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/physics/agent.ts

@@ -1,3 +1,10 @@
+import {
+  composeLanguageScene,
+  LANGUAGE_SCENE,
+  resolveTarget,
+} from '../src/mobile/agent/LanguageScene';
+import { PickPlaceExecutor } from '../src/mobile/agent/PickPlaceExecutor';
+import { LeKiwiIK } from '../src/mobile/agent/LeKiwiIK';
 import { MainThreadPhysicsAdapter } from '../src/simulation/PhysicsAdapter';
 import { importBrowserFiles } from '../src/project/importer';
 import type { ProjectManifest } from '../src/project/types';
@@ -29,6 +36,100 @@ const api = {
     if (!response.ok) throw new Error(`A 资产 HTTP ${response.status}`);
     source = await importBrowserFiles([new File([await response.blob()], 'lekiwi-v1.zip')]);
   },
+  async calibrateLanguage() {
+    if (!source) throw new Error('尚未导入 A 资产');
+    await adapter.load(source, 'URDF/LeKiwi.urdf', {
+      robotProfileId: 'lekiwi-v1',
+      configureRobotRuntime: false,
+      mobileRobot: PICK_PLACE_ROBOT,
+      urdfMode: 'mjcf',
+      baseMode: 'floating',
+      map: { kind: 'none' },
+      sceneComposer: (xml) => composeLanguageScene(xml, true),
+    });
+    adapter.releaseRetired();
+    const session = adapter.session!;
+    const ik = new LeKiwiIK(session);
+    const before = Array.from(session.data.qpos);
+    try {
+      const targets = [
+        LANGUAGE_SCENE.source,
+        ...LANGUAGE_SCENE.targets.map((t) => t.position),
+        [0.237, 0.365, 0.128],
+        [0.277, 0.865, 0.128],
+      ];
+      const checks = targets.flatMap((p) => {
+        resolveTarget('coordinates', p);
+        const pose = { x: p[0] - 0.257, y: p[1] - 0.015, yaw: 0 };
+        return [p[2], 0.195, 0.205, 0.223].map((z) => ({
+          target: [p[0], p[1], z],
+          residual: ik.solve([p[0], p[1], z], pose).residual,
+        }));
+      });
+      return { checks, unchanged: before.every((v, i) => session.data.qpos[i] === v) };
+    } finally {
+      ik.dispose();
+    }
+  },
+  async languagePhysical(goals: number[][], fault: false | 'stop' | 'empty' = false) {
+    await api.calibrateLanguage();
+    const session = adapter.session!;
+    const results = [];
+    for (const goal of goals) {
+      let skills!: PickPlaceExecutor;
+      let cancelled = false;
+      session.startAgent((write) => {
+        const grip = new ModelBindings(session.model).scalarActuator(
+          PICK_PLACE_ROBOT.gripperActuators[0].name,
+          PICK_PLACE_ROBOT.gripperJoint,
+          'position',
+        ).actuatorId;
+        skills = new PickPlaceExecutor(
+          session,
+          (id, value) =>
+            write(id, fault === 'empty' && id === grip ? PICK_PLACE_ROBOT.gripperOpen : value),
+          resolveTarget('coordinates', goal),
+          false,
+        );
+        return {
+          beforeStep: () => {
+            if (cancelled) return false;
+            skills.beforeStep();
+            return skills.status === 'running';
+          },
+          afterStep: (dt) => skills.afterStep(dt),
+          hold: () => skills.hold(),
+          cancel: () => {
+            cancelled = true;
+          },
+          dispose: () => skills.dispose(),
+        };
+      });
+      session.setPaused(false);
+      let frames = 0;
+      while (skills.status === 'running' && !cancelled) {
+        session.singleStep();
+        if (++frames % 20 === 0) session.module.mj_forward(session.model, session.data);
+        if (fault === 'stop' && skills.phase === 'carry' && skills.evaluator.transported > 0.08)
+          session.stopAgent('测试运行中停止');
+        if (frames % 200 === 0) await new Promise<void>((resolve) => setTimeout(resolve, 0));
+      }
+      results.push({
+        status: skills.status,
+        error: skills.error,
+        goal,
+        sample: skills.sample,
+        transported: skills.evaluator.transported,
+        succeeded: skills.evaluator.succeeded,
+        maxJointSpeed: skills.maxJointSpeed,
+        trace: skills.trace,
+        cancelled,
+      });
+      session.stopAgent('回合结束');
+      if (skills.status !== 'succeeded') break;
+    }
+    return results;
+  },
   async baseline(seed: number, governed = false) {
     const epoch = ++generation;
     task?.dispose();