Frank14f 987566c0e6 feat(body): runtime body add/remove, unified action/obs, FRC_REGION flag ... - Add runtime body topology sync (add_body/remove_body + sync_bodies) with recompile, DDF patch (feq + BFS inward fill), and commit. - Unify action/obs flow: set_body/set_force are now host-only; run() auto-uploads action and downloads obs via CUDA stream. - Add read_body(id) -> BodyTelemetry and read_bodies() for DRL loops. - Add FRC_REGION flag (0x0800) for force_region cells. - Extract equilibrium helpers (lbm/equilibrium.py) and DDF patch module (body/ddf_patch.py). - Merge recompile / _runtime_recompile into single _recompile(). - Add n_objects to checkpoint; validate on load. - Add test suite: 40 unit + 19 integration tests (59 total). - Add conftest.py and docs/tests_overview.md for test documentation. - Update README.md and CONFIG.md for new API. Co-authored-by: Cursor <cursoragent@cursor.com>		2026-06-20 18:17:07 +08:00
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audit	重构body api，性能分析，项目整理	2026-05-31 01:42:58 +08:00
validation_specs	feat(body): add force_region, fix sensor API, reorganize docs	2026-06-01 18:07:55 +08:00
performance_analysis.md	重构body api，性能分析，项目整理	2026-05-31 01:42:58 +08:00
tests_overview.md	feat(body): runtime body add/remove, unified action/obs, FRC_REGION flag	2026-06-20 18:17:07 +08:00