目标：在新的 Ubuntu 主机和新的 Marvin 机器人上，完整恢复 RealSense → SAM3 → FlowPose → Grasp Policy → IK / Trajectory → Gripper → Pick / Put / Recovery 实机抓取链路。 为了优先把 Demo 跑通，建议尽量保持和旧系统一致。 先复现旧环境，再单独升级。 3. 旧主机先做备份 ...

仓库不含 node_modules 、Cubism SDK 下载缓存、生成的渲染库、便携发行包、模型原件、用户配置或登录凭据。 安装依赖和运行 setup:live2d 会重建必要运行库；便携包使用后文命令生成。 公开源码不改变模型与第三方素材各自的许可条件。

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