diff --git a/wasm/package-lock.json b/wasm/package-lock.json
index 3f858f82..f9ec0335 100644
--- a/wasm/package-lock.json
+++ b/wasm/package-lock.json
@@ -14,6 +14,7 @@
         "fflate": "^0.8.3",
         "lucide-react": "^0.555.0",
         "monaco-editor": "^0.55.1",
+        "pyodide": "^0.29.4",
         "react": "^19.2.8",
         "react-dom": "^19.2.8",
         "zustand": "^5.0.15"
@@ -1497,6 +1498,12 @@
       "dev": true,
       "license": "MIT"
     },
+    "node_modules/@types/emscripten": {
+      "version": "1.41.5",
+      "resolved": "https://registry.npmjs.org/@types/emscripten/-/emscripten-1.41.5.tgz",
+      "integrity": "sha512-cMQm7pxu6BxtHyqJ7mQZ2kXWV5SLmugybFdHCBbJ5eHzOo6VhBckEgAT3//rP5FwPHNPeEiq4SmQ5ucBwsOo4Q==",
+      "license": "MIT"
+    },
     "node_modules/@types/esrecurse": {
       "version": "4.3.1",
       "resolved": "https://registry.npmjs.org/@types/esrecurse/-/esrecurse-4.3.1.tgz",
@@ -4461,6 +4468,19 @@
         "node": ">=6"
       }
     },
+    "node_modules/pyodide": {
+      "version": "0.29.4",
+      "resolved": "https://registry.npmjs.org/pyodide/-/pyodide-0.29.4.tgz",
+      "integrity": "sha512-tCseTsqU3kSxZIjkue5zXxTMNEwrKZwOIIEQRBA/VzHxFN1hoCxe4w41phfCdHd9it9RcCNQb5K/Re0InqMgvA==",
+      "license": "MPL-2.0",
+      "dependencies": {
+        "@types/emscripten": "^1.41.4",
+        "ws": "^8.5.0"
+      },
+      "engines": {
+        "node": ">=18.0.0"
+      }
+    },
     "node_modules/queue-microtask": {
       "version": "1.2.3",
       "resolved": "https://registry.npmjs.org/queue-microtask/-/queue-microtask-1.2.3.tgz",
@@ -5627,6 +5647,27 @@
         "node": ">=8"
       }
     },
+    "node_modules/ws": {
+      "version": "8.21.3",
+      "resolved": "https://registry.npmjs.org/ws/-/ws-8.21.3.tgz",
+      "integrity": "sha512-201TZ/kPWxoPr/OKWjquZR1SWKXcvxdH+e1xrx89b3YbmzLMFCLfnaG1HFIgWzJOEWZ7MvpK++odZufgYR50Rw==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=10.0.0"
+      },
+      "peerDependencies": {
+        "bufferutil": "^4.0.1",
+        "utf-8-validate": ">=5.0.2"
+      },
+      "peerDependenciesMeta": {
+        "bufferutil": {
+          "optional": true
+        },
+        "utf-8-validate": {
+          "optional": true
+        }
+      }
+    },
     "node_modules/xml-name-validator": {
       "version": "5.0.0",
       "resolved": "https://registry.npmjs.org/xml-name-validator/-/xml-name-validator-5.0.0.tgz",
diff --git a/wasm/package.json b/wasm/package.json
index dd773403..6222b96a 100644
--- a/wasm/package.json
+++ b/wasm/package.json
@@ -61,6 +61,7 @@
     "fflate": "^0.8.3",
     "lucide-react": "^0.555.0",
     "monaco-editor": "^0.55.1",
+    "pyodide": "^0.29.4",
     "react": "^19.2.8",
     "react-dom": "^19.2.8",
     "zustand": "^5.0.15"
diff --git a/wasm/src/README.md b/wasm/src/README.md
new file mode 100644
index 00000000..3ae44eb6
--- /dev/null
+++ b/wasm/src/README.md
@@ -0,0 +1,25 @@
+# Web 仿真控制脚本
+
+该目录存放可由 MuJoCo Web 平台“控制 → Python 控制器”直接导入的可信本地脚本。
+
+## Go2-W 平衡控制
+
+文件：`go2_w_balance.py`
+
+使用条件：
+
+1. 可导入 `/home/cen/Embodied_Workspace/unitree_ros/robots/go2w_description/` 文件夹/ZIP，或 Unitree 官方 `/home/cen/Embodied_Workspace/unitree_mujoco/unitree_robots/go2w/` MJCF 工程；
+2. 使用 URDF 时选择“转换为 MJCF”和“浮动基座”；
+3. 使用 URDF 时勾选“为关节添加驱动器”和“添加传感器”，平台会在浮动基座注入6轴 IMU；
+4. 模型加载后进入“控制 → Python 控制器”，导入本文件；
+5. 点击“加载脚本”或直接导入后，点击“启用”，再播放仿真。
+
+控制器兼容两套命名：
+
+- Body：官方 MJCF 的 `base_link` 或 URDF 转换模型的 `base`
+- 腿关节：`FL/FR/RL/RR_{hip,thigh,calf}_joint`
+- 轮关节：官方 `*_wheel_joint` 或 URDF 转换后的 `*_foot_joint`
+- actuator：官方 `FL_hip`/`FL_wheel` 风格，或平台生成的 `<joint-name>_motor`
+- 6轴 IMU：`imu_gyro`（三轴角速度）和 `imu_acc`（三轴加速度）
+
+脚本默认只做原地站立、基于 IMU 的 roll/pitch 调平和轮毂姿态反馈，不包含行走、转向或轨迹规划。不同接触参数、质量或初始姿态下，可在脚本顶部调整 `NOMINAL`、`KP_FINAL`、`KD`、`RAMP_SECONDS` 和 `MAX_WHEEL_TORQUE`。
diff --git a/wasm/src/go2_w_balance.py b/wasm/src/go2_w_balance.py
new file mode 100644
index 00000000..ee3a6884
--- /dev/null
+++ b/wasm/src/go2_w_balance.py
@@ -0,0 +1,186 @@
+"""Unitree Go2-W 原地站立平衡控制器（纯 MuJoCo/Python 版本）。
+
+兼容两种模型：
+
+* unitree_mujoco/unitree_robots/go2w/go2w.xml；
+* Web 平台由 unitree_ros/go2w_description.urdf 转换出的浮动基座 MJCF。
+
+控制策略参考 unitree_mujoco/example/python/stand_go2.py：站立关节角、kp=50、
+kd=3.5，并在浏览器中直接计算 motor torque。姿态由基座6轴 IMU 的角速度与
+重力加速度互补滤波获得，不包含 DDS、CRC、实机电机模式或 sim2real 逻辑。
+"""
+
+import math
+
+NAME = "Unitree Go2-W 原地平衡控制"
+CONTROL_HZ = 200
+
+LEG_NAMES = ("FL", "FR", "RL", "RR")
+
+# 来自 unitree_mujoco/example/python/stand_go2.py 的 stand_up_joint_pos。
+HIP_TARGET = {"FL": 0.00571868, "FR": -0.00571868,
+              "RL": 0.00571868, "RR": -0.00571868}
+NOMINAL = {"thigh": 0.608813, "calf": -1.21763}
+HIP_DOWN = {"FL": 0.0473455, "FR": -0.0473455,
+            "RL": 0.0473455, "RR": -0.0473455}
+STAND_DOWN = {"thigh": 1.22187, "calf": -2.44375}
+
+# SDK 示例使用 kp=50、kd=3.5。力矩上限按 Go2-W URDF/MJCF 保守取值。
+KP_FINAL = 50.0
+KP_INITIAL = 20.0
+KD = 3.5
+EFFORT_LIMIT = {"hip": 23.7, "thigh": 23.7, "calf": 35.55}
+RAMP_SECONDS = 1.2
+WHEEL_DAMPING = 0.12
+MAX_WHEEL_TORQUE = 6.0
+
+
+def _clamp(value, lower, upper):
+    return max(lower, min(upper, value))
+
+
+def _accel_attitude(acceleration):
+    """由 Body 局部系中的重力方向估计横滚角和俯仰角。"""
+    ax, ay, az = acceleration
+    return math.atan2(ay, az), math.atan2(-ax, math.sqrt(ay * ay + az * az))
+
+
+def _resolve(api, kind, names):
+    """依次尝试官方 MJCF 与 URDF 转换模型的命名。"""
+    resolver = getattr(api, kind)
+    last_error = None
+    for name in names:
+        try:
+            return resolver(name)
+        except Exception as error:
+            last_error = error
+    raise RuntimeError(f"无法解析 {kind}，候选名称：{', '.join(names)}") from last_error
+
+
+def init(api):
+    legs = []
+    for prefix in LEG_NAMES:
+        joints = {}
+        actuators = {}
+        for part in ("hip", "thigh", "calf"):
+            joint_name = f"{prefix}_{part}_joint"
+            joints[part] = _resolve(api, "joint", (joint_name,))
+            actuators[part] = _resolve(
+                api, "actuator", (f"{prefix}_{part}", f"{joint_name}_motor")
+            )
+
+        wheel_joint = _resolve(
+            api, "joint", (f"{prefix}_wheel_joint", f"{prefix}_foot_joint")
+        )
+        wheel_actuator = _resolve(
+            api,
+            "actuator",
+            (f"{prefix}_wheel", f"{prefix}_wheel_joint_motor", f"{prefix}_foot_joint_motor"),
+        )
+        legs.append({
+            "name": prefix,
+            "joints": joints,
+            "actuators": actuators,
+            "wheel_joint": wheel_joint,
+            "wheel_actuator": wheel_actuator,
+            "side": 1.0 if prefix.endswith("L") else -1.0,
+            "fore": 1.0 if prefix.startswith("F") else -1.0,
+        })
+
+    return {
+        "base": _resolve(api, "body", ("base_link", "base")),
+        "imu_gyro": _resolve(api, "sensor", ("imu_gyro", "__platform_imu_gyro__")),
+        "imu_acc": _resolve(api, "sensor", ("imu_acc", "__platform_imu_acc__")),
+        "legs": legs,
+        "started": False,
+        "start_time": 0.0,
+        "estimated_roll": 0.0,
+        "estimated_pitch": 0.0,
+        "filtered_droll": 0.0,
+        "filtered_dpitch": 0.0,
+        "unstable_duration": 0.0,
+    }
+
+
+def _initialize(ctx, state, acceleration):
+    state["started"] = True
+    state["start_time"] = ctx.time
+    state["estimated_roll"], state["estimated_pitch"] = _accel_attitude(acceleration)
+
+
+def step(ctx, state):
+    gyro = ctx.sensor(state["imu_gyro"])
+    acceleration = ctx.sensor(state["imu_acc"])
+    base_position = ctx.body_position(state["base"])
+    if not state["started"]:
+        _initialize(ctx, state, acceleration)
+
+    dt = max(1.0e-4, ctx.dt)
+    rate_alpha = 0.25
+    state["filtered_droll"] += rate_alpha * (gyro[0] - state["filtered_droll"])
+    state["filtered_dpitch"] += rate_alpha * (gyro[1] - state["filtered_dpitch"])
+    accel_roll, accel_pitch = _accel_attitude(acceleration)
+    fusion = 0.015
+    state["estimated_roll"] = (1.0 - fusion) * (
+        state["estimated_roll"] + state["filtered_droll"] * dt
+    ) + fusion * accel_roll
+    state["estimated_pitch"] = (1.0 - fusion) * (
+        state["estimated_pitch"] + state["filtered_dpitch"] * dt
+    ) + fusion * accel_pitch
+    roll, pitch = state["estimated_roll"], state["estimated_pitch"]
+
+    elapsed = max(0.0, ctx.time - state["start_time"])
+    ramp = 1.0 if elapsed >= 3.0 else math.tanh(elapsed / RAMP_SECONDS)
+    kp = KP_INITIAL + (KP_FINAL - KP_INITIAL) * ramp
+
+    # SDK 示例的核心：12 个腿关节平滑进入站立姿态并保持 PD 闭环。
+    for leg in state["legs"]:
+        for part in ("hip", "thigh", "calf"):
+            up = HIP_TARGET[leg["name"]] if part == "hip" else NOMINAL[part]
+            down = HIP_DOWN[leg["name"]] if part == "hip" else STAND_DOWN[part]
+            desired = down + ramp * (up - down)
+            if part == "calf" and ramp > 0.8:
+                # 通过左右/前后轮腿长度差调平车身：高侧缩短，低侧伸长。
+                roll_term = 0.34 * roll + 0.025 * state["filtered_droll"]
+                pitch_term = 0.30 * pitch + 0.022 * state["filtered_dpitch"]
+                desired -= leg["side"] * roll_term
+                desired += leg["fore"] * pitch_term
+            target = desired
+            position = ctx.qpos(leg["joints"][part])
+            velocity = ctx.qvel(leg["joints"][part])
+            torque = kp * (target - position) - KD * velocity
+            limit = EFFORT_LIMIT[part]
+            ctx.set_control(leg["actuators"][part], _clamp(torque, -limit, limit))
+
+    # Go2-W 四轮保持自由滚动，只施加温和阻尼以抑制无指令漂移。
+    wheel_velocities = [ctx.qvel(leg["wheel_joint"]) for leg in state["legs"]]
+    average_velocity = sum(wheel_velocities) / len(wheel_velocities)
+    wheel_torque = 1.4 * pitch + 0.10 * state["filtered_dpitch"]
+    wheel_torque -= WHEEL_DAMPING * average_velocity
+    wheel_torque = _clamp(wheel_torque, -MAX_WHEEL_TORQUE, MAX_WHEEL_TORQUE)
+    for leg in state["legs"]:
+        ctx.set_control(leg["wheel_actuator"], wheel_torque)
+
+    # 持续失稳时主动停止，避免倒地后控制器继续输出饱和力矩。
+    unstable = ramp > 0.95 and (
+        base_position[2] < 0.16 or abs(roll) > 1.0 or abs(pitch) > 1.0
+    )
+    state["unstable_duration"] = state["unstable_duration"] + dt if unstable else 0.0
+    if state["unstable_duration"] > 0.35:
+        raise RuntimeError(
+            f"Go2-W 已失稳：z={base_position[2]:.3f} m, "
+            f"roll={roll:.3f} rad, pitch={pitch:.3f} rad；请重置后检查模型接触参数"
+        )
+
+
+def reset(state):
+    state["started"] = False
+    state["estimated_roll"] = 0.0
+    state["estimated_pitch"] = 0.0
+    state["filtered_droll"] = 0.0
+    state["filtered_dpitch"] = 0.0
+    state["unstable_duration"] = 0.0
+
+
+def dispose(state):
+    pass
diff --git a/wasm/web_platform/README.md b/wasm/web_platform/README.md
index d6b61ac9..90e76613 100644
--- a/wasm/web_platform/README.md
+++ b/wasm/web_platform/README.md
@@ -12,6 +12,7 @@
 - Three.js primitive、mesh、材质/贴图显示与对象选择
 - 播放、暂停、单步、重置、0.25×–4× 速度
 - actuator 滑杆、hinge/slide 关节拖动、动态 body 外力拖拽
+- 导入单文件 `.py` 控制器，通过本地 Pyodide 在 `mj_step` 前按仿真时间同步执行
 - FPS、物理耗时和主线程步进预算提示
 
 ## 开发
@@ -53,6 +54,13 @@ python3 -m http.server 8080 --directory wasm/web-platform-dist
 - XML 的 `include`、mesh 和贴图路径必须相对于入口/编译器配置可解析。
 - 路径穿越、绝对路径、加密 ZIP、重复路径会被拒绝。
 - 默认限制：2000 个文件、单文件 128 MiB、总解压大小 512 MiB、ZIP 文件 128 MiB。
+- 文件夹或 ZIP 中的 `.py` 会显示在“控制 → Python 控制器”；也可以在加载模型后单独导入不超过 1 MiB 的 `.py`。
+
+## Python 控制器
+
+Python 控制器是可信的单文件脚本，必须同步定义 `step(ctx, state)`；可选定义 `NAME`、`CONTROL_HZ`（限制为 1–500 Hz）、`init(api)`、`reset(state)` 和 `dispose(state)`。`init` 可用 `api.joint(name)`、`api.actuator(name)`、`api.sensor(name)`、`api.body(name)` 预解析 ID；`step` 可用 `ctx.qpos(id)`、`ctx.qvel(id)`、`ctx.sensor(id)`、`ctx.body_quat(id)`、`ctx.body_position(id)` 读取状态，并用 `ctx.set_control(id, value)` 写入经过有限值检查和 actuator 限幅的控制量。异常会自动停止控制器、暂停仿真并清零 `ctrl`。
+
+当前 Python 与 MuJoCo 都运行在主线程，以保证闭环调用严格位于 `mj_step` 前。仅运行可信脚本；死循环仍可能阻塞页面。Pyodide 及 Python 标准库由 npm 包随生产构建离线发布，不从 CDN 下载；暂不支持第三方 Python 包、`pip` 或多文件 import。
 
 ## 示例
 
@@ -60,6 +68,7 @@ python3 -m http.server 8080 --directory wasm/web-platform-dist
 
 - `mjcf_include/`：MJCF include、OBJ/STL mesh 和 PNG texture；
 - `urdf_mesh/`：引用 OBJ 的 URDF；
+- `python_controller/`：倒立摆模型及 `balance.py` PD 控制器；
 - `invalid.xml`：无效模型；
 - `missing-resource.xml`：缺失资源错误示例。
 
@@ -69,7 +78,7 @@ python3 -m http.server 8080 --directory wasm/web-platform-dist
 
 - 仅面向桌面版 Chrome、Edge、Firefox；未适配手机和平板。
 - 物理运行在主线程、单线程 WASM。超出每帧预算时限制追帧并提示。
-- 不支持 Xacro、XML 在线编辑、热重载、导出、账号或云端保存。
+- 不支持 Xacro、账号或云端保存；Python 控制器暂不支持第三方包和不可信代码隔离。
 - 关节拖动只支持 hinge/slide；ball/free joint 只读。
 - MuJoCo WASM 本身不支持 DAE mesh。平台会移除 DAE visual，并以 collision 几何显示；DAE collision 会替换为半径 0.05 m 的占位球体并在界面警告。高精度仿真应先将 DAE 转为 OBJ/STL 或改为 URDF primitive。
 - 导入工程只存在当前页面内存，刷新页面后需重新导入。
diff --git a/wasm/web_platform/e2e/app.spec.ts b/wasm/web_platform/e2e/app.spec.ts
index 49bc1ab4..954796e8 100644
--- a/wasm/web_platform/e2e/app.spec.ts
+++ b/wasm/web_platform/e2e/app.spec.ts
@@ -19,6 +19,8 @@ const SIMPLE_MODEL = `
   <actuator><motor name="motor" joint="slide" ctrlrange="-2 2"/></actuator>
 </mujoco>`;
 
+const SLIDE_DIRECTION_MODEL=`<mujoco model="drag-direction"><worldbody><body name="slider" pos="0 0 1"><joint name="screen_x" type="slide" axis="1 0 0" range="-2 2"/><geom type="box" size=".25 .25 .25" mass="1"/></body></worldbody></mujoco>`;
+
 const LARGE_MODEL = `
 <mujoco model="soak">
   <option timestep=".005"/>
@@ -180,6 +182,18 @@ test('转换后的 MJCF 保存时保留 DAE 转换缓存资源',async({page})=>{
   await page.getByRole('button',{name:'源代码'}).click();const dialog=page.getByRole('dialog',{name:'转换后的 MJCF 编辑器'});await dialog.locator('.monaco-editor').click({position:{x:240,y:120}});await page.keyboard.press('Control+End');await page.keyboard.insertText('\n');await dialog.getByRole('button',{name:'保存并重新载入',exact:true}).click();await expect(dialog.getByRole('button',{name:'保存并重新载入',exact:true})).toBeDisabled({timeout:30_000});await expect(page.getByText('WASM 已加载')).toBeVisible();await expect(page.getByText('模型编译失败')).toHaveCount(0);
 });
 
+test('slide 关节向屏幕轴正方向拖动时 qpos 同向增加',async({page})=>{
+  await page.goto('/');await page.locator('input[type="file"]').first().setInputFiles({name:'slide.xml',mimeType:'text/xml',buffer:Buffer.from(SLIDE_DIRECTION_MODEL)});await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
+  await page.getByRole('button',{name:'关节拖动'}).click();const canvas=page.locator('main canvas').first(),box=await canvas.boundingBox();expect(box).not.toBeNull();const x=box!.x+box!.width/2,y=box!.y+box!.height/2;await page.mouse.move(x,y);await page.mouse.down();await page.mouse.move(x+70,y,{steps:8});await page.mouse.up();
+  await page.getByRole('tab',{name:'控制'}).click();const jointSection=page.getByRole('button',{name:'关节 1'});if(await jointSection.getAttribute('aria-expanded')==='false')await jointSection.click();const output=page.getByText('screen_x').locator('..').locator('output');await expect.poll(async()=>Number.parseFloat(await output.textContent()||'0')).toBeGreaterThan(0);
+});
+
+test('可导入并启用 Python 控制器',async({page})=>{
+  await page.goto('/');await page.locator('input[type="file"]').first().setInputFiles({name:'model.xml',mimeType:'text/xml',buffer:Buffer.from(SIMPLE_MODEL)});await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
+  await page.getByRole('tab',{name:'控制'}).click();const python=`NAME = "测试 PD 控制器"\nCONTROL_HZ = 100\ndef init(api):\n    return {"joint": api.joint("slide"), "actuator": api.actuator("motor"), "body": api.body("box")}\ndef step(ctx, state):\n    assert len(ctx.body_quat(state["body"])) == 4\n    assert len(ctx.body_position(state["body"])) == 3\n    ctx.set_control(state["actuator"], -ctx.qpos(state["joint"]) - 0.1 * ctx.qvel(state["joint"]))\n`;
+  await page.locator('input[accept=".py,text/x-python"]').setInputFiles({name:'balance.py',mimeType:'text/x-python',buffer:Buffer.from(python)});await expect(page.getByText('测试 PD 控制器',{exact:true})).toBeVisible({timeout:30_000});await expect(page.getByText('Python / Pyodide')).toBeVisible();await page.getByRole('button',{name:'启用',exact:true}).click();await expect(page.getByText('运行中')).toBeVisible();
+});
+
 test('中等规模模型持续步进并可重复加载', async ({page}) => {
   await page.goto('/');
   const input = page.locator('input[type="file"]').first();
diff --git a/wasm/web_platform/fixtures/python_controller/balance.py b/wasm/web_platform/fixtures/python_controller/balance.py
new file mode 100644
index 00000000..ef305a4a
--- /dev/null
+++ b/wasm/web_platform/fixtures/python_controller/balance.py
@@ -0,0 +1,22 @@
+"""可信本地脚本示例：用 PD 控制让倒立摆保持竖直。"""
+
+NAME = "倒立摆 PD 平衡控制"
+CONTROL_HZ = 100
+
+
+def init(api):
+    return {
+        "joint": api.joint("balance_hinge"),
+        "actuator": api.actuator("balance_motor"),
+    }
+
+
+def step(ctx, state):
+    angle = ctx.qpos(state["joint"])
+    angular_velocity = ctx.qvel(state["joint"])
+    torque = -80.0 * angle - 12.0 * angular_velocity
+    ctx.set_control(state["actuator"], torque)
+
+
+def reset(state):
+    pass
diff --git a/wasm/web_platform/fixtures/python_controller/model.xml b/wasm/web_platform/fixtures/python_controller/model.xml
new file mode 100644
index 00000000..f56efee3
--- /dev/null
+++ b/wasm/web_platform/fixtures/python_controller/model.xml
@@ -0,0 +1,13 @@
+<mujoco model="python_balance">
+  <option timestep="0.002" gravity="0 0 -9.81"/>
+  <worldbody>
+    <geom type="plane" size="3 3 .1"/>
+    <body name="pendulum" pos="0 0 0.08">
+      <joint name="balance_hinge" type="hinge" axis="0 1 0" range="-1.4 1.4" damping="0.05"/>
+      <geom name="rod" type="capsule" fromto="0 0 0 0 0 1" size="0.05" mass="1" rgba="0.2 0.55 0.95 1"/>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor name="balance_motor" joint="balance_hinge" ctrlrange="-100 100"/>
+  </actuator>
+</mujoco>
diff --git a/wasm/web_platform/src/app/App.tsx b/wasm/web_platform/src/app/App.tsx
index 925ae5dc..3961c055 100644
--- a/wasm/web_platform/src/app/App.tsx
+++ b/wasm/web_platform/src/app/App.tsx
@@ -3,9 +3,10 @@
 import {useCallback,useEffect,useRef,useState,type ChangeEvent,type DragEvent} from 'react';
 import {Camera,ChevronLeft,ChevronRight,CircleHelp,Code2,Crosshair,Download,Hand,Maximize,MousePointer2,PanelsTopLeft,Pause,Play,RotateCcw,Settings as SettingsIcon,SunMoon} from 'lucide-react';
 import type {ProjectManifest} from '../project/types';
-import {filesFromDrop,importBrowserFiles,ProjectImportError} from '../project/importer';
+import {filesFromDrop,importBrowserFiles,normalizeProjectPath,ProjectImportError} from '../project/importer';
 import {MainThreadPhysicsAdapter,type UrdfBaseMode,type UrdfEnhancementOptions,type UrdfLoadMode} from '../simulation/PhysicsAdapter';
 import type {ActuatorParameters} from '../simulation/SimulationSession';
+import type {ControllerStatus} from '../controller/types';
 import {MuJoCoViewer,type InteractionMode,type ViewerTheme} from '../viewer/MuJoCoViewer';
 import {useAppStore,type AppDiagnostic} from '../stores/useAppStore';
 import {WorkbenchHeader} from './components/WorkbenchHeader';
@@ -36,24 +37,24 @@ function urdfLinkNames(project:ProjectManifest|null,path:string|undefined):strin
 export function App(){
   const state=useAppStore();
   const manifest=useRef<ProjectManifest|null>(null),notificationId=useRef(0),loadInFlight=useRef(false),importInFlight=useRef(false),adapter=useRef(new MainThreadPhysicsAdapter()),root=useRef<HTMLDivElement>(null),viewerHost=useRef<HTMLDivElement>(null),viewer=useRef<MuJoCoViewer|null>(null),urdfEnhancementsRef=useRef<UrdfEnhancementOptions>({addActuators:true,addSensors:true,sensorType:'camera'});
-  const [forceScale,setForceScale]=useState(50),[leftOpen,setLeftOpen]=useState(true),[rightOpen,setRightOpen]=useState(true),[helpOpen,setHelpOpen]=useState(false),[commandOpen,setCommandOpen]=useState(false),[sourceOpen,setSourceOpen]=useState(false),[generatedMjcf,setGeneratedMjcf]=useState<string>(),[generatedMjcfPath,setGeneratedMjcfPath]=useState<string>(),[pendingUrdfPath,setPendingUrdfPath]=useState<string>(),[pendingUrdfMounts,setPendingUrdfMounts]=useState<string[]>([]),[removeConfirmOpen,setRemoveConfirmOpen]=useState(false),[fullscreen,setFullscreen]=useState(false),[settingsOpen,setSettingsOpen]=useState(false),[layoutOpen,setLayoutOpen]=useState(false),[diagnosticsOpen,setDiagnosticsOpen]=useState(false),[importProgress,setImportProgress]=useState<ImportProgress>(),[notifications,setNotifications]=useState<WorkbenchNotification[]>([]),[toast,setToast]=useState<WorkbenchNotification>();
+  const [forceScale,setForceScale]=useState(50),[leftOpen,setLeftOpen]=useState(true),[rightOpen,setRightOpen]=useState(true),[helpOpen,setHelpOpen]=useState(false),[commandOpen,setCommandOpen]=useState(false),[sourceOpen,setSourceOpen]=useState(false),[generatedMjcf,setGeneratedMjcf]=useState<string>(),[generatedMjcfPath,setGeneratedMjcfPath]=useState<string>(),[pendingUrdfPath,setPendingUrdfPath]=useState<string>(),[pendingUrdfMounts,setPendingUrdfMounts]=useState<string[]>([]),[removeConfirmOpen,setRemoveConfirmOpen]=useState(false),[fullscreen,setFullscreen]=useState(false),[settingsOpen,setSettingsOpen]=useState(false),[layoutOpen,setLayoutOpen]=useState(false),[diagnosticsOpen,setDiagnosticsOpen]=useState(false),[importProgress,setImportProgress]=useState<ImportProgress>(),[notifications,setNotifications]=useState<WorkbenchNotification[]>([]),[toast,setToast]=useState<WorkbenchNotification>(),[selectedControllerPath,setSelectedControllerPath]=useState<string>(),[controllerStatus,setControllerStatus]=useState<ControllerStatus>();
   const [urdfMode,setUrdfMode]=useState<UrdfLoadMode>('mjcf'),urdfModeRef=useRef<UrdfLoadMode>('mjcf');
   const [baseMode,setBaseMode]=useState<UrdfBaseMode>('floating'),baseModeRef=useRef<UrdfBaseMode>('floating');
   const [showCollision,setShowCollision]=useState(false),[showSensorCamera,setShowSensorCamera]=useState(true),[theme,setTheme]=useState<ViewerTheme>(initialTheme),[jointAdvanced,setJointAdvanced]=useState(false),[ignoreJointLimits,setIgnoreJointLimits]=useState(false),[angleUnit,setAngleUnit]=useState<'rad'|'deg'>('rad');
-  useEffect(()=>{if(!viewerHost.current)return;viewer.current=new MuJoCoViewer(viewerHost.current,{onSelection:state.setSelection,onFrame:(frame,fps,snapshot)=>{const memory=(performance as Performance&{memory?:{usedJSHeapSize:number}}).memory?.usedJSHeapSize;state.setMetrics(fps,frame.stepMs,memory===undefined?undefined:memory/1048576,frame.overBudget);if(snapshot)state.setSnapshot(snapshot);},onError:error=>state.setDiagnostic(diagnostic('渲染',error))});return()=>{viewer.current?.dispose();viewer.current=null;adapter.current.dispose();};},[]);
+  useEffect(()=>{if(!viewerHost.current)return;viewer.current=new MuJoCoViewer(viewerHost.current,{onSelection:state.setSelection,onFrame:(frame,fps,snapshot)=>{const memory=(performance as Performance&{memory?:{usedJSHeapSize:number}}).memory?.usedJSHeapSize;state.setMetrics(fps,frame.stepMs,memory===undefined?undefined:memory/1048576,frame.overBudget);if(snapshot){state.setSnapshot(snapshot);setControllerStatus(snapshot.controller);if(snapshot.controller?.error)state.setPaused(true);}},onError:error=>state.setDiagnostic(diagnostic(error.message.includes('控制器')?'仿真':'渲染',error))});return()=>{viewer.current?.dispose();viewer.current=null;adapter.current.dispose();};},[]);
   useEffect(()=>{viewer.current?.setMode(state.mode);},[state.mode]);
   useEffect(()=>{if(viewer.current)viewer.current.forceScale=forceScale;},[forceScale]);
   useEffect(()=>{viewer.current?.setShowCollision(showCollision);},[showCollision]);
   useEffect(()=>{viewer.current?.setShowSensorCamera(showSensorCamera);},[showSensorCamera]);
   useEffect(()=>{viewer.current?.setTheme(theme);document.documentElement.style.colorScheme=theme;try{localStorage.setItem('mujoco-platform-theme',theme);}catch{/* 当前会话仍可切换 */}},[theme]);
   useEffect(()=>{const change=()=>setFullscreen(document.fullscreenElement===root.current);document.addEventListener('fullscreenchange',change);return()=>document.removeEventListener('fullscreenchange',change);},[]);
-  const loadEntry=useCallback(async(path:string,requestedMode?:UrdfLoadMode)=>{if(!manifest.current||loadInFlight.current)return;loadInFlight.current=true;setIgnoreJointLimits(false);state.setEntry(path);state.setLoading(true);setImportProgress({label:'初始化 WASM 与编译模型',value:.65});state.setDiagnostic(undefined);setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);viewer.current?.attach(null);state.setSnapshot(undefined);state.setSelection(null);try{const snapshot=await adapter.current.load(manifest.current,path,requestedMode??urdfModeRef.current,baseModeRef.current,urdfEnhancementsRef.current);const supportFiles=adapter.current.cachedSupportFiles();if(supportFiles.length&&manifest.current){manifest.current=mergeCachedFiles(manifest.current,supportFiles);state.setProject(manifest.current.name,manifest.current.files.map(file=>({path:file.path,size:file.size})),manifest.current.entries,path);}setImportProgress({label:'创建视口场景',value:.92});adapter.current.setSpeed(useAppStore.getState().speed);state.setSnapshot(snapshot);state.setPaused(true);viewer.current?.attach(adapter.current.session);try{setGeneratedMjcf(new TextDecoder().decode(adapter.current.exportMjcf()));setGeneratedMjcfPath(convertedCachePath(path));}catch(error){console.warn('[MuJoCo] 无法生成源码预览',error);}const notice:WorkbenchNotification={id:++notificationId.current,title:snapshot.warnings.length?'URDF 兼容处理':'模型加载完成',detail:snapshot.warnings.length?snapshot.warnings.join('\n'):path,tone:snapshot.warnings.length?'warning':'success',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}catch(error){state.setDiagnostic(diagnostic('模型编译',error,path));const notice:WorkbenchNotification={id:++notificationId.current,title:'模型编译失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{loadInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[]);
+  const loadEntry=useCallback(async(path:string,requestedMode?:UrdfLoadMode)=>{if(!manifest.current||loadInFlight.current)return;loadInFlight.current=true;setIgnoreJointLimits(false);setControllerStatus(undefined);state.setEntry(path);state.setLoading(true);setImportProgress({label:'初始化 WASM 与编译模型',value:.65});state.setDiagnostic(undefined);setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);viewer.current?.attach(null);state.setSnapshot(undefined);state.setSelection(null);try{const snapshot=await adapter.current.load(manifest.current,path,requestedMode??urdfModeRef.current,baseModeRef.current,urdfEnhancementsRef.current);const supportFiles=adapter.current.cachedSupportFiles();if(supportFiles.length&&manifest.current){manifest.current=mergeCachedFiles(manifest.current,supportFiles);state.setProject(manifest.current.name,manifest.current.files.map(file=>({path:file.path,size:file.size})),manifest.current.entries,path);}setImportProgress({label:'创建视口场景',value:.92});adapter.current.setSpeed(useAppStore.getState().speed);state.setSnapshot(snapshot);state.setPaused(true);viewer.current?.attach(adapter.current.session);try{setGeneratedMjcf(new TextDecoder().decode(adapter.current.exportMjcf()));setGeneratedMjcfPath(convertedCachePath(path));}catch(error){console.warn('[MuJoCo] 无法生成源码预览',error);}const notice:WorkbenchNotification={id:++notificationId.current,title:snapshot.warnings.length?'URDF 兼容处理':'模型加载完成',detail:snapshot.warnings.length?snapshot.warnings.join('\n'):path,tone:snapshot.warnings.length?'warning':'success',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}catch(error){state.setDiagnostic(diagnostic('模型编译',error,path));const notice:WorkbenchNotification={id:++notificationId.current,title:'模型编译失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{loadInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[]);
   const requestLoadEntry=useCallback(async(path:string)=>{const entry=manifest.current?.entries.find(candidate=>candidate.path===path);if(entry?.format==='urdf'&&urdfModeRef.current==='mjcf'){setPendingUrdfMounts(urdfLinkNames(manifest.current,path));setPendingUrdfPath(path);return;}await loadEntry(path);},[loadEntry]);
   const confirmUrdfOptions=(options:UrdfEnhancementOptions)=>{const path=pendingUrdfPath;if(!path)return;urdfEnhancementsRef.current=options;setPendingUrdfPath(undefined);setPendingUrdfMounts([]);void loadEntry(path);};
   const skipUrdfOptions=()=>confirmUrdfOptions({addActuators:false,addSensors:false,sensorType:'camera'});
-  const ingest=useCallback(async(files:File[],lockOwned=false)=>{if(importInFlight.current&&!lockOwned)return;importInFlight.current=true;state.setLoading(true);setImportProgress({label:'读取工程文件',value:.12});try{const next=await importBrowserFiles(files);setImportProgress({label:'处理模型资源与入口',value:.38});manifest.current=next;state.setProject(next.name,next.files.map(({path,size})=>({path,size})),next.entries,next.selectedEntry);if(next.selectedEntry)await requestLoadEntry(next.selectedEntry);}catch(error){state.setDiagnostic(diagnostic(error instanceof ProjectImportError&&/ZIP/.test(error.message)?'ZIP':'导入',error,error instanceof ProjectImportError?error.path:undefined));const notice:WorkbenchNotification={id:++notificationId.current,title:'工程导入失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{importInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[requestLoadEntry]);
+  const ingest=useCallback(async(files:File[],lockOwned=false)=>{if(importInFlight.current&&!lockOwned)return;importInFlight.current=true;state.setLoading(true);setImportProgress({label:'读取工程文件',value:.12});try{const next=await importBrowserFiles(files);setImportProgress({label:'处理模型资源与入口',value:.38});manifest.current=next;setSelectedControllerPath(next.files.find(file=>/\.py$/i.test(file.path))?.path);state.setProject(next.name,next.files.map(({path,size})=>({path,size})),next.entries,next.selectedEntry);if(next.selectedEntry)await requestLoadEntry(next.selectedEntry);}catch(error){state.setDiagnostic(diagnostic(error instanceof ProjectImportError&&/ZIP/.test(error.message)?'ZIP':'导入',error,error instanceof ProjectImportError?error.path:undefined));const notice:WorkbenchNotification={id:++notificationId.current,title:'工程导入失败',detail:error instanceof Error?error.message:String(error),tone:'danger',at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);}finally{importInFlight.current=false;setImportProgress(undefined);state.setLoading(false);}},[requestLoadEntry]);
   const removeProject=()=>{if(state.projectName)setRemoveConfirmOpen(true);};
-  const confirmRemoveProject=()=>{viewer.current?.attach(null);adapter.current.dispose();manifest.current=null;setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);setPendingUrdfPath(undefined);setPendingUrdfMounts([]);state.clearProject();setRemoveConfirmOpen(false);};
+  const confirmRemoveProject=()=>{viewer.current?.attach(null);adapter.current.dispose();manifest.current=null;setGeneratedMjcf(undefined);setGeneratedMjcfPath(undefined);setPendingUrdfPath(undefined);setPendingUrdfMounts([]);setSelectedControllerPath(undefined);setControllerStatus(undefined);state.clearProject();setRemoveConfirmOpen(false);};
   const changeUrdfMode=(value:UrdfLoadMode)=>{setUrdfMode(value);urdfModeRef.current=value;const entry=state.entries.find(candidate=>candidate.path===state.selectedEntry);if(entry?.format!=='urdf')return;if(value==='mjcf'){setPendingUrdfMounts(urdfLinkNames(manifest.current,entry.path));setPendingUrdfPath(entry.path);}else void loadEntry(entry.path,value);};
   const changeBaseMode=(value:UrdfBaseMode)=>{setBaseMode(value);baseModeRef.current=value;const entry=state.entries.find(candidate=>candidate.path===state.selectedEntry);if(entry?.format==='urdf'&&urdfModeRef.current==='mjcf')void loadEntry(entry.path,'mjcf');};
   const changeFiles=(event:ChangeEvent<HTMLInputElement>)=>{void ingest(Array.from(event.target.files??[]));event.target.value='';};
@@ -68,6 +69,11 @@ export function App(){
   const setActuator=(id:number,value:number)=>{adapter.current.setActuator(id,value);state.setSnapshot(adapter.current.snapshot()??undefined);};
   const setActuatorParameters=(id:number,parameters:ActuatorParameters)=>{if(!adapter.current.setActuatorParameters(id,parameters))return;state.setSnapshot(adapter.current.snapshot()??undefined);try{setGeneratedMjcf(new TextDecoder().decode(adapter.current.exportMjcf()));}catch(error){console.warn('[MuJoCo] 无法刷新驱动器参数源码',error);}};
   const setJoint=(id:number,value:number)=>{adapter.current.setJointPosition(id,value);state.setPaused(true);state.setSnapshot(adapter.current.snapshot()??undefined);};
+  const loadControllerSource=async(source:string,path:string)=>{state.setLoading(true);setImportProgress({label:'初始化 Python 运行时并加载控制器',value:.5});state.setDiagnostic(undefined);try{const status=await adapter.current.loadPythonController(source,path);setControllerStatus(status);state.setSnapshot(adapter.current.snapshot()??undefined);notify('Python 控制器已加载',`${status.name} · ${status.controlHz} Hz`);}catch(error){state.setDiagnostic(diagnostic('仿真',error,path));}finally{setImportProgress(undefined);state.setLoading(false);}};
+  const loadControllerPath=(path:string)=>{const file=manifest.current?.files.find(candidate=>candidate.path===path);if(!file){state.setDiagnostic(diagnostic('仿真',new Error('工程中找不到控制脚本'),path));return;}setSelectedControllerPath(path);void loadControllerSource(new TextDecoder().decode(file.data),path);};
+  const importController=(file:File)=>{void (async()=>{try{if(!/\.py$/i.test(file.name))throw new Error('请选择 .py 文件');if(file.size>1024*1024)throw new Error('Python 控制脚本不能超过 1 MiB');const path=normalizeProjectPath(file.name),data=new Uint8Array(await file.arrayBuffer());if(manifest.current){const index=manifest.current.files.findIndex(candidate=>candidate.path===path),files=manifest.current.files.slice(),entry={path,data,size:data.byteLength,source:'file' as const,mimeType:file.type||'text/x-python'};if(index>=0)files[index]=entry;else files.push(entry);manifest.current={...manifest.current,files,totalBytes:files.reduce((total,item)=>total+item.size,0)};state.setProject(manifest.current.name,files.map(({path:filePath,size})=>({path:filePath,size})),manifest.current.entries,manifest.current.selectedEntry);state.setSnapshot(adapter.current.snapshot()??undefined);}setSelectedControllerPath(path);await loadControllerSource(new TextDecoder().decode(data),path);}catch(error){state.setDiagnostic(diagnostic('仿真',error,file.name));}})();};
+  const toggleController=(enabled:boolean)=>{adapter.current.setControllerEnabled(enabled);const snapshot=adapter.current.snapshot()??undefined;setControllerStatus(snapshot?.controller);state.setSnapshot(snapshot);};
+  const removeController=()=>{adapter.current.removeController();setControllerStatus(undefined);state.setSnapshot(adapter.current.snapshot()??undefined);};
   const notify=(title:string,detail:string,tone:WorkbenchNotification['tone']='success')=>{const notice:WorkbenchNotification={id:++notificationId.current,title,detail,tone,at:Date.now()};setNotifications(items=>[notice,...items].slice(0,20));setToast(notice);};
   const saveCachedSource=async(path:string,text:string)=>{if(!manifest.current)return;manifest.current=upsertCachedMjcf(manifest.current,path,text);state.setProject(manifest.current.name,manifest.current.files.map(file=>({path:file.path,size:file.size})),manifest.current.entries,path);notify('转换后的 MJCF 已保存到缓存',path);await loadEntry(path);};
   const exportUrdf=()=>{if(!manifest.current||selectedFormat!=='urdf'||!state.selectedEntry)return;const text=readCachedText(manifest.current,state.selectedEntry);downloadBytes(new TextEncoder().encode(text),exportedFileName(manifest.current.name,'urdf'));notify('URDF 已导出',state.selectedEntry);};
@@ -94,7 +100,7 @@ export function App(){
   ];
   return <div ref={root} className={`${theme==='light'?'theme-light':'theme-dark'} flex h-screen min-w-[1024px] flex-col overflow-hidden bg-app text-text-primary`} onDragOver={event=>event.preventDefault()} onDrop={drop}>
     <WorkbenchHeader paused={state.paused} ready={Boolean(state.snapshot)} speed={state.speed} theme={theme} loading={state.loading} leftOpen={leftOpen} rightOpen={rightOpen} fullscreen={fullscreen} hasProject={Boolean(generatedMjcf)} onFiles={changeFiles} onFolder={changeFiles} onOpenSource={()=>setSourceOpen(true)} onTogglePause={togglePause} onStep={singleStep} onReset={reset} onSpeed={changeSpeed} onToggleLeft={()=>setLeftOpen(value=>!value)} onToggleRight={()=>setRightOpen(value=>!value)} onToggleTheme={()=>setTheme(value=>value==='dark'?'light':'dark')} onHelp={()=>setHelpOpen(true)} endActions={<><NotificationCenter items={notifications} onDismiss={id=>setNotifications(items=>items.filter(item=>item.id!==id))} onClear={()=>setNotifications([])} onOpenLog={()=>setDiagnosticsOpen(true)}/><span className="hidden items-center gap-0.5 xl:flex"><IconButton tooltip="布局设置" aria-label="布局设置" onClick={()=>setLayoutOpen(true)}><PanelsTopLeft className="h-4 w-4"/></IconButton><IconButton tooltip="工作台设置" aria-label="工作台设置" onClick={()=>setSettingsOpen(true)}><SettingsIcon className="h-4 w-4"/></IconButton></span></>} compactMenu={<ToolbarOverflowMenu fullscreen={fullscreen} onCommands={()=>setCommandOpen(true)} onLayout={()=>setLayoutOpen(true)} onSettings={()=>setSettingsOpen(true)} onFullscreen={toggleFullscreen} onHelp={()=>setHelpOpen(true)} onTheme={()=>setTheme(value=>value==='dark'?'light':'dark')}/>} onCommands={()=>setCommandOpen(true)} onToggleFullscreen={toggleFullscreen} center={<ViewerToolDock mode={state.mode} onModeChange={mode} onResetCamera={()=>viewer.current?.resetCamera()}/>}/>
-    <div className="flex min-h-0 flex-1"><ProjectSidebar visible={leftOpen} projectName={state.projectName} files={state.files} entries={state.entries} selectedEntry={state.selectedEntry} snapshot={state.snapshot} loading={state.loading} onRemove={removeProject} onSelectEntry={requestLoadEntry} onJointHover={jointId=>viewer.current?.highlightJoint(jointId)}/><main className="relative min-w-0 flex-1"><div ref={viewerHost} className="absolute inset-0"/><ViewportHUD paused={state.paused} mode={state.mode} selection={state.selection} ready={Boolean(state.snapshot)}/><WorkspaceOverlays loading={state.loading} hasSnapshot={Boolean(state.snapshot)} progress={importProgress}/><ToastViewport item={toast} onDismiss={()=>setToast(undefined)}/>{Boolean(state.snapshot?.model.ncam)&&(showSensorCamera?<div aria-label="摄像头画面" className="pointer-events-none absolute bottom-4 left-4 z-20 aspect-video w-[min(320px,32%)] min-w-[120px] overflow-hidden rounded-lg border border-border-strong shadow-2xl"><div className="pointer-events-auto absolute inset-x-0 top-0 flex h-7 items-center justify-between bg-black/65 px-2 text-[10px] font-medium text-white"><span className="flex items-center gap-1"><Camera className="h-3 w-3"/>摄像头</span><button type="button" className="rounded px-1.5 py-0.5 hover:bg-white/15 focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-white/60" onClick={()=>setShowSensorCamera(false)}>隐藏画面</button></div></div>:<Button className="absolute bottom-4 left-4 z-20" icon={<Camera className="h-3.5 w-3.5"/>} onClick={()=>setShowSensorCamera(true)}>显示摄像头画面</Button>)}{state.entries.length>1&&!state.selectedEntry&&!pendingUrdfPath&&<EntrySelectionDialog entries={state.entries} onSelect={requestLoadEntry}/>} {state.diagnostic&&<ErrorRecoveryPanel key={state.diagnostic.at} value={state.diagnostic} onClose={()=>state.setDiagnostic(undefined)} onRetry={state.diagnostic.category==='模型编译'&&state.diagnostic.path?()=>void loadEntry(state.diagnostic!.path!):undefined} onOpenProject={()=>{setLeftOpen(true);state.setDiagnostic(undefined);}}/>}</main><ModelControlsSidebar visible={rightOpen} snapshot={state.snapshot} selection={state.selection} selectedFormat={selectedFormat} loading={state.loading} urdfMode={urdfMode} baseMode={baseMode} showCollision={showCollision} ignoreJointLimits={ignoreJointLimits} jointAdvanced={jointAdvanced} angleUnit={angleUnit} forceScale={forceScale} onUrdfMode={changeUrdfMode} onBaseMode={changeBaseMode} onShowCollision={setShowCollision} onResetJoints={resetJoints} onToggleJointLimits={toggleJointLimits} onToggleAdvanced={()=>setJointAdvanced(value=>!value)} onToggleAngleUnit={()=>setAngleUnit(value=>value==='rad'?'deg':'rad')} onActuator={setActuator} onActuatorParameters={setActuatorParameters} onJoint={setJoint} onForceScale={setForceScale}/></div>
+    <div className="flex min-h-0 flex-1"><ProjectSidebar visible={leftOpen} projectName={state.projectName} files={state.files} entries={state.entries} selectedEntry={state.selectedEntry} snapshot={state.snapshot} loading={state.loading} onRemove={removeProject} onSelectEntry={requestLoadEntry} onJointHover={jointId=>viewer.current?.highlightJoint(jointId)}/><main className="relative min-w-0 flex-1"><div ref={viewerHost} className="absolute inset-0"/><ViewportHUD paused={state.paused} mode={state.mode} selection={state.selection} ready={Boolean(state.snapshot)}/><WorkspaceOverlays loading={state.loading} hasSnapshot={Boolean(state.snapshot)} progress={importProgress}/><ToastViewport item={toast} onDismiss={()=>setToast(undefined)}/>{Boolean(state.snapshot?.model.ncam)&&(showSensorCamera?<div aria-label="摄像头画面" className="pointer-events-none absolute bottom-4 left-4 z-20 aspect-video w-[min(320px,32%)] min-w-[120px] overflow-hidden rounded-lg border border-border-strong shadow-2xl"><div className="pointer-events-auto absolute inset-x-0 top-0 flex h-7 items-center justify-between bg-black/65 px-2 text-[10px] font-medium text-white"><span className="flex items-center gap-1"><Camera className="h-3 w-3"/>摄像头</span><button type="button" className="rounded px-1.5 py-0.5 hover:bg-white/15 focus-visible:outline-none focus-visible:ring-2 focus-visible:ring-white/60" onClick={()=>setShowSensorCamera(false)}>隐藏画面</button></div></div>:<Button className="absolute bottom-4 left-4 z-20" icon={<Camera className="h-3.5 w-3.5"/>} onClick={()=>setShowSensorCamera(true)}>显示摄像头画面</Button>)}{state.entries.length>1&&!state.selectedEntry&&!pendingUrdfPath&&<EntrySelectionDialog entries={state.entries} onSelect={requestLoadEntry}/>} {state.diagnostic&&<ErrorRecoveryPanel key={state.diagnostic.at} value={state.diagnostic} onClose={()=>state.setDiagnostic(undefined)} onRetry={state.diagnostic.category==='模型编译'&&state.diagnostic.path?()=>void loadEntry(state.diagnostic!.path!):undefined} onOpenProject={()=>{setLeftOpen(true);state.setDiagnostic(undefined);}}/>}</main><ModelControlsSidebar visible={rightOpen} snapshot={state.snapshot} selection={state.selection} selectedFormat={selectedFormat} loading={state.loading} urdfMode={urdfMode} baseMode={baseMode} showCollision={showCollision} ignoreJointLimits={ignoreJointLimits} jointAdvanced={jointAdvanced} angleUnit={angleUnit} forceScale={forceScale} controllerPaths={state.files.filter(file=>/\.py$/i.test(file.path)).map(file=>file.path)} selectedControllerPath={selectedControllerPath} controllerStatus={controllerStatus} onUrdfMode={changeUrdfMode} onBaseMode={changeBaseMode} onShowCollision={setShowCollision} onResetJoints={resetJoints} onToggleJointLimits={toggleJointLimits} onToggleAdvanced={()=>setJointAdvanced(value=>!value)} onToggleAngleUnit={()=>setAngleUnit(value=>value==='rad'?'deg':'rad')} onActuator={setActuator} onActuatorParameters={setActuatorParameters} onJoint={setJoint} onForceScale={setForceScale} onSelectControllerPath={setSelectedControllerPath} onLoadControllerPath={loadControllerPath} onImportController={importController} onToggleController={toggleController} onRemoveController={removeController}/></div>
     {pendingUrdfPath&&<UrdfImportOptionsDialog open path={pendingUrdfPath} mountBodies={pendingUrdfMounts} onConfirm={confirmUrdfOptions} onSkip={skipUrdfOptions}/>}{sourceOpen&&generatedMjcf&&generatedMjcfPath&&<SourceEditorDialog open code={generatedMjcf} filePath={generatedMjcfPath} theme={theme} onClose={()=>setSourceOpen(false)} onSave={saveCachedSource}/>}<ShortcutHelpDialog open={helpOpen} onClose={()=>setHelpOpen(false)}/><DiagnosticsDrawer open={diagnosticsOpen} items={notifications} onClose={()=>setDiagnosticsOpen(false)} onClear={()=>setNotifications([])}/><SettingsDialog open={settingsOpen} onClose={()=>setSettingsOpen(false)} theme={theme} angleUnit={angleUnit} showCollision={showCollision} jointAdvanced={jointAdvanced} forceScale={forceScale} onTheme={setTheme} onAngleUnit={setAngleUnit} onShowCollision={setShowCollision} onJointAdvanced={setJointAdvanced} onForceScale={setForceScale}/><LayoutSettingsDialog open={layoutOpen} onClose={()=>setLayoutOpen(false)} leftOpen={leftOpen} rightOpen={rightOpen} onLeftOpen={setLeftOpen} onRightOpen={setRightOpen} onPreset={applyLayoutPreset} onReset={()=>applyLayoutPreset('default')}/><CommandPalette open={commandOpen} onClose={()=>setCommandOpen(false)} commands={commands}/><ConfirmDialog open={removeConfirmOpen} title="移除当前工程" confirmLabel="移除工程" danger onConfirm={confirmRemoveProject} onClose={()=>setRemoveConfirmOpen(false)}><p className="text-sm text-text-secondary">确定从当前会话中移除“<strong className="text-text-primary">{state.projectName}</strong>”吗？</p><p className="mt-2 text-xs text-text-tertiary">该操作不会删除本地文件。</p></ConfirmDialog><StatusBar time={state.snapshot?.time} fps={state.fps} stepMs={state.stepMs} memoryMb={state.memoryMb} loaded={Boolean(state.snapshot)} overBudget={state.overBudget}/>
   </div>;
 }
diff --git a/wasm/web_platform/src/app/components/PythonControllerPanel.tsx b/wasm/web_platform/src/app/components/PythonControllerPanel.tsx
new file mode 100644
index 00000000..fad7f72c
--- /dev/null
+++ b/wasm/web_platform/src/app/components/PythonControllerPanel.tsx
@@ -0,0 +1,35 @@
+import {useRef,type ChangeEvent} from 'react';
+import {FileUp,Power,RotateCw,Trash2} from 'lucide-react';
+import type {ControllerStatus} from '../../controller/types';
+import {Badge,Button,PropertyRow,Select} from '../../components/ui';
+
+export interface PythonControllerPanelProps {
+  paths:string[];
+  selectedPath?:string;
+  status?:ControllerStatus;
+  loading:boolean;
+  onSelectPath(path:string):void;
+  onLoadPath(path:string):void;
+  onImport(file:File):void;
+  onToggle(enabled:boolean):void;
+  onRemove():void;
+}
+
+export function PythonControllerPanel({paths,selectedPath,status,loading,onSelectPath,onLoadPath,onImport,onToggle,onRemove}:PythonControllerPanelProps){
+  const input=useRef<HTMLInputElement>(null);
+  const importFile=(event:ChangeEvent<HTMLInputElement>)=>{const file=event.target.files?.[0];if(file)onImport(file);event.target.value='';};
+  return <div>
+    <input ref={input} className="hidden" type="file" accept=".py,text/x-python" onChange={importFile}/>
+    {paths.length>0&&<label className="mb-3 block text-xs text-text-secondary"><span className="mb-1 block">工程内脚本</span><Select aria-label="Python 控制脚本" className="w-full" value={selectedPath??''} disabled={loading} onChange={event=>onSelectPath(event.target.value)}><option value="">选择 .py 文件</option>{paths.map(path=><option key={path} value={path}>{path}</option>)}</Select></label>}
+    <div className="grid grid-cols-2 gap-2">
+      <Button icon={<FileUp className="h-3.5 w-3.5"/>} disabled={loading} onClick={()=>input.current?.click()}>导入 .py</Button>
+      <Button icon={<RotateCw className="h-3.5 w-3.5"/>} disabled={loading||!selectedPath} onClick={()=>selectedPath&&onLoadPath(selectedPath)}>加载脚本</Button>
+    </div>
+    {status?<div className="mt-3 rounded-lg border border-border bg-surface p-2.5">
+      <div className="mb-2 flex items-center justify-between gap-2"><span className="truncate text-xs font-medium text-text-primary" title={status.path}>{status.name}</span><Badge>{status.enabled?'运行中':'已停止'}</Badge></div>
+      <PropertyRow label="语言" value="Python / Pyodide"/><PropertyRow label="控制频率" value={`${status.controlHz} Hz`}/><PropertyRow label="上次耗时" value={`${status.lastStepMs.toFixed(3)} ms`}/>
+      {status.error&&<p role="alert" className="mt-2 break-words rounded bg-danger/10 p-2 text-[10px] leading-4 text-danger">{status.error}</p>}
+      <div className="mt-3 grid grid-cols-2 gap-2"><Button variant={status.enabled?'secondary':'primary'} icon={<Power className="h-3.5 w-3.5"/>} onClick={()=>onToggle(!status.enabled)}>{status.enabled?'停止':'启用'}</Button><Button variant="danger" icon={<Trash2 className="h-3.5 w-3.5"/>} onClick={onRemove}>卸载</Button></div>
+    </div>:<p className="mt-3 text-xs leading-5 text-text-tertiary">加载可信的单文件 Python 控制器。脚本在每次 mj_step 前按仿真时间同步执行，默认 100 Hz。</p>}
+  </div>;
+}
diff --git a/wasm/web_platform/src/app/components/SidebarPanel.tsx b/wasm/web_platform/src/app/components/SidebarPanel.tsx
index 5f2758bc..7d4fef37 100644
--- a/wasm/web_platform/src/app/components/SidebarPanel.tsx
+++ b/wasm/web_platform/src/app/components/SidebarPanel.tsx
@@ -6,9 +6,11 @@ import {countModelStructureSearchResults,ModelStructureTree} from '../../project
 import type {ActuatorInfo,ActuatorParameters,SimulationSnapshot} from '../../simulation/SimulationSession';
 import type {UrdfBaseMode,UrdfLoadMode} from '../../simulation/PhysicsAdapter';
 import type {ViewerSelection} from '../../viewer/MuJoCoViewer';
+import type {ControllerStatus} from '../../controller/types';
 import {Badge,Button,CollapsibleSection,CopyButton,PropertyRow,ResizablePanel,Select,Tabs} from '../../components/ui';
 import {TreeSearchField} from './TreeSearchField';
 import {ProjectBreadcrumb} from './ProjectBreadcrumb';
+import {PythonControllerPanel} from './PythonControllerPanel';
 
 export function SidebarPanel({title,side,children,visible=true}:{title:string;side:'left'|'right';children:ReactNode;visible?:boolean}){return <ResizablePanel side={side} storageKey={`mujoco-${side}-sidebar-width`} visible={visible}><aside className={`flex h-full w-full min-w-0 flex-col overflow-hidden bg-panel ${side==='left'?'border-r':'border-l'} border-border`}><h2 className="flex h-10 shrink-0 items-center gap-2 border-b border-border bg-panel px-3 text-sm font-semibold text-text-primary"><Settings2 aria-hidden="true" className="h-4 w-4 text-accent"/>{title}</h2>{children}</aside></ResizablePanel>;}
 
@@ -17,15 +19,17 @@ export function ProjectSidebar({projectName,files,entries,selectedEntry,snapshot
 interface ModelControlsProps{
   snapshot?:SimulationSnapshot;selection:ViewerSelection|null;selectedFormat?:ModelEntry['format'];loading:boolean;visible?:boolean;
   urdfMode:UrdfLoadMode;baseMode:UrdfBaseMode;showCollision:boolean;ignoreJointLimits:boolean;jointAdvanced:boolean;angleUnit:'rad'|'deg';forceScale:number;
+  controllerPaths:string[];selectedControllerPath?:string;controllerStatus?:ControllerStatus;
   onUrdfMode:(value:UrdfLoadMode)=>void;onBaseMode:(value:UrdfBaseMode)=>void;onShowCollision:(value:boolean)=>void;
   onResetJoints:()=>void;onToggleJointLimits:()=>void;onToggleAdvanced:()=>void;onToggleAngleUnit:()=>void;
   onActuator:(id:number,value:number)=>void;onActuatorParameters:(id:number,parameters:ActuatorParameters)=>void;onJoint:(id:number,value:number)=>void;onForceScale:(value:number)=>void;
+  onSelectControllerPath:(path:string)=>void;onLoadControllerPath:(path:string)=>void;onImportController:(file:File)=>void;onToggleController:(enabled:boolean)=>void;onRemoveController:()=>void;
 }
 export function ModelControlsSidebar(props:ModelControlsProps){const [tab,setTab]=useState<'properties'|'controls'>('properties'),s=props.snapshot;if(!s)return <SidebarPanel title="模型与控制" side="right" visible={props.visible}><div className="p-4 text-sm text-text-tertiary">导入模型后显示属性</div></SidebarPanel>;
   const properties=<><CollapsibleSection title="模型信息" defaultOpen badge={<Badge>{s.model.nbody} Body</Badge>}><div><PropertyRow label="Body" value={s.model.nbody}/><PropertyRow label="Joint" value={s.model.njnt}/><PropertyRow label="Geom" value={s.model.ngeom}/><PropertyRow label="Actuator" value={s.model.nactuator}/><PropertyRow label="qpos / qvel" value={`${s.model.nq} / ${s.model.nv}`}/></div></CollapsibleSection>
   {props.selectedFormat==='urdf'&&<CollapsibleSection title="URDF 处理方式" defaultOpen={false}><Select aria-label="URDF 处理方式" className="w-full" value={props.urdfMode} disabled={props.loading} onChange={event=>props.onUrdfMode(event.target.value as UrdfLoadMode)}><option value="mjcf">转换为 MJCF（推荐）</option><option value="native">MuJoCo 原生 URDF</option></Select><label className="mt-3 block text-xs text-text-secondary"><span className="mb-1 block">基座类型</span><Select aria-label="URDF 基座类型" className="w-full" value={props.baseMode} disabled={props.loading||props.urdfMode==='native'} onChange={event=>props.onBaseMode(event.target.value as UrdfBaseMode)}><option value="floating">浮动基座（Free Joint）</option><option value="fixed">固定基座（连接世界）</option></Select></label><p className="mt-2 text-xs text-text-tertiary">MJCF 模式保留 visual mesh、添加物理地面，并将模型最低点对齐到 z=0。</p><Check label="显示碰撞几何" checked={props.showCollision} onChange={props.onShowCollision}/></CollapsibleSection>}
   <CollapsibleSection title="当前选择" defaultOpen>{props.selection?<div className="text-xs"><PropertyRow label="Body" value={props.selection.bodyName} action={<CopyButton value={props.selection.bodyName} label="复制 Body 名称"/>}/><PropertyRow label="标识" value={`${props.selection.bodyId} / ${props.selection.geomId} / ${props.selection.geomType}`} action={<CopyButton value={`body ${props.selection.bodyId}, geom ${props.selection.geomId}, type ${props.selection.geomType}`} label="复制标识"/>}/><PropertyRow label="位置" value={props.selection.position.map(value=>value.toFixed(3)).join(', ')} action={<CopyButton value={props.selection.position.join(', ')} label="复制位置"/>}/></div>:<p className="flex items-center gap-2 text-xs text-text-tertiary"><Info className="h-3.5 w-3.5"/>在视口中单击物体</p>}</CollapsibleSection></>;
-  const controls=<><CollapsibleSection title="Actuator" defaultOpen={false} badge={<Badge>{s.actuators.length}</Badge>}>{s.actuators.length?s.actuators.map(actuator=><ActuatorControl key={actuator.id} actuator={actuator} onControl={value=>props.onActuator(actuator.id,value)} onParameters={parameters=>props.onActuatorParameters(actuator.id,parameters)}/>):<p className="text-xs text-text-tertiary">模型没有驱动器</p>}</CollapsibleSection>
+  const controls=<><CollapsibleSection title="Python 控制器" defaultOpen badge={s.controller?<Badge>{s.controller.enabled?'运行':'停止'}</Badge>:undefined}><PythonControllerPanel paths={props.controllerPaths} selectedPath={props.selectedControllerPath} status={props.controllerStatus??s.controller} loading={props.loading} onSelectPath={props.onSelectControllerPath} onLoadPath={props.onLoadControllerPath} onImport={props.onImportController} onToggle={props.onToggleController} onRemove={props.onRemoveController}/></CollapsibleSection><CollapsibleSection title="Actuator" defaultOpen={false} badge={<Badge>{s.actuators.length}</Badge>}>{s.actuators.length?s.actuators.map(actuator=><ActuatorControl key={actuator.id} actuator={actuator} onControl={value=>props.onActuator(actuator.id,value)} onParameters={parameters=>props.onActuatorParameters(actuator.id,parameters)}/>):<p className="text-xs text-text-tertiary">模型没有驱动器</p>}</CollapsibleSection>
   <CollapsibleSection title="关节" defaultOpen badge={<Badge>{s.joints.length}</Badge>}><div className="mb-4 grid grid-cols-2 gap-2"><Button onClick={props.onResetJoints}>重置关节</Button><Button variant={props.ignoreJointLimits?'primary':'secondary'} aria-pressed={props.ignoreJointLimits} onClick={props.onToggleJointLimits}>忽略关节限位</Button><Button variant={props.jointAdvanced?'primary':'secondary'} aria-pressed={props.jointAdvanced} onClick={props.onToggleAdvanced}>高级</Button><Button variant={props.angleUnit==='deg'?'primary':'secondary'} aria-pressed={props.angleUnit==='deg'} onClick={props.onToggleAngleUnit}>{props.angleUnit==='rad'?'rad 弧度制':'° 角度制'}</Button></div>{s.joints.map(joint=>{const scale=joint.type===3&&props.angleUnit==='deg'?180/Math.PI:1,unit=joint.type===3?(props.angleUnit==='deg'?'°':' rad'):joint.type===2?' m':'';return <ControlSlider key={joint.id} label={`${joint.name}${joint.editable?'':'（只读）'}`} value={joint.value*scale} min={joint.min*scale} max={joint.max*scale} unit={unit} advanced={props.jointAdvanced} limited={joint.limited} limitsIgnored={joint.limitsIgnored} limitMin={joint.limitMin*scale} limitMax={joint.limitMax*scale} disabled={!joint.editable} onChange={value=>props.onJoint(joint.id,value/scale)}/>;})}</CollapsibleSection>
   <CollapsibleSection title="外力强度" defaultOpen={false}><ControlSlider label={`${props.forceScale.toFixed(0)} N/屏幕单位`} value={props.forceScale} min={5} max={200} onChange={props.onForceScale}/><p className="text-xs text-text-tertiary">选择“外力施加”，在动态物体上按住拖动，松开即清零。</p></CollapsibleSection></>;
   return <SidebarPanel title="模型与控制" side="right" visible={props.visible}><Tabs label="模型控制侧栏" value={tab} onValueChange={setTab} items={[{value:'properties',label:'属性',icon:<Info className="h-3.5 w-3.5"/>,content:properties},{value:'controls',label:'控制',icon:<SlidersHorizontal className="h-3.5 w-3.5"/>,content:controls}]}/></SidebarPanel>;
diff --git a/wasm/web_platform/src/app/components/UrdfImportOptionsDialog.tsx b/wasm/web_platform/src/app/components/UrdfImportOptionsDialog.tsx
index 1e201faf..ee41ef25 100644
--- a/wasm/web_platform/src/app/components/UrdfImportOptionsDialog.tsx
+++ b/wasm/web_platform/src/app/components/UrdfImportOptionsDialog.tsx
@@ -18,7 +18,7 @@ export function UrdfImportOptionsDialog({open,path,mountBodies=[],onConfirm,onSk
     <p className="text-sm text-text-secondary">导入 <strong className="text-text-primary">{path}</strong> 后，是否自动补充以下仿真组件？稍后重新选择该 URDF 时仍会再次询问。</p>
     <div className="mt-4 space-y-3">
       <OptionCard checked={options.addActuators} onChange={addActuators=>setOptions(value=>({...value,addActuators}))} icon={<Settings2 className="h-4 w-4"/>} title="为关节添加驱动器" description="为每个 hinge/slide 关节生成控制输入不限幅的 motor 驱动器；hinge 使用 N·m、slide 使用 N。kp/kv 用于调整对应 MJCF 关节的刚度和阻尼，已有驱动器不会重复添加。"/>
-      <OptionCard checked={options.addSensors} onChange={addSensors=>setOptions(value=>({...value,addSensors}))} icon={<Camera className="h-4 w-4"/>} title="添加传感器" description="添加一台 640×480 固定摄像头，默认优先固连到名称含 head/camera/neck 的机器人 body。"/>
+      <OptionCard checked={options.addSensors} onChange={addSensors=>setOptions(value=>({...value,addSensors}))} icon={<Camera className="h-4 w-4"/>} title="添加传感器" description="在浮动基座添加三轴陀螺仪和三轴加速度计（6轴 IMU），并添加一台 640×480 固定摄像头。"/>
       {options.addSensors&&<div className="rounded-lg border border-border bg-surface p-3"><div className="mb-2 text-xs font-medium text-text-primary">摄像头安装参数</div><label className="block text-[11px] text-text-secondary"><span className="mb-1 block">固连 Body</span><Select aria-label="摄像头固连 Body" className="w-full" value={options.cameraMountBody??''} onChange={event=>setOptions(value=>({...value,cameraMountBody:event.target.value||undefined}))}>{mountBodies.length?mountBodies.map(name=><option key={name} value={name}>{name}</option>):<option value="">自动选择头部/末端 Body</option>}</Select></label><div className="mt-3 grid grid-cols-3 gap-2">{(['X','Y','Z'] as const).map((axis,index)=><label key={axis} className="text-[11px] text-text-secondary"><span className="mb-1 block">位置 {axis}（m）</span><input aria-label={`摄像头位置 ${axis}`} className="field h-8 w-full px-2 text-xs" type="number" step="0.01" value={(options.cameraPosition??[.1,0,.05])[index]} onChange={event=>setPosition(index,Number(event.target.value))}/></label>)}</div><label className="mt-3 block text-[11px] text-text-secondary"><span className="mb-1 block">镜头朝向（Body 局部轴）</span><Select aria-label="摄像头朝向" className="w-full" value={options.cameraDirection??'+X'} onChange={event=>setOptions(value=>({...value,cameraDirection:event.target.value as CameraDirection}))}>{(['+X','-X','+Y','-Y','+Z','-Z'] as CameraDirection[]).map(direction=><option key={direction}>{direction}</option>)}</Select></label><p className="mt-2 text-[10px] leading-4 text-text-tertiary">位置和朝向均相对于所选 Body；常见 ROS 头部摄像头使用 +X 朝前、+Z 朝上。</p></div>}
     </div>
     <p className="mt-4 text-xs text-text-tertiary">自动组件只写入浏览器内生成的 MJCF，不会修改本地 URDF 文件；使用“原生 URDF”加载模式时不会注入这些组件。</p>
diff --git a/wasm/web_platform/src/controller/PythonControllerRuntime.ts b/wasm/web_platform/src/controller/PythonControllerRuntime.ts
new file mode 100644
index 00000000..c5deac43
--- /dev/null
+++ b/wasm/web_platform/src/controller/PythonControllerRuntime.ts
@@ -0,0 +1,115 @@
+import type {PyodideInterface} from 'pyodide';
+import type {PyCallable,PyDict} from 'pyodide/ffi';
+import type {ControllerBindings,ControllerStatus} from './types';
+
+const DEFAULT_CONTROL_HZ=100;
+const MIN_CONTROL_HZ=1;
+const MAX_CONTROL_HZ=500;
+
+let pyodidePromise:Promise<PyodideInterface>|undefined;
+
+function pyodideIndexUrl():string {
+  return new URL('pyodide/',document.baseURI).href;
+}
+
+export function getPythonRuntime():Promise<PyodideInterface> {
+  pyodidePromise??=import('pyodide').then(({loadPyodide})=>loadPyodide({indexURL:pyodideIndexUrl()}));
+  return pyodidePromise;
+}
+
+function destroyProxy(value:unknown):void {
+  if(value&&typeof value==='object'&&'destroy' in value&&typeof (value as {destroy?:unknown}).destroy==='function'){
+    (value as {destroy():void}).destroy();
+  }
+}
+
+function errorMessage(error:unknown):string {
+  return error instanceof Error?error.message:String(error);
+}
+
+/** 在主线程同步执行可信的单文件 Python 控制器，保证控制发生在 mj_step 之前。 */
+export class PythonControllerRuntime {
+  private globals?:PyDict;
+  private initFunction?:PyCallable;
+  private stepFunction?:PyCallable;
+  private resetFunction?:PyCallable;
+  private disposeFunction?:PyCallable;
+  private state?:unknown;
+  private nextControlTime=0;
+  private statusValue:ControllerStatus;
+
+  private constructor(private readonly bindings:ControllerBindings,path:string,name:string,controlHz:number){
+    this.statusValue={language:'python',path,name,controlHz,loaded:true,enabled:false,lastStepMs:0};
+  }
+
+  static async load(source:string,path:string,bindings:ControllerBindings):Promise<PythonControllerRuntime>{
+    const pyodide=await getPythonRuntime();
+    const globals=pyodide.runPython('dict()') as PyDict;
+    globals.set('__name__','__mujoco_controller__');
+    try{
+      await pyodide.runPythonAsync(source,{globals});
+      if(!globals.has('step'))throw new Error('Python 控制器必须定义 step(ctx, state)');
+      const rawHz=globals.has('CONTROL_HZ')?Number(globals.get('CONTROL_HZ')):DEFAULT_CONTROL_HZ;
+      const controlHz=Math.min(MAX_CONTROL_HZ,Math.max(MIN_CONTROL_HZ,Number.isFinite(rawHz)?rawHz:DEFAULT_CONTROL_HZ));
+      const name=globals.has('NAME')?String(globals.get('NAME')):path.split('/').at(-1)??path;
+      const runtime=new PythonControllerRuntime(bindings,path,name,controlHz);
+      runtime.globals=globals;
+      runtime.initFunction=globals.has('init')?globals.get('init') as PyCallable:undefined;
+      runtime.stepFunction=globals.get('step') as PyCallable;
+      runtime.resetFunction=globals.has('reset')?globals.get('reset') as PyCallable:undefined;
+      runtime.disposeFunction=globals.has('dispose')?globals.get('dispose') as PyCallable:undefined;
+      runtime.state=runtime.initFunction?.(bindings.model);
+      if(runtime.state instanceof Promise)throw new Error('控制器函数必须同步执行');
+      return runtime;
+    }catch(error){
+      globals.destroy();
+      throw new Error(`Python 控制器加载失败（${path}）：${errorMessage(error)}`,{cause:error});
+    }
+  }
+
+  status():ControllerStatus{return {...this.statusValue};}
+
+  setEnabled(enabled:boolean,currentTime:number):void {
+    if(!this.statusValue.loaded)return;
+    this.statusValue.enabled=enabled;
+    this.statusValue.error=undefined;
+    this.nextControlTime=currentTime;
+  }
+
+  stepIfDue(time:number):void {
+    if(!this.statusValue.enabled||!this.stepFunction||time+1e-9<this.nextControlTime)return;
+    const dt=1/this.statusValue.controlHz;
+    const started=performance.now();
+    try{
+      const result=this.stepFunction(this.bindings.createStepApi(time,dt),this.state);
+      if(result instanceof Promise)throw new Error('step() 必须是同步函数');
+      destroyProxy(result);
+      this.statusValue.lastStepMs=performance.now()-started;
+      this.nextControlTime=time+dt;
+    }catch(error){
+      this.statusValue.lastStepMs=performance.now()-started;
+      this.statusValue.enabled=false;
+      this.statusValue.error=errorMessage(error);
+      throw new Error(`Python 控制器运行失败：${this.statusValue.error}`,{cause:error});
+    }
+  }
+
+  reset(currentTime:number):void {
+    this.nextControlTime=currentTime;
+    if(!this.resetFunction)return;
+    try{const result=this.resetFunction(this.state);destroyProxy(result);}
+    catch(error){this.statusValue.enabled=false;this.statusValue.error=errorMessage(error);throw error;}
+  }
+
+  dispose():void {
+    if(!this.statusValue.loaded)return;
+    this.statusValue.loaded=false;
+    this.statusValue.enabled=false;
+    try{if(this.disposeFunction){const result=this.disposeFunction(this.state);destroyProxy(result);}}
+    finally{
+      destroyProxy(this.state);this.state=undefined;
+      this.initFunction?.destroy();this.stepFunction?.destroy();this.resetFunction?.destroy();this.disposeFunction?.destroy();this.globals?.destroy();
+      this.initFunction=undefined;this.stepFunction=undefined;this.resetFunction=undefined;this.disposeFunction=undefined;this.globals=undefined;
+    }
+  }
+}
diff --git a/wasm/web_platform/src/controller/types.ts b/wasm/web_platform/src/controller/types.ts
new file mode 100644
index 00000000..957462a2
--- /dev/null
+++ b/wasm/web_platform/src/controller/types.ts
@@ -0,0 +1,33 @@
+export interface ControllerStatus {
+  language:'python';
+  path:string;
+  name:string;
+  controlHz:number;
+  loaded:boolean;
+  enabled:boolean;
+  lastStepMs:number;
+  error?:string;
+}
+
+export interface ControllerModelApi {
+  joint(name:string):number;
+  actuator(name:string):number;
+  sensor(name:string):number;
+  body(name:string):number;
+}
+
+export interface ControllerStepApi {
+  readonly time:number;
+  readonly dt:number;
+  qpos(jointId:number):number;
+  qvel(jointId:number):number;
+  sensor(sensorId:number):number[];
+  body_quat(bodyId:number):number[];
+  body_position(bodyId:number):number[];
+  set_control(actuatorId:number,value:number):void;
+}
+
+export interface ControllerBindings {
+  readonly model:ControllerModelApi;
+  createStepApi(time:number,dt:number):ControllerStepApi;
+}
diff --git a/wasm/web_platform/src/project/urdfToMjcf.test.ts b/wasm/web_platform/src/project/urdfToMjcf.test.ts
index 4e9b4cc9..6950e05e 100644
--- a/wasm/web_platform/src/project/urdfToMjcf.test.ts
+++ b/wasm/web_platform/src/project/urdfToMjcf.test.ts
@@ -38,17 +38,31 @@ describe('enhanceConvertedMjcf',()=>{
     expect(document.querySelector('[joint="ball"]')).toBeNull();
   });
 
+  it('识别 Go2-W 并补齐官方 MuJoCo 稳定性参数',()=>{
+    const prefixes=['FL','FR','RL','RR'],parts=['hip','thigh','calf'];
+    const joints=[...prefixes.flatMap(prefix=>parts.map(part=>`<joint name="${prefix}_${part}_joint"/>`)),...prefixes.map(prefix=>`<body name="${prefix}_foot"><joint name="${prefix}_foot_joint"/><geom group="0"/></body>`)].join('');
+    const result=enhanceConvertedMjcf(encode(`<mujoco><worldbody><body name="base">${joints}</body></worldbody></mujoco>`),{addActuators:true,addSensors:false,sensorType:'camera'}),document=new DOMParser().parseFromString(decode(result.data),'application/xml');
+    expect(result.unitreeGo2wTuned).toBe(true);expect(document.querySelector('option')?.getAttribute('cone')).toBe('elliptic');expect(document.querySelector('joint[name="FL_thigh_joint"]')?.getAttribute('armature')).toBe('0.01');expect(document.querySelector('joint[name="FL_thigh_joint"]')?.getAttribute('damping')).toBe('0.1');expect(document.querySelector('motor[joint="FL_calf_joint"]')?.getAttribute('forcerange')).toBe('-45.43 45.43');expect(document.querySelector('motor[joint="FL_foot_joint"]')?.getAttribute('forcerange')).toBe('-15 15');expect(document.querySelector('body[name="FL_foot"] geom')?.getAttribute('condim')).toBe('6');
+  });
+
   it('将可调摄像头固连到指定机器人 body',()=>{
     const result=enhanceConvertedMjcf(encode('<mujoco><worldbody><body name="base"><body name="head"/></body></worldbody></mujoco>'),{addActuators:false,addSensors:true,sensorType:'camera',cameraMountBody:'head',cameraPosition:[.2,0,.1],cameraDirection:'+X'});
     const document=new DOMParser().parseFromString(decode(result.data),'application/xml');
     const camera=document.querySelector('body[name="head"] > camera');
     expect(result.cameraAdded).toBe(true);
+    expect(result.imuAdded).toBe(true);
+    expect(document.querySelector('body[name="base"] > site[name="imu"]')).toMatchObject({tagName:'site'});
+    expect(document.querySelector('sensor > gyro[name="imu_gyro"]')?.getAttribute('site')).toBe('imu');
+    expect(document.querySelector('sensor > accelerometer[name="imu_acc"]')?.getAttribute('site')).toBe('imu');
     expect(camera?.getAttribute('mode')).toBe('fixed');
     expect(camera?.getAttribute('pos')).toBe('0.2 0 0.1');
     expect(camera?.getAttribute('xyaxes')).toBe('0 -1 0 0 0 1');
     expect(camera?.getAttribute('resolution')).toBe('640 480');
     const repeated=enhanceConvertedMjcf(result.data,{addActuators:false,addSensors:true,sensorType:'camera'});
-    expect(new DOMParser().parseFromString(decode(repeated.data),'application/xml').querySelectorAll('camera')).toHaveLength(1);
+    const repeatedDocument=new DOMParser().parseFromString(decode(repeated.data),'application/xml');
+    expect(repeatedDocument.querySelectorAll('camera')).toHaveLength(1);
+    expect(repeatedDocument.querySelectorAll('sensor > gyro')).toHaveLength(1);
+    expect(repeatedDocument.querySelectorAll('sensor > accelerometer')).toHaveLength(1);
   });
 
   it('关闭选项时不修改 actuator 和 camera',()=>{
diff --git a/wasm/web_platform/src/project/urdfToMjcf.ts b/wasm/web_platform/src/project/urdfToMjcf.ts
index ee451350..df81a021 100644
--- a/wasm/web_platform/src/project/urdfToMjcf.ts
+++ b/wasm/web_platform/src/project/urdfToMjcf.ts
@@ -9,7 +9,7 @@ function numbers(value:string|undefined,count:number):number[]{
 export type UrdfBaseMode='floating'|'fixed';
 export type CameraDirection='+X'|'-X'|'+Y'|'-Y'|'+Z'|'-Z';
 export interface UrdfEnhancementOptions {addActuators:boolean;addSensors:boolean;sensorType:'camera';cameraMountBody?:string;cameraPosition?:[number,number,number];cameraDirection?:CameraDirection;}
-export interface UrdfEnhancementResult {data:Uint8Array;actuatorCount:number;cameraAdded:boolean;}
+export interface UrdfEnhancementResult {data:Uint8Array;actuatorCount:number;cameraAdded:boolean;imuAdded:boolean;unitreeGo2wTuned:boolean;}
 
 function uniqueName(document:Document,selector:string,base:string):string {
   const occupied=new Set(Array.from(document.querySelectorAll(selector)).map(element=>element.getAttribute('name')).filter(Boolean));
@@ -17,6 +17,20 @@ function uniqueName(document:Document,selector:string,base:string):string {
   for(let index=2;;index+=1)if(!occupied.has(`${base}_${index}`))return `${base}_${index}`;
 }
 
+function tuneUnitreeGo2w(document:Document):boolean {
+  const prefixes=['FL','FR','RL','RR'],legParts=['hip','thigh','calf'];
+  const expected=[...prefixes.flatMap(prefix=>legParts.map(part=>`${prefix}_${part}_joint`)),...prefixes.map(prefix=>`${prefix}_foot_joint`)];
+  const joints=new Map(Array.from(document.querySelectorAll('worldbody joint[name]')).map(joint=>[joint.getAttribute('name')!,joint]));
+  if(!expected.every(name=>joints.has(name)))return false;
+  const root=document.querySelector('mujoco');if(!root)return false;
+  let option=Array.from(root.children).find(element=>element.tagName==='option');if(!option){option=document.createElement('option');root.prepend(option);}
+  option.setAttribute('cone','elliptic');option.setAttribute('impratio','100');
+  for(const name of expected){const joint=joints.get(name)!;joint.setAttribute('armature','0.01');joint.setAttribute('damping','0.1');joint.setAttribute('frictionloss','0.2');}
+  for(const motor of Array.from(document.querySelectorAll('actuator > *[joint]'))){const jointName=motor.getAttribute('joint')??'';if(!expected.includes(jointName))continue;const limit=jointName.includes('_calf_')?45.43:jointName.endsWith('_foot_joint')?15:23.7;motor.setAttribute('forcelimited','true');motor.setAttribute('forcerange',`${-limit} ${limit}`);}
+  for(const geom of Array.from(document.querySelectorAll('worldbody body geom'))){if(geom.getAttribute('contype')==='0'||geom.getAttribute('group')==='1')continue;geom.setAttribute('friction','0.4 0.005 0.0001');geom.setAttribute('margin','0.001');geom.setAttribute('condim','1');const body=geom.closest('body'),name=body?.getAttribute('name')??'';if(/_(?:foot|wheel)(?:_link)?$/i.test(name)){geom.setAttribute('friction','0.8 0.02 0.01');geom.setAttribute('condim','6');geom.setAttribute('priority','1');}}
+  return true;
+}
+
 /** 为转换后的 MJCF 按需补充可直接控制的关节电机和一台自动取景相机。 */
 export function enhanceConvertedMjcf(data:Uint8Array,options:UrdfEnhancementOptions):UrdfEnhancementResult {
   const document=new DOMParser().parseFromString(decoder.decode(data),'application/xml');
@@ -42,6 +56,17 @@ export function enhanceConvertedMjcf(data:Uint8Array,options:UrdfEnhancementOpti
     }
     if(!actuator.children.length)actuator.remove();
   }
+  const unitreeGo2wTuned=tuneUnitreeGo2w(document);
+  let imuAdded=false;
+  if(options.addSensors&&!document.querySelector('sensor > gyro[name="imu_gyro"], sensor > gyro[name="__platform_imu_gyro__"]')){
+    const bodies=Array.from(worldbody.querySelectorAll('body')),mount=bodies.find(body=>/^(?:base|base_link|trunk)$/i.test(body.getAttribute('name')??''))??Array.from(worldbody.children).find(element=>element.tagName==='body');
+    if(mount){
+      const site=document.createElement('site'),siteName=uniqueName(document,'site[name]','imu');site.setAttribute('name',siteName);site.setAttribute('pos','0 0 0');site.setAttribute('size','0.005');site.setAttribute('rgba','0.2 0.8 1 0.5');mount.append(site);
+      let sensor=Array.from(root.children).find(element=>element.tagName==='sensor');if(!sensor){sensor=document.createElement('sensor');root.append(sensor);}
+      const gyro=document.createElement('gyro');gyro.setAttribute('name',uniqueName(document,'sensor > *[name]','imu_gyro'));gyro.setAttribute('site',siteName);gyro.setAttribute('noise','0');sensor.append(gyro);
+      const accelerometer=document.createElement('accelerometer');accelerometer.setAttribute('name',uniqueName(document,'sensor > *[name]','imu_acc'));accelerometer.setAttribute('site',siteName);accelerometer.setAttribute('noise','0');sensor.append(accelerometer);imuAdded=true;
+    }
+  }
   let cameraAdded=false;
   if(options.addSensors&&options.sensorType==='camera'&&!document.querySelector('camera[name^="__platform_camera__"]')){
     const bodies=Array.from(worldbody.querySelectorAll('body')),preferred=options.cameraMountBody?bodies.find(body=>body.getAttribute('name')===options.cameraMountBody):undefined;
@@ -52,7 +77,7 @@ export function enhanceConvertedMjcf(data:Uint8Array,options:UrdfEnhancementOpti
       camera.setAttribute('pos',position.map(value=>Number.isFinite(value)?value:0).join(' '));camera.setAttribute('xyaxes',directions[direction]);camera.setAttribute('fovy','45');camera.setAttribute('resolution','640 480');mount.append(camera);cameraAdded=true;
     }
   }
-  return {data:encoder.encode(new XMLSerializer().serializeToString(document)),actuatorCount,cameraAdded};
+  return {data:encoder.encode(new XMLSerializer().serializeToString(document)),actuatorCount,cameraAdded,imuAdded,unitreeGo2wTuned};
 }
 
 /** 给 MuJoCo 从 URDF 导出的 MJCF 添加地面、设置基座类型，并整体抬升根 body。 */
diff --git a/wasm/web_platform/src/simulation/PhysicsAdapter.ts b/wasm/web_platform/src/simulation/PhysicsAdapter.ts
index eb3ddb89..1df6b6f7 100644
--- a/wasm/web_platform/src/simulation/PhysicsAdapter.ts
+++ b/wasm/web_platform/src/simulation/PhysicsAdapter.ts
@@ -4,6 +4,7 @@ import {prepareProjectForMujoco} from '../project/importer';
 import {enhanceConvertedMjcf,groundConvertedMjcf,type UrdfBaseMode,type UrdfEnhancementOptions} from '../project/urdfToMjcf';
 import {MemfsWorkspace} from '../project/workspace';
 import {SimulationSession,type ActuatorParameters,type FrameResult,type SimulationSnapshot} from './SimulationSession';
+import type {ControllerStatus} from '../controller/types';
 
 export type UrdfLoadMode='mjcf'|'native';
 export type {UrdfBaseMode,UrdfEnhancementOptions};
@@ -23,6 +24,9 @@ export interface PhysicsAdapter {
   setIgnoreJointLimits(ignore:boolean):void;
   setExternalForce(bodyId: number, force: [number, number, number]): void;
   clearExternalForce(): void;
+  loadPythonController(source:string,path:string):Promise<ControllerStatus>;
+  setControllerEnabled(enabled:boolean):void;
+  removeController():void;
   cachedSupportFiles():ProjectFile[];
   exportMjcf(): Uint8Array;
   dispose(): void;
@@ -61,6 +65,8 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
           workspace.writeGenerated(convertedPath,enhanced.data);modelPath=workspace.path(convertedPath);
           warnings.push(`URDF 已转换为 MJCF（${baseMode==='floating'?'浮动基座':'固定基座'}），并整体平移 ${(-minimumZ).toFixed(4)} m，使最低点接触 z=0 地面`);
           if(enhanced.actuatorCount)warnings.push(`已为 ${enhanced.actuatorCount} 个 hinge/slide 关节生成 motor 驱动器（控制输入不限幅；hinge 输出单位 N·m，slide 输出单位 N）`);
+          if(enhanced.unitreeGo2wTuned)warnings.unshift('已识别 Unitree Go2-W，并补齐官方 MuJoCo 关节惯量/阻尼、力矩限幅和轮胎接触参数');
+          if(enhanced.imuAdded)warnings.unshift('已在浮动基座添加6轴 IMU：imu_gyro（三轴角速度）和 imu_acc（三轴加速度）');
           if(enhanced.cameraAdded)warnings.push(`已将 640×480 摄像头固连到 ${enhancements.cameraMountBody||'自动选择的头部/末端 body'}，局部位置 ${(enhancements.cameraPosition??[.1,0,.05]).join(' ')} m，朝向 ${enhancements.cameraDirection??'+X'}`);
         }finally{intermediate.dispose();}
       }
@@ -83,6 +89,9 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
   setIgnoreJointLimits(ignore:boolean):void {this.session?.setIgnoreJointLimits(ignore);}
   setExternalForce(bodyId:number,force:[number,number,number]):void{this.session?.setExternalForce(bodyId,force);}
   clearExternalForce():void{this.session?.clearExternalForce();}
+  async loadPythonController(source:string,path:string):Promise<ControllerStatus>{if(!this.session)throw new Error('请先加载模型');return this.session.loadPythonController(source,path);}
+  setControllerEnabled(enabled:boolean):void{this.session?.setControllerEnabled(enabled);}
+  removeController():void{this.session?.removeController();}
   cachedSupportFiles():ProjectFile[]{return this.supportFiles.map(file=>({...file,data:file.data.slice()}));}
   exportMjcf():Uint8Array{
     if(!this.session||!this.workspace)throw new Error('尚未加载可导出的模型');
diff --git a/wasm/web_platform/src/simulation/SimulationSession.ts b/wasm/web_platform/src/simulation/SimulationSession.ts
index 7e8715a3..bf347932 100644
--- a/wasm/web_platform/src/simulation/SimulationSession.ts
+++ b/wasm/web_platform/src/simulation/SimulationSession.ts
@@ -1,11 +1,13 @@
 import type {MainModule, MjData, MjModel, MjvPerturb, MjvScene} from '@mujoco/mujoco';
 import {meshIdFromSceneDataId} from './geometry';
+import {PythonControllerRuntime} from '../controller/PythonControllerRuntime';
+import type {ControllerBindings,ControllerStatus} from '../controller/types';
 
 export interface ActuatorParameters {gear:number;gain:number;kp:number;kv:number;ctrlLimited:boolean;ctrlMin:number;ctrlMax:number;forceLimited:boolean;forceMin:number;forceMax:number;}
 export interface ActuatorInfo extends ActuatorParameters {id:number;name:string;value:number;min:number;max:number;limited:boolean;jointId?:number;jointName?:string;jointType?:number;unit:string;kind:'motor'|'position'|'velocity'|'other';controlCount:number;}
 export interface JointInfo {id:number;name:string;type:number;value:number;min:number;max:number;limitMin:number;limitMax:number;limited:boolean;limitsIgnored:boolean;editable:boolean;bodyId:number;axis:[number,number,number];}
 export interface BodyInfo {id:number;name:string;parentId:number;}
-export interface SimulationSnapshot {time: number; qpos: number[]; qvel: number[]; ctrl: number[]; actuators: ActuatorInfo[]; joints: JointInfo[]; bodies: BodyInfo[]; warnings: string[]; model:{nbody:number;njnt:number;ngeom:number;ncam:number;nactuator:number;nu:number;nq:number;nv:number};}
+export interface SimulationSnapshot {time: number; qpos: number[]; qvel: number[]; ctrl: number[]; actuators: ActuatorInfo[]; joints: JointInfo[]; bodies: BodyInfo[]; warnings: string[]; controller?:ControllerStatus; model:{nbody:number;njnt:number;ngeom:number;ncam:number;nactuator:number;nu:number;nq:number;nv:number};}
 export interface FrameResult {steps: number; stepMs: number; overBudget: boolean;}
 
 export class SimulationSession {
@@ -23,6 +25,8 @@ export class SimulationSession {
   private disposed=false;
   private ignoreJointLimits=false;
   private jointLimits:{limited:boolean;min:number;max:number;type:number}[]=[];
+  private pythonController?:PythonControllerRuntime;
+  private controllerLoadGeneration=0;
 
   constructor(readonly module: MainModule, modelPath: string, readonly warnings: string[] = []) {
     let model: MjModel | undefined; let data: MjData | undefined; let perturb: MjvPerturb | undefined;
@@ -39,8 +43,8 @@ export class SimulationSession {
 
   setPaused(paused: boolean): void {this.paused = paused; this.accumulator = 0; this.lastNow = undefined;}
   setSpeed(speed: number): void {this.speed = Math.min(4, Math.max(0.1, speed));}
-  reset(): void {this.setPaused(true);this.module.mj_resetData(this.model,this.data);this.module.mj_forward(this.model,this.data);this.clearExternalForce();}
-  singleStep(): void {this.applyForce(); this.module.mj_step(this.model, this.data);}
+  reset(): void {this.setPaused(true);this.module.mj_resetData(this.model,this.data);this.module.mj_forward(this.model,this.data);this.clearExternalForce();this.data.ctrl.fill(0);this.pythonController?.reset(Number(this.data.time));}
+  singleStep(): void {this.runController();this.applyForce();this.module.mj_step(this.model,this.data);}
 
   advance(now: number): FrameResult {
     if (this.lastNow === undefined) {this.lastNow = now; return {steps: 0, stepMs: 0, overBudget: false};}
@@ -49,13 +53,43 @@ export class SimulationSession {
     this.accumulator += elapsed * this.speed;
     const dt = Number(this.model.opt.timestep) || 0.002; const started = performance.now(); let steps = 0;
     while (this.accumulator >= dt && steps < this.maxCatchUpSteps && performance.now() - started < this.frameBudgetMs) {
-      this.applyForce(); this.module.mj_step(this.model, this.data); this.accumulator -= dt; steps++;
+      this.runController();this.applyForce();this.module.mj_step(this.model,this.data);this.accumulator-=dt;steps++;
     }
     const overBudget = this.accumulator >= dt;
     if (steps >= this.maxCatchUpSteps) this.accumulator = Math.min(this.accumulator, dt);
     return {steps, stepMs: performance.now() - started, overBudget};
   }
 
+  async loadPythonController(source:string,path:string):Promise<ControllerStatus>{
+    const generation=++this.controllerLoadGeneration;
+    const runtime=await PythonControllerRuntime.load(source,path,this.controllerBindings());
+    if(this.disposed||generation!==this.controllerLoadGeneration){runtime.dispose();throw new Error('模型已切换，控制器加载已取消');}
+    this.pythonController?.dispose();this.pythonController=runtime;
+    return runtime.status();
+  }
+
+  setControllerEnabled(enabled:boolean):void {
+    this.pythonController?.setEnabled(enabled,Number(this.data.time));
+    if(!enabled)this.data.ctrl.fill(0);
+  }
+
+  removeController():void {this.controllerLoadGeneration+=1;this.pythonController?.dispose();this.pythonController=undefined;this.data.ctrl.fill(0);}
+
+  private runController():void {
+    try{this.pythonController?.stepIfDue(Number(this.data.time));}
+    catch(error){this.setPaused(true);this.data.ctrl.fill(0);throw error;}
+  }
+
+  private controllerBindings():ControllerBindings {
+    const joints=new Map<string,number>(),actuators=new Map<string,number>(),sensors=new Map<string,number>(),bodies=new Map<string,number>();
+    for(let id=0;id<this.model.njnt;id+=1){const item=this.model.jnt(id);try{if(item.name)joints.set(item.name,id);}finally{item.delete();}}
+    for(let id=0;id<this.model.nactuator;id+=1){const item=this.model.actuator(id);try{if(item.name)actuators.set(item.name,id);}finally{item.delete();}}
+    for(let id=0;id<this.model.nsensor;id+=1){const item=this.model.sensor(id);try{if(item.name)sensors.set(item.name,id);}finally{item.delete();}}
+    for(let id=0;id<this.model.nbody;id+=1){const item=this.model.body(id);try{if(item.name)bodies.set(item.name,id);}finally{item.delete();}}
+    const resolve=(items:Map<string,number>,kind:string,name:string)=>{const id=items.get(name);if(id===undefined)throw new Error(`模型中找不到${kind}：${name}`);return id;};
+    return {model:{joint:name=>resolve(joints,'关节',name),actuator:name=>resolve(actuators,'驱动器',name),sensor:name=>resolve(sensors,'传感器',name),body:name=>resolve(bodies,'Body',name)},createStepApi:(time,dt)=>({time,dt,qpos:(jointId)=>{const joint=this.model.jnt(jointId);try{const type=Number(joint.type);if(type!==2&&type!==3)throw new Error(`关节 ${jointId} 不是标量 hinge/slide 关节`);return Number(this.data.qpos[Number(joint.qposadr)]);}finally{joint.delete();}},qvel:(jointId)=>{const joint=this.model.jnt(jointId);try{return Number(this.data.qvel[Number(joint.dofadr)]);}finally{joint.delete();}},sensor:(sensorId)=>{if(sensorId<0||sensorId>=this.model.nsensor)throw new Error(`传感器 ID 无效：${sensorId}`);const adr=Number(this.model.sensor_adr[sensorId]),dim=Number(this.model.sensor_dim[sensorId]);return Array.from(this.data.sensordata.subarray(adr,adr+dim),Number);},body_quat:(bodyId)=>{if(bodyId<0||bodyId>=this.model.nbody)throw new Error(`Body ID 无效：${bodyId}`);const adr=bodyId*4;return [Number(this.data.xquat[adr]),Number(this.data.xquat[adr+1]),Number(this.data.xquat[adr+2]),Number(this.data.xquat[adr+3])];},body_position:(bodyId)=>{if(bodyId<0||bodyId>=this.model.nbody)throw new Error(`Body ID 无效：${bodyId}`);const adr=bodyId*3;return [Number(this.data.xpos[adr]),Number(this.data.xpos[adr+1]),Number(this.data.xpos[adr+2])];},set_control:(actuatorId,value)=>{if(!Number.isFinite(value))throw new Error(`控制输出不是有限数：${value}`);this.setActuator(actuatorId,value);}})};
+  }
+
   setActuator(id: number, value: number): void {
     if (id < 0 || id >= this.model.nactuator) return;
     const actuator = this.model.actuator(id);
@@ -188,7 +222,7 @@ export class SimulationSession {
       try {return {id,name:body.name||`body_${id}`,parentId:Number(this.model.body_parentid[id])};}
       finally { body.delete(); }
     });
-    return {time:Number(this.data.time),qpos:Array.from(this.data.qpos),qvel:Array.from(this.data.qvel),ctrl:Array.from(this.data.ctrl),actuators,joints,bodies,warnings:this.warnings,model:{nbody:this.model.nbody,njnt:this.model.njnt,ngeom:this.model.ngeom,ncam:this.model.ncam,nactuator:this.model.nactuator,nu:this.model.nu,nq:this.model.nq,nv:this.model.nv}};
+    return {time:Number(this.data.time),qpos:Array.from(this.data.qpos),qvel:Array.from(this.data.qvel),ctrl:Array.from(this.data.ctrl),actuators,joints,bodies,warnings:this.warnings,controller:this.pythonController?.status(),model:{nbody:this.model.nbody,njnt:this.model.njnt,ngeom:this.model.ngeom,ncam:this.model.ncam,nactuator:this.model.nactuator,nu:this.model.nu,nq:this.model.nq,nv:this.model.nv}};
   }
-  dispose(): void {if(this.disposed)return; this.disposed=true; this.clearExternalForce(); this.perturb.delete(); this.data.delete(); this.model.delete();}
+  dispose(): void {if(this.disposed)return;this.disposed=true;this.removeController();this.clearExternalForce();this.perturb.delete();this.data.delete();this.model.delete();}
 }
diff --git a/wasm/web_platform/vite.config.ts b/wasm/web_platform/vite.config.ts
index f0617cd9..d4b34ba2 100644
--- a/wasm/web_platform/vite.config.ts
+++ b/wasm/web_platform/vite.config.ts
@@ -1,10 +1,24 @@
+import {readFileSync} from 'node:fs';
+import {dirname,resolve} from 'node:path';
+import {fileURLToPath} from 'node:url';
 import {defineConfig} from 'vitest/config';
+import type {Plugin} from 'vite';
 import react from '@vitejs/plugin-react';
+
+const PYODIDE_ASSETS=['pyodide.asm.js','pyodide.asm.wasm','python_stdlib.zip','pyodide-lock.json'] as const;
+const pyodideDirectory=resolve(dirname(fileURLToPath(import.meta.url)),'../node_modules/pyodide');
+
+/** 让开发服务器与生产构建都从本地 npm 包提供 Pyodide，保持平台可离线部署。 */
+function localPyodideAssets():Plugin {
+  let isBuild=false;
+  return {name:'local-pyodide-assets',configResolved(config){isBuild=config.command==='build';},configureServer(server){server.middlewares.use((request,response,next)=>{const name=request.url?.split(/[?#]/,1)[0].replace(/^\/pyodide\//,'');if(!name||!PYODIDE_ASSETS.includes(name as typeof PYODIDE_ASSETS[number])){next();return;}response.setHeader('Content-Type',name.endsWith('.wasm')?'application/wasm':name.endsWith('.zip')?'application/zip':name.endsWith('.json')?'application/json':'text/javascript');response.end(readFileSync(resolve(pyodideDirectory,name)));});},buildStart(){if(isBuild)for(const name of PYODIDE_ASSETS)this.emitFile({type:'asset',fileName:`pyodide/${name}`,source:readFileSync(resolve(pyodideDirectory,name))});}};
+}
+
 export default defineConfig({
-  root: 'web_platform', base: './', plugins: [react()], publicDir: 'public',
-  build: {outDir: '../web-platform-dist', emptyOutDir: true, target: 'es2022'},
-  worker: {format: 'es'},
-  server: {open: true, fs: {allow: ['..']}},
-  preview: {headers: {'Cache-Control': 'no-store'}},
-  test: {globals: true, environment: 'jsdom', setupFiles: './src/test/setup.ts', include: ['src/**/*.test.ts', 'src/**/*.test.tsx']}
+  root:'web_platform',base:'./',plugins:[react(),localPyodideAssets()],publicDir:'public',
+  build:{outDir:'../web-platform-dist',emptyOutDir:true,target:'es2022'},
+  worker:{format:'es'},
+  server:{open:true,fs:{allow:['..']}},
+  preview:{headers:{'Cache-Control':'no-store'}},
+  test:{globals:true,environment:'jsdom',setupFiles:'./src/test/setup.ts',include:['src/**/*.test.ts','src/**/*.test.tsx']}
 });