cbb/Robot_Arm
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7e70c4e81149f3527519ae9e41b1480d53a39c4d
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Author SHA1 Message Date
Hark c78ec0b48e feat(ik): 实时避障版：离线路网 PRM + 在线 Lazy A* + 终身增广 + 拖拽热启动；实时管线全程细验（拖拽穿模帧 430→0，重规划 P50 5 ms）；前端每帧碰撞守护 2026-10-15 16:36:37 +00:00
Hark 919e704771 perf(ik): 规划提速 32%：(2,4) 零件对类离线间隙表、撞点前移、判定记忆、routeFrom 惰性回退、平滑预算收紧 2026-10-15 15:11:17 +00:00