feat: 末端 IK 编辑、同屏叠显视口、关键帧剪贴板与时间轴曲线联动 - #4
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- Remove URDF success alert; add file drag-and-drop for URDF folder and CSV - IK controls in HTML; async IK module load; end-effector 6-DOF curves in editor - Fix viewport black screen (zero-size init, resize, render scissor reset)
Queue notifyUrdfReady when IK loads late; call onUrdfLoaded from cookie restore and panel ctor.
…n edits Default IK to position+orientation, split translate/rotate controls, and harden solver reference sync; add build-time hosting env for deploy info UI.
Add draggable config panel with pin-to-toolbar mirrors for display mode and camera controls; rename toggle to 配置. Remove footprint envelope UI from the page. Fix timeline info clipping and toolbar alignment; soften IK drag-end reach warnings in endEffectorControls.
- Panel title IK末端编辑 / IK End-Effector; unified solver params with sliders - Sidebar scroll; hide foot controls; default off IK debug log - Joint reset adds keyframe; draggable timeline keyframes; 0.1x playback
Decode keyframes to absolute joint/base values at source frame and re-encode residuals at the target frame so edits survive frame moves.
Add copy/paste/delete with internal clipboard, Ctrl+C/V/Del shortcuts, right-click menu with shortcut hints, and draggable keyframe markers.
Stop auto-expanding the curve panel and rendering all curves on keyframe changes; register EE curves hidden by default until toggled on.
Map timeline zoom/scroll to curve viewTransform and vice versa, with loop suppression and shared reset on both panels.
Plot base trajectory when a joint is selected with no keyframes yet. Add a top-right legend for the active curve name, color, and CSV baseline.
…on-ik-editor Update name in Wrangler configuration file to match deployed Worker
Add upstream changelog with dates, Workers demo URL, and embedded screen recordings. Update USAGE and the help modal for IK, keyframes, drag-drop import, curve panel, and viewport features.
Use poster images with links to MP4 so demos preview on GitHub; remove ffmpeg/recording implementation notes.
Replace thumbnail links with video controls and poster images for GitHub README playback.
Remove MP4 and poster PNG assets; embed animated GIFs for GitHub and IDE inline preview.
Acknowledge the original browser keyframe editor project at the start of README.md and README.en.md.
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Summary
在现有浏览器端关键帧编辑器基础上，扩展了末端 IK 编辑、视口叠显/分屏、拖放导入、关键帧剪贴板与时间轴/曲线联动等能力，并补充了开发文档、使用说明、设计说明与 IK 集成测试。
本 PR 由 @fandesfyf 基于
main（48ee549）开发，已恢复上游仓库的部署与链接信息（motion-editor.cyoahs.dev、wrangler.jsonc中的robot-motion-editor、应用内 GitHub 链接等），不包含 fork 专属描述。Motivation
当前编辑器以关节空间与基座编辑为主，左右分屏对比占用横向空间，且缺少末端位姿直观编辑能力。本 PR 旨在：
What's New
IK 末端编辑
closed-chain-ik，支持末端 Link 选择与位姿拖拽IkSolverService重构：同步求解、运动学环路校验、单次求解流程tests/ik-fk-loop-biped-s70-test.js（npm run test:ik-fk）视口与可视化
数据导入
fileDropHandler.js）关键帧工作流
Ctrl+C/Ctrl+V/Delete）与右键菜单曲线与时间轴
timelineCurveViewSync.js）Documentation
README.md/README.en.md（含演示 GIF：docs/assets/demo/）DEVELOPMENT.md：本地开发、构建与 IK 测试说明USAGE.md：视口模式、IK、曲线、快捷键等docs/REQUIREMENTS-viewport-ik.md：视口与 IK 需求与设计说明Dependencies
closed-chain-iklinkedom（dev）Compatibility Notes
Demo
README 中已嵌入 GIF 预览：
docs/assets/demo/end-effector-ik-edit.gifdocs/assets/demo/joint-edit.gifdocs/assets/demo/viewport-settings.gifAuthor
Contributed by fandes (@fandesfyf).