修复:
Fixed:
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修复 Xacro XML/YAML 解析及表达式属性访问中的安全问题，保留现有宏、include、惰性属性和正常字典访问功能。
Harden Xacro XML/YAML parsing and expression property access while preserving macros, includes, lazy properties and normal dictionary access.
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更新存在漏洞的构建与测试依赖，增加双项目锁文件安装、安全审计和 VS Code 兼容性检查。
Update vulnerable build/test dependencies and add locked installation, security audits and VS Code compatibility checks for both projects.