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/src/simulation/PhysicsAdapter.ts

@@ -1,3 +1,5 @@
+import type { RobotConfig } from '../mobile/RobotDescriptor';
+import { composeMobileScene, prepareBundle } from '../mobile/SceneComposer';
 import {
   composeTrainingMap,
   trainingTerrainFromCompiledScene,
@@ -8,6 +10,7 @@ import type { PolicyDeployment, TrainingTerrain } from '../rl/deployment';
 import type { MainModule } from '@mujoco/mujoco';
 import type { ProjectFile, ProjectManifest } from '../project/types';
 import { prepareProjectForMujoco } from '../project/importer';
+import { prepareLargeMeshes } from '../project/meshCompatibility';
 import { prepareRobotProject } from '../project/robotProfiles';
 import { sha256 } from '../robot/registry';
 import type { ExternalControlStatus } from '../robot/RobotRuntime';
@@ -56,6 +59,13 @@ export interface PhysicsLoadProgress {
 export interface PhysicsLoadOptions {
   /** Explicit built-in profile; never inferred from actuator count. */
   robotProfileId?: string;
+  /** false: reuse model recipe without installing the external-control runtime. */
+  configureRobotRuntime?: boolean;
+  /** Optional caller-owned free VFS slot; bounds native asset-cache path identities. */
+  workspaceSlot?: string;
+  /** Trusted application hook, after URDF/map conversion and include expansion. */
+  sceneComposer?: (mjcf: Uint8Array) => Uint8Array;
+  mobileRobot?: RobotConfig;
   trainingDeployment?: PolicyDeployment;
   /** Candidate policy is initialized/validated before replacing the active session. */
   trainingPolicy?: { data: Uint8Array; path: string };
@@ -158,6 +168,8 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
     }
   >();
   private loadGeneration = 0;
+  private readonly workspacePrefix = `adapter_${crypto.randomUUID().replaceAll('-', '_')}`;
+  private readonly candidateRoots = new Set<string>();
   private disposed = false;
   private retiredSession: SimulationSession | null = null;
   private retiredWorkspace: MemfsWorkspace | null = null;
@@ -169,6 +181,7 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
     options: PhysicsLoadOptions = {},
   ): Promise<SimulationSnapshot> {
     if (this.disposed) throw new Error('物理适配器已释放');
+    this.session?.stopAgent?.('模型或地图正在重载');
     if (this.session?.describeRobot?.())
       this.session.stopExternalControl('模型正在重载，请重新授权');
     const generation = ++this.loadGeneration;
@@ -190,19 +203,76 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
     const module = await getMujocoModule();
     if (this.disposed || generation !== this.loadGeneration) throw new Error('模型加载已取消');
     report(0.32, '校验并准备模型资源');
-    const workspace = new MemfsWorkspace(module, `${manifest.id}_stage_${generation}`);
     if (
       options.robotProfileId &&
       (urdfMode !== 'mjcf' || baseMode !== 'floating' || options.trainingDeployment)
     )
       throw new Error('机器人 profile 需要浮动基座 URDF 转换，不能与 Go2 部署混用');
+    const mobileRobot = options.mobileRobot;
+    if (
+      mobileRobot &&
+      (options.trainingDeployment || urdfMode !== 'mjcf' || baseMode !== 'floating')
+    )
+      throw new Error('移动操作需要浮动基座 MJCF，不能与 Go2 部署混用');
+    const sourceManifest =
+      mobileRobot?.recipe === 'lekiwi-bundle'
+        ? prepareBundle(manifest, entryPath, mobileRobot)
+        : manifest;
     const profileManifest = options.robotProfileId
-      ? await prepareRobotProject(manifest, entryPath, options.robotProfileId)
-      : manifest;
-    const prepared = await prepareProjectForMujoco(profileManifest, entryPath);
+      ? await prepareRobotProject(sourceManifest, entryPath, options.robotProfileId)
+      : sourceManifest;
+    const normalized = await prepareProjectForMujoco(profileManifest, entryPath);
+    const prepared = await prepareLargeMeshes(normalized.manifest, entryPath, {
+      shouldCancel: () => this.disposed || generation !== this.loadGeneration,
+      onMeshProgress: (path, done, total) =>
+        report(
+          0.34 + (0.1 * done) / total,
+          `兼容高面数网格 ${path}（${done}/${total} 面，保留全部三角形）`,
+        ),
+    });
+    prepared.warnings.unshift(...normalized.warnings);
+    // Map files may not be in the robot's include graph. Prepare the selected
+    // physics assets before MapComposer rebases them into the resulting scene.
+    const mapPaths = new Set<string>();
+    for (const selection of placedMapAssets?.map((asset) => asset.selection) ?? [mapSelection]) {
+      if (selection.kind === 'project') {
+        const map = resolveProjectMap(prepared.manifest, selection.descriptorPath);
+        if (map.physicsPath) mapPaths.add(map.physicsPath);
+      }
+    }
+    for (const path of mapPaths) {
+      const next = await prepareLargeMeshes(prepared.manifest, path, {
+        shouldCancel: () => this.disposed || generation !== this.loadGeneration,
+      });
+      prepared.manifest = next.manifest;
+      prepared.warnings.push(...next.warnings);
+    }
+    if (this.disposed || generation !== this.loadGeneration) throw new Error('模型加载已取消');
     const supportFiles = prepared.manifest.files.filter(
       (file) => !manifest.files.some((original) => original.path === file.path),
     );
+    // Bounded path identities stop the native mesh cache accumulating a new
+    // copy on every reload. Three slots permit active + rollback + candidate;
+    // callers with explicit two-slot viewer transactions retain their contract.
+    const freeSlot = [0, 1, 2]
+      .map((i) => `${this.workspacePrefix}_${i}`)
+      .find((slot) => {
+        const root = `/workspace/${slot}`;
+        return (
+          root !== this.workspace?.root &&
+          root !== this.retiredWorkspace?.root &&
+          !this.candidateRoots.has(root)
+        );
+      });
+    if (!options.workspaceSlot && !freeSlot) throw new Error('候选 VFS 槽已满，请等待当前加载结束');
+    const workspace = new MemfsWorkspace(module, options.workspaceSlot ?? freeSlot!);
+    if (
+      workspace.root === this.workspace?.root ||
+      workspace.root === this.retiredWorkspace?.root ||
+      this.candidateRoots.has(workspace.root)
+    )
+      throw new Error('候选 VFS 槽仍被活动/待释放模型占用');
+    this.candidateRoots.add(workspace.root);
     let nextSession: SimulationSession | null = null;
     try {
       report(0.46, '写入浏览器内存文件系统');
@@ -237,8 +307,33 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
               const bodyId = Number(intermediate.model.jnt_bodyid[id]);
               const body = intermediate.model.body(bodyId);
               try {
+                let wheelCenter: number[] | undefined;
+                if (joint.name.startsWith('base_') && joint.name.endsWith('_wheel')) {
+                  for (let geomId = 0; geomId < intermediate.model.ngeom; geomId++) {
+                    const geom = intermediate.model.geom(geomId);
+                    try {
+                      if (
+                        !geom.name.startsWith('4-Omni-Directional-Wheel_Single_Body') ||
+                        Number(intermediate.model.geom_group[geomId]) !== 1
+                      )
+                        continue;
+                      let ancestor = Number(intermediate.model.geom_bodyid[geomId]);
+                      while (ancestor && ancestor !== bodyId)
+                        ancestor = Number(intermediate.model.body_parentid[ancestor]);
+                      if (ancestor === bodyId) {
+                        wheelCenter = Array.from(
+                          intermediate.data.geom_xpos.slice(geomId * 3, geomId * 3 + 3),
+                        );
+                        break;
+                      }
+                    } finally {
+                      geom.delete();
+                    }
+                  }
+                }
                 geometry.push({
                   name: joint.name,
+                  wheelCenter,
                   body: body.name,
                   position: Array.from(
                     intermediate.data.xpos.slice(bodyId * 3, bodyId * 3 + 3),
@@ -254,9 +349,12 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
                 body.delete();
               }
             }
-            convertedData = enhanceLeKiwiMjcf(convertedData, geometry);
+            const inputHash = await sha256(
+              manifest.files.find((file) => file.path === entryPath)!.data,
+            );
+            convertedData = enhanceLeKiwiMjcf(convertedData, geometry, inputHash);
             warnings.unshift(
-              'LeKiwi v1：仿真估计参数，简化被动滚子/碰撞与九路伺服；超大轮 STL 已替换为简化视觉，不代表实机标定',
+              'LeKiwi v1：完整 CAD 轮视觉；碰撞仍使用被动滚子/整臂凸分解与九路伺服，轮距/动力学为仿真估计，不代表实机标定',
             );
           }
           workspace.writeGenerated(convertedPath, convertedData);
@@ -342,10 +440,36 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
         }
         warnings.push('已用策略配套训练布局替换场景地形；编辑器地图未更改。Go2-W动力学不等同Go2。');
       }
+      const sceneComposer = mobileRobot
+        ? (xml: Uint8Array) => {
+            const mobileScene = composeMobileScene(xml, mobileRobot);
+            return options.sceneComposer ? options.sceneComposer(mobileScene) : mobileScene;
+          }
+        : options.sceneComposer;
+      if (sceneComposer) {
+        if (entry?.format === 'urdf' && urdfMode === 'native')
+          throw new Error('任务场景组合需要 MJCF 转换模式');
+        const intermediate = new SimulationSession(module, modelPath);
+        try {
+          const scenePath = `${modelRelativePath}.task.xml`;
+          // Register before native save so failed composition is cleaned up too.
+          workspace.writeGenerated(scenePath, new Uint8Array());
+          if (!module.mj_saveLastXML(workspace.path(scenePath), intermediate.model))
+            throw new Error('无法展开任务场景');
+          workspace.writeGenerated(
+            scenePath,
+            sceneComposer(new TextEncoder().encode(workspace.readText(scenePath))),
+          );
+          modelRelativePath = scenePath;
+          modelPath = workspace.path(scenePath);
+        } finally {
+          intermediate.dispose();
+        }
+      }
       report(0.84, '编译模型与物理数据');
       console.info('[MuJoCo] 编译模型', modelPath);
       nextSession = new SimulationSession(module, modelPath, warnings);
-      if (options.robotProfileId) {
+      if (options.robotProfileId && options.configureRobotRuntime !== false && !mobileRobot) {
         const fingerprint = await sha256(
           new TextEncoder().encode(workspace.readText(modelRelativePath)),
         );
@@ -411,6 +535,7 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
           });
         }
       }
+      if (mobileRobot) nextSession.configureMobile(mobileRobot);
       if (options.trainingPolicy) {
         if (!options.trainingDeployment?.terrain) throw new Error('事务策略加载需要配套训练地图');
         report(0.9, '校验候选场景的 ONNX 策略');
@@ -445,6 +570,10 @@ export class MainThreadPhysicsAdapter implements PhysicsAdapter {
         `模型编译失败（${entryPath}）：${error instanceof Error ? error.message : String(error)}`,
         { cause: error },
       );
+    } finally {
+      this.candidateRoots.delete(workspace.root);
+      this.session?.mobile?.env.refreshViews();
+      this.retiredSession?.mobile?.env.refreshViews();
     }
   }
   exportTrainingTerrain(