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/physics/runner.ts

@@ -1,6 +1,9 @@
 import { MainThreadPhysicsAdapter } from '../src/simulation/PhysicsAdapter';
 import { SimulationSession } from '../src/simulation/SimulationSession';
 import { ModelBindings } from '../src/simulation/ModelBindings';
+import { mergeCachedFiles } from '../src/project/cachedFiles';
+import { compiledProjectPackage } from '../src/project/exportPackage';
+import { importBrowserFiles } from '../src/project/importer';
 import { LEKIWI_PROFILE as p, bodyToWheels } from '../src/robot/profiles/lekiwi';
 import type { ProjectManifest } from '../src/project/types';
 import { ExternalControlClient } from '../src/robot/ExternalControlClient';
@@ -13,6 +16,7 @@ import { surfaceDistance, type Surface } from './meshDistance';
 const adapter = new MainThreadPhysicsAdapter();
 let bindings: ModelBindings;
 let currentManifest: ProjectManifest;
+let roundtripPackage: ReturnType<typeof compiledProjectPackage> | undefined;
 let frame: number | undefined;
 let bridge: ExternalControlClient | undefined;
 function session() {
@@ -169,6 +173,7 @@ const harness = {
     bridge?.sync();
   },
   async boot(assetBase: string) {
+    roundtripPackage = undefined;
     const response = await fetch(`${assetBase}/source-manifest.json`);
     if (!response.ok) throw new Error('Run examples/lekiwi/prepare_assets.py first');
     const source = (await response.json()) as { files: Record<string, string> };
@@ -198,6 +203,8 @@ const harness = {
       map: { kind: 'none' },
       enhancements: { addActuators: false, addSensors: false, sensorType: 'camera' },
     });
+    currentManifest = mergeCachedFiles(currentManifest, adapter.cachedSupportFiles());
+    adapter.releaseRetired();
     bindings = new ModelBindings(session().model);
     return { version: session().module.mj_versionString(), ...read() };
   },
@@ -778,6 +785,86 @@ const harness = {
       cancel: await cancel,
     };
   },
+  visualStats() {
+    const s = session(),
+      m = s.model,
+      d = s.data;
+    s.module.mj_forward(m, d);
+    const wheels = p.wheels.map((name) => {
+      const wheelBody = bindings.resolve(bindings.bodies, `__lekiwi_${name}`);
+      for (let id = 0; id < m.ngeom; id++) {
+        const geom = m.geom(id);
+        try {
+          if (
+            !geom.name.startsWith('4-Omni-Directional-Wheel_Single_Body') ||
+            Number(m.geom_group[id]) !== 1
+          )
+            continue;
+          let body = Number(m.geom_bodyid[id]);
+          while (body && body !== wheelBody) body = Number(m.body_parentid[body]);
+          if (body !== wheelBody) continue;
+          const meshId = Number(m.geom_dataid[id]);
+          const centerError = Math.hypot(
+            ...[0, 1, 2].map((i) => d.geom_xpos[id * 3 + i] - d.xpos[wheelBody * 3 + i]),
+          );
+          return {
+            name,
+            faces: Number(m.mesh_facenum[meshId]),
+            vertices: Number(m.mesh_vertnum[meshId]),
+            scale: Array.from(m.mesh_scale.slice(meshId * 3, meshId * 3 + 3)),
+            centerError,
+            rotation: Array.from(d.geom_xmat.slice(id * 9, id * 9 + 9), Number),
+            collision: Boolean(m.geom_contype[id] || m.geom_conaffinity[id]),
+            mass: Number(m.body_mass[Number(m.geom_bodyid[id])]),
+          };
+        } finally {
+          geom.delete();
+        }
+      }
+      throw new Error(`missing CAD wheel ${name}`);
+    });
+    const fs = s.module as unknown as { FS: { readdir(path: string): string[] } };
+    return {
+      wheels,
+      heap: (d.qpos as Float64Array).buffer.byteLength,
+      projectBytes: currentManifest.files.reduce((sum, file) => sum + file.data.byteLength, 0),
+      xmlFiles: currentManifest.files
+        .filter((f) => f.path.endsWith('.xml'))
+        .map((f) => ({ path: f.path, bytes: f.size })),
+      workspaces: fs.FS.readdir('/workspace').filter((name) => name !== '.' && name !== '..'),
+      generatedMeshes: currentManifest.files
+        .filter((f) => /stl-obj-v1-.*\.obj$/.test(f.path))
+        .map((f) => ({ path: f.path, bytes: f.size })),
+    };
+  },
+  async packageRoundtrip() {
+    // Reload the SAME exported package. Re-exporting into the imported sources
+    // would intentionally append a new XML snapshot each round, not test leaks.
+    const packaged = (roundtripPackage ??= compiledProjectPackage(
+      currentManifest,
+      'URDF/LeKiwi.urdf',
+      adapter.exportMjcf(),
+      adapter.cachedSupportFiles(),
+    ));
+    const imported = await importBrowserFiles([
+      new File([packaged.data.slice().buffer], 'complete.zip'),
+    ]);
+    const old = session();
+    await adapter.load(imported, packaged.entryPath, {
+      robotProfileId: p.id,
+      urdfMode: 'mjcf',
+      baseMode: 'floating',
+      map: { kind: 'none' },
+    });
+    adapter.releaseRetired();
+    currentManifest = imported;
+    bindings = new ModelBindings(session().model);
+    return {
+      ...harness.visualStats(),
+      oldModelDeleted: old.model.isDeleted(),
+      oldDataDeleted: old.data.isDeleted(),
+    };
+  },
   async reimport() {
     const data = adapter.exportMjcf();
     const file = {