feat: 新增IK实时求解与运动模拟功能，集成正逆运动学查看器，补充定位图截图

src/build_viewer.py

@@ -32,6 +32,8 @@ def rebuild_viewer():
         DOCS + "/travel.json") else "[]"
     screws = io.open(DOCS + "/screws.json", encoding="utf-8").read() if os.path.exists(
         DOCS + "/screws.json") else "[]"
+    ik_solver = io.open(WEB + "/arm-ik-solver.js", encoding="utf-8").read()
+    ik_glue = io.open(WEB + "/ik-glue.js", encoding="utf-8").read()
     tpl = io.open(SRC + "/viewer_tpl.html", encoding="utf-8").read()
     print(f" 完成 ({len(data)/1024:.0f} KB) ✓", flush=True)
 
@@ -40,7 +42,9 @@ def rebuild_viewer():
               .replace("/*__DATA__*/", data)
               .replace("/*__SHEETS__*/", sheets)
               .replace("/*__TRAVEL__*/", trv)
-              .replace("/*__SCREWS__*/", screws))
+              .replace("/*__SCREWS__*/", screws)
+              .replace("/*__IKSOLVER__*/", ik_solver)
+              .replace("/*__IKGLUE__*/", ik_glue))
     assert "/*__" not in out, [l for l in out.split("\n") if "/*__" in l][:3]
     dst = WEB + "/机器人手臂3D查看器.html"
     io.open(dst, "w", encoding="utf-8").write(out)