? +r.err.toFixed(9) : null });
+  }
+  /* 头 3 次是 JIT 预热，留中位数也去不掉进程间的预热差；实测取 9 次里后 6 次的中位，
+     自比抖动从 >50% 降到可直接判定的量级。 */
+  const warm = xs.slice(3).sort((a, b) => a.ms - b.ms);
+  const m = warm[Math.floor(warm.length / 2)];
+  return { T, medianMs: +m.ms.toFixed(2), q: m.q, ok: m.ok, err: m.err };
+});
+
+const st = seeded(20261015, () => S.selfTest(400, 8));
+const pst = seeded(777, () => S.poseSelfTest(8));
+
+const exact = {
+  counts: {
+    parts: parts.length,
+    verts: parts.reduce((n, p) => n + ((p.v && p.v.length) || 0), 0),
+    tris: parts.reduce((n, p) => n + ((p.t && p.t.length) || 0), 0),
+    printed: parts.filter(p => p.printed).length,
+    env: parts.filter(p => String(p.name).startsWith('ENV_')).length,
+    joints: JO.length,
+  },
+  tcpZ: +tcpZ.toFixed(3),
+  TCP0: TCP0.map(v => +v.toFixed(3)),
+  motorTravel: MOTOR,
+  noAdjAxes: noAdj,
+  caps: COL ? COL.caps.length : 0,
+  lim: Object.fromEntries(ORDER.map(id => [id, [r6(S.LIM[id].lo), r6(S.LIM[id].hi), !!S.LIM[id].cont]])),
+  fkQ0: S.fk(Q0, 0).map(r6),
+  fkChainQ0: S.fkChain(Q0, 0).map(r6),
+  orientQ0: S.orient(Q0).map(r6),
+  solveDyn: solveRuns.map(r => ({ T: r.T, ok: r.ok, err: r.err, q: r.q })),
+  selfTest: { maxFkErr: st.maxFkErr, maxIkErr: st.maxIkErr, ikHit: st.ikHit, ikTried: st.ikTried,
+              structWarn: st.structWarn, poseHit: st.poseHit, poseTried: st.poseTried,
+              poseErr: st.poseErr, K: st.K, LIM: st.LIM },
+  poseSelfTest: { poseHit: pst.poseHit, poseTried: pst.poseTried, poseErr: pst.poseErr },
+};
+const timing = {
+  solveDynMedianMs: solveRuns.map(r => r.medianMs),
+  poseSelfTestAvgMs: +pst.poseMs.toFixed(2),
+};
+
+const doc = { meta: { solver: path.relative(ROOT, SOLVER).replace(/\\/g, '/'),
+                      mesh: path.relative(ROOT, MESH).replace(/\\/g, '/') },
+              exact, timing };
+const text = JSON.stringify(doc, null, 1);
+
+const out = argVal('out', null);
+if (out) fs.writeFileSync(out, text + '\n');
+
+const base = argVal('compare', null);
+if (!base) { if (!out) console.log(text); process.exit(0); }
+
+const b = JSON.parse(fs.readFileSync(base, 'utf8'));
+const diffs = [];
+(function walk(x, y, p) {
+  if (x === null || y === null || typeof x !== 'object' || typeof y !== 'object') {
+    if (JSON.stringify(x) !== JSON.stringify(y)) diffs.push(p + ': ' + JSON.stringify(y) + ' -> ' + JSON.stringify(x));
+    return;
+  }
+  for (const k of new Set([...Object.keys(x), ...Object.keys(y)])) walk(x[k], y[k], p ? p + '.' + k : k);
+})(doc.exact, b.exact, '');
+
+console.log('== exact（必须逐字节相同）==');
+console.log(diffs.length ? diffs.map(d => '  DIFF ' + d).join('\n') : '  全部一致 ✓');
+console.log('== timing（±10% 只报 WARN）==');
+const tb = b.timing;
+let warn = 0;
+doc.timing.solveDynMedianMs.forEach((v, i) => {
+  const o = tb.solveDynMedianMs[i];
+  const d = (v - o) / o * 100;
+  if (Math.abs(d) > 10) { warn++; console.log(`  WARN solveDyn#${i}: ${o} -> ${v} ms (${d.toFixed(1)}%)`); }
+  else console.log(`  ok   solveDyn#${i}: ${o} -> ${v} ms (${d.toFixed(1)}%)`);
+});
+if (diffs.length) { console.log('RESULT: FAIL（exact 有 %d 处差异）', diffs.length); process.exit(1); }
+console.log('RESULT: PASS' + (warn ? `（timing ${warn} 项超 ±10%，需人判）` : ''));