5e010bd2b6
At every vertex (cell or waypoint) where two capsule segments meet, the union of the rectangles and pad discs left a sharp inward V on the concave side. Canvas lineJoin only smooths the convex side, so added an explicit tangent-arc region per concave corner: intersect the inner offset lines to find the notch tip, place the arc center on the angle bisector at radius padRadius, and fill the curved-triangle bounded by the two tangent points and the arc. The added subpath unions into the existing fill.