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更新KDL与GRL推进记录

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wangdequan
2026-06-27 08:40:51 -04:00
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@@ -66,4 +66,4 @@ OPFS、虚拟控制器、UI、报告等内容只在上述两份文档明确要
## 5. 当前首要任务
从 KDL WASM 工程骨架与 Worker RPC 开始，同时建立 GRL lexer/parser 骨架。两条线的第一个集成点是：把 GRL `movej/movel/movec/path` 编译为 KDL `MotionSegmentRequest` 并生成轨迹。
`KW-001` 到 `KW-013`、`KW-100` 到 `KW-112` 的文档对标任务已完成并补充验收证据。C ABI 已能从 `NormalizedRobotModel` 构造 native Orocos KDL Chain，并完成 native FK/Jacobian golden 对比；后续首要关注点是继续接入 native IK、fkAllLinks 序列化和轨迹规划。