feat: release v1.0.2 LeKiwi 语言控制与网站嵌入

集成服务器托管模型、自然语言移动与有界抓放、内置 LeKiwi URL 导入和双摄像头；同步部署契约与指定域名 iframe 白名单，保留原有物理安全、会话及调用预算防护。

更新 npm 包及锁文件版本、CHANGELOG 与发布文档。提交前 typecheck、120 项定向前端测试和 44 项后端测试通过（3 项可选跳过）；真实 v2 云模型抓放仍待单独验收，不包含运行密钥或构建产物。

decision_server/tests/website_fixture.py

@@ -2,8 +2,10 @@
 
 import asyncio
 import os
+import tempfile
 import time
 from dataclasses import replace
+from pathlib import Path
 
 from aiohttp import web
 
@@ -19,19 +21,88 @@ async def main():
 
     async def respond(request):
         body = await request.json()
+        import json
+
         if request.path == "/decisions":
+            choices = {name: next(iter(q["criteria"])) for name, q in body["questions"].items()}
+            if "grasp" in choices:
+                evidence = json.loads(body["state"])["observation"]["evidence"]
+                choices.update(
+                    grasp="secure"
+                    if evidence["secure"]
+                    else "uncertain"
+                    if any(v > 0.2 for v in evidence["fingerForces"])
+                    else "empty",
+                    diagnosis="none",
+                    recovery="continue",
+                )
+                if "noul" in choices:
+                    choices.update(noul="allow", score="good", reason="verified_progress")
             return web.json_response(
                 {
-                    "answers": {
-                        name: {"choice": next(iter(q["criteria"]))}
-                        for name, q in body["questions"].items()
-                    },
+                    "answers": {name: {"choice": choice} for name, choice in choices.items()},
                     "usage": {"input_tokens": 1},
                 }
             )
-        import json
 
-        value = '{"ok":true}' if '"ok"' in str(body) else json.dumps(plan_value())
+        if '"action"' in json.dumps(body.get("text", {})):
+            instruction = json.loads(body["input"])["instruction"]
+            choices = {
+                "前进0.5米": ("move", 0.5),
+                "前进0.2米": ("move", 0.2),
+                "后退0.2米": ("move", -0.2),
+                "左转90度": ("turn", 90),
+                "右转90度": ("turn", -90),
+                "把方块搬到支撑台": ("pick_place", 0),
+                "把方块搬到 B 区": ("pick_place", 0),
+                "把方块搬到 (0.25,0.50) 米": ("pick_place", 0),
+            }
+            action, number = choices.get(instruction, ("clarify", 0))
+            context = json.loads(body["input"])
+            extra = {}
+            if "sceneContext" in context:
+                extra = dict(
+                    version="lekiwi-language-v2",
+                    objectId="none",
+                    targetId="none",
+                    position=[],
+                    supportId="none",
+                )
+                if action == "pick_place":
+                    extra.update(
+                        objectId="block",
+                        targetId="B" if "B" in instruction else "coordinates",
+                        position=[] if "B" in instruction else [0.25, 0.50],
+                        supportId="table",
+                    )
+            value = json.dumps(
+                {
+                    **extra,
+                    "action": action,
+                    "value": number,
+                    "summary": instruction
+                    if action != "clarify"
+                    else "请说明左转还是右转，一次一个动作。",
+                }
+            )
+        else:
+            value = '{"ok":true}' if '"ok"' in str(body) else json.dumps(plan_value())
+            context = json.loads(body.get("input", "{}"))
+            if context.get("observation", {}).get("version") == "lekiwi-language-v2":
+                from decision_server.protocol import LANGUAGE_PRECONDITIONS
+
+                value = json.dumps(
+                    dict(
+                        version="lekiwi-language-v2",
+                        objectId="block",
+                        goalId="placement",
+                        summary="测试规划",
+                        steps=[
+                            dict(skill=s, precondition=LANGUAGE_PRECONDITIONS[s], onFailure="stop")
+                            for s in context["remaining"]
+                        ],
+                    )
+                )
         if request.path == "/chat/completions":
             return web.json_response(
                 {"choices": [{"finish_reason": "stop", "message": {"content": value}}]}
@@ -62,7 +133,26 @@ async def main():
     from decision_server import server
 
     server.post = fake_post
-    app = create_website_app("http://127.0.0.1:4180", development=True)
+    from decision_server.connections import Connection
+    from decision_server.hosted_budget import HostedBudget
+
+    quota_dir = tempfile.TemporaryDirectory()
+    app = create_website_app(
+        os.environ.get("CADWORLD_E2E_ORIGIN", "http://127.0.0.1:4180"),
+        development=True,
+        defaults={
+            "llm": Connection(
+                "responses", "https://api.deepseek.com", "deepseek-flash", "fixture-llm"
+            ),
+            "jev": Connection(
+                "openrouter-decisions",
+                "https://openrouter.ai/api/alpha/decisions",
+                "typesafe/jev-1.13",
+                "fixture-jev",
+            ),
+        },
+        budget=HostedBudget(Path(quota_dir.name) / "budget.sqlite"),
+    )
     catalog = app[CATALOG]
     catalog.models = {"fixture/structured": "Fixture structured model (not real)"}
     catalog.available = True
@@ -73,12 +163,15 @@ async def main():
     catalog.refresh = refresh
     gateway = web.AppRunner(app, access_log=None, handler_cancellation=True)
     await gateway.setup()
-    await web.TCPSite(gateway, "127.0.0.1", 8769).start()
+    await web.TCPSite(
+        gateway, "127.0.0.1", int(os.environ.get("CADWORLD_E2E_PORT", "8769"))
+    ).start()
     try:
         await asyncio.Event().wait()
     finally:
         await gateway.cleanup()
         await runner.cleanup()
+        quota_dir.cleanup()
 
 
 if __name__ == "__main__":