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3c7c814d40d3f208cb4a4929b4703c05197b5b10
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cbb 3c7c814d40 fix(ik): 贴立柱目标不再误判为立柱区内：候选表分层保留 + 姿态放宽兜底 + 实时管线跨帧坏边/目标解优先/预算递增/半格复验；新增贴立柱基准 tests/near_column_bench.cjs 2026-10-17 09:57:45 +00:00