increased memory limit

app.py

@@ -640,7 +640,7 @@ class IKServer:
             gc.collect()
             # Memory guard: if RSS > 2GB, clear caches
             rss = self.process.memory_info().rss
-            if rss > 2 * 1024**3:
+            if rss > 16 * 1024**3:
                 logger.warning("High memory usage detected; invalidating caches")
                 self._invalidate_caches()
         except Exception: