feat: release v1.0.1 CADWorld 网站与 LeKiwi 智能抓放

集成同源 BYOK 会话隔离、精简模型设置、官方订阅入口和 HTTPS 发布运维；保留本地训练/调参与控制能力。同步 npm 版本及 CHANGELOG，记录公网真实 API 验收仍待用户凭据。

web_platform/e2e/lekiwi.agent.faults.spec.ts

@@ -0,0 +1,104 @@
+import { test, expect } from '@playwright/test';
+import { resolve } from 'node:path';
+import { writeFile } from 'node:fs/promises';
+import type {} from '../physics/agent';
+
+for (const fault of [
+  'empty-grasp',
+  'empty-once',
+  'alignment',
+  'slip',
+  'jam',
+  'navigation',
+  'unreachable',
+  'overspeed',
+] as const) {
+  test(`真实 WASM 故障：${fault} 不可冒充成功/无限恢复`, async ({ page }, info) => {
+    await page.goto('/physics/agent.html');
+    await page.waitForFunction(() => Boolean(window.lekiwiAgent));
+    await page.evaluate(
+      (url) => window.lekiwiAgent.boot(url),
+      `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
+    );
+    try {
+      const r = await page.evaluate(
+        (fault) => window.lekiwiAgent.task(0, undefined, { fault }),
+        fault,
+      );
+      await writeFile(info.outputPath('fault-evidence.json'), JSON.stringify(r, null, 2));
+      console.log('WASM fault', {
+        fault,
+        state: r.state,
+        error: r.error,
+        failures: r.failures,
+        recoveries: r.recoveries,
+        simTime: r.simTime,
+      });
+      expect(r.mode).toBe('mock');
+      expect(r.state).toBe(fault === 'empty-once' ? 'succeeded' : 'failed');
+      expect(r.succeeded).toBe(fault === 'empty-once');
+      expect(r.simTime).toBeLessThanOrEqual(70.01);
+      expect(r.llmCalls).toBe(1);
+      if (fault === 'empty-grasp' || fault === 'empty-once' || fault === 'alignment') {
+        const skill = fault === 'alignment' ? 'pregrasp' : 'close';
+        const code = fault === 'alignment' ? 'alignment_timeout' : 'empty_grasp';
+        const recovered = fault === 'empty-once';
+        expect(r.recoveries[skill]).toBe(recovered ? 1 : 2);
+        expect(r.failures.map((f) => f.code)).toEqual(Array(recovered ? 1 : 3).fill(code));
+        if (!recovered) expect(r.trace.every((s) => !s.secure)).toBe(true);
+        else {
+          expect(r.transported).toBeGreaterThanOrEqual(0.5);
+          expect(r.sample.onGoalSupport).toBe(true);
+        }
+      } else {
+        expect(r.recoveries).toEqual({});
+        expect(r.failures).toHaveLength(1);
+        expect(r.failures[0].code).toBe(
+          {
+            slip: 'lost_grasp',
+            jam: 'joint_stall',
+            navigation: 'navigation_timeout',
+            unreachable: 'unreachable',
+            overspeed: 'joint_velocity',
+          }[fault],
+        );
+      }
+      if (fault === 'slip') {
+        expect(Math.max(...r.trace.map((s) => s.transported))).toBeGreaterThan(0.12);
+        expect(r.transported).toBe(0);
+      }
+    } finally {
+      await page.evaluate(() => window.lekiwiAgent.dispose());
+    }
+  });
+}
+
+for (const goal of [
+  [0.237, 0.565, 0.128],
+  [0.277, 0.665, 0.128],
+]) {
+  test(`真实 WASM 受限目标角点 ${goal.slice(0, 2).join(',')}（非任意目标泛化）`, async ({
+    page,
+  }, info) => {
+    await page.goto('/physics/agent.html');
+    await page.waitForFunction(() => Boolean(window.lekiwiAgent));
+    await page.evaluate(
+      (url) => window.lekiwiAgent.boot(url),
+      `/@fs${resolve('build/lekiwi/lekiwi-v1.zip')}`,
+    );
+    try {
+      const r = await page.evaluate(
+        (goal) => window.lekiwiAgent.task(0, undefined, { goal }),
+        goal,
+      );
+      await writeFile(info.outputPath('goal-evidence.json'), JSON.stringify(r, null, 2));
+      expect(r.state, r.error).toBe('succeeded');
+      expect(r.goal).toEqual(goal);
+      expect(r.succeeded).toBe(true);
+      expect(r.transported).toBeGreaterThanOrEqual(0.5);
+      expect(Math.hypot(...r.sample.object.map((v, i) => v - goal[i]))).toBeLessThan(0.04);
+    } finally {
+      await page.evaluate(() => window.lekiwiAgent.dispose());
+    }
+  });
+}