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。

web_platform/e2e/lekiwi.language.spec.ts

@@ -0,0 +1,67 @@
+import { test, expect } from '@playwright/test';
+import { resolve } from 'node:path';
+import { writeFile } from 'node:fs/promises';
+import type {} from '../physics/agent';
+
+test('v2 物理：连续两次搬运，不重载或移动支撑面', async ({ page }, info) => {
+  await page.goto('/physics/agent.html');
+  await page.waitForFunction(() => Boolean(window.lekiwiAgent));
+  await page.evaluate(
+    (url) => window.lekiwiAgent.boot(url),
+    `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
+  );
+  const results = await page.evaluate(() =>
+    window.lekiwiAgent.languagePhysical([
+      [0.257, 0.75, 0.128],
+      [0.25, 0.5, 0.128],
+    ]),
+  );
+  await writeFile(info.outputPath('continuous-physical.json'), JSON.stringify(results, null, 2));
+  for (const r of results) {
+    console.log('language physical', {
+      status: r.status,
+      error: r.error,
+      goal: r.goal,
+      sample: r.sample,
+      transported: r.transported,
+    });
+    expect(r.status, r.error).toBe('succeeded');
+    expect(r.succeeded).toBe(true);
+    expect(r.sample.onGoalSupport).toBe(true);
+    expect(r.maxJointSpeed).toBeLessThanOrEqual(2);
+  }
+  await page.evaluate(() => window.lekiwiAgent.dispose());
+});
+
+test('v2 真实故障：夹爪锁开不会宣称成功', async ({ page }, info) => {
+  await page.goto('/physics/agent.html');
+  await page.waitForFunction(() => Boolean(window.lekiwiAgent));
+  await page.evaluate(
+    (url) => window.lekiwiAgent.boot(url),
+    `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
+  );
+  const results = await page.evaluate(() =>
+    window.lekiwiAgent.languagePhysical([[0.257, 0.75, 0.128]], 'empty'),
+  );
+  await writeFile(info.outputPath('empty-grasp.json'), JSON.stringify(results, null, 2));
+  expect(results[0].status).toBe('failed');
+  expect(results[0].error).toBe('empty_grasp');
+  expect(results[0].transported).toBe(0);
+  expect(results[0].succeeded).toBe(false);
+  await page.evaluate(() => window.lekiwiAgent.dispose());
+});
+
+test('v2 标定：连续台面边界与停靠姿态 scratch IK', async ({ page }, info) => {
+  await page.goto('/physics/agent.html');
+  await page.waitForFunction(() => Boolean(window.lekiwiAgent));
+  await page.evaluate(
+    (url) => window.lekiwiAgent.boot(url),
+    `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
+  );
+  const result = await page.evaluate(() => window.lekiwiAgent.calibrateLanguage());
+  await writeFile(info.outputPath('calibration.json'), JSON.stringify(result, null, 2));
+  expect(result.unchanged).toBe(true);
+  for (const check of result.checks)
+    expect(check.residual, JSON.stringify(check.target)).toBeLessThan(0.004);
+  await page.evaluate(() => window.lekiwiAgent.dispose());
+});