diff --git a/public/index.html b/public/index.html
index f28a93e..2d1c157 100644
--- a/public/index.html
+++ b/public/index.html
@@ -1,697 +1,760 @@
-<!DOCTYPE html>
+<!doctype html>
 <html lang="zh-CN">
-<head>
-    <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
     <title>smart_wasm Local Debug</title>
     <style>
-        :root {
-            --bg: #f3efe5;
-            --panel: #fffaf0;
-            --line: #d2c7b3;
-            --text: #1f2a30;
-            --muted: #6e7a80;
-            --accent: #0d6b5f;
-            --accent-2: #d7852f;
-            --error: #b7402a;
-        }
+      :root {
+        --bg: #f3efe5;
+        --panel: #fffaf0;
+        --line: #d2c7b3;
+        --text: #1f2a30;
+        --muted: #6e7a80;
+        --accent: #0d6b5f;
+        --accent-2: #d7852f;
+        --error: #b7402a;
+      }
 
-        * {
-            box-sizing: border-box;
-        }
+      * {
+        box-sizing: border-box;
+      }
 
-        body {
-            margin: 0;
-            font-family: "Segoe UI", "Microsoft YaHei", sans-serif;
-            color: var(--text);
-            background:
-                radial-gradient(circle at top left, rgba(215, 133, 47, 0.18), transparent 30%),
-                linear-gradient(135deg, #f7f1e3 0%, #e8efe9 100%);
-            min-height: 100vh;
-        }
+      body {
+        margin: 0;
+        font-family: 'Segoe UI', 'Microsoft YaHei', sans-serif;
+        color: var(--text);
+        background:
+          radial-gradient(
+            circle at top left,
+            rgba(215, 133, 47, 0.18),
+            transparent 30%
+          ),
+          linear-gradient(135deg, #f7f1e3 0%, #e8efe9 100%);
+        min-height: 100vh;
+      }
 
-        .shell {
-            max-width: 1100px;
-            margin: 0 auto;
-            padding: 32px 20px 48px;
-        }
+      .shell {
+        max-width: 1100px;
+        margin: 0 auto;
+        padding: 32px 20px 48px;
+      }
 
-        .hero {
-            display: grid;
-            gap: 16px;
-            margin-bottom: 24px;
-        }
+      .hero {
+        display: grid;
+        gap: 16px;
+        margin-bottom: 24px;
+      }
 
-        .hero h1 {
-            margin: 0;
-            font-size: clamp(28px, 5vw, 48px);
-            line-height: 1.05;
-        }
+      .hero h1 {
+        margin: 0;
+        font-size: clamp(28px, 5vw, 48px);
+        line-height: 1.05;
+      }
 
-        .hero p {
-            margin: 0;
-            color: var(--muted);
-            max-width: 720px;
-            font-size: 16px;
-        }
+      .hero p {
+        margin: 0;
+        color: var(--muted);
+        max-width: 720px;
+        font-size: 16px;
+      }
 
+      .layout {
+        display: grid;
+        grid-template-columns: 1.05fr 0.95fr;
+        gap: 20px;
+      }
+
+      .card {
+        background: rgba(255, 250, 240, 0.9);
+        backdrop-filter: blur(10px);
+        border: 1px solid var(--line);
+        border-radius: 20px;
+        box-shadow: 0 20px 40px rgba(38, 50, 56, 0.08);
+        overflow: hidden;
+      }
+
+      .card-head {
+        padding: 18px 20px;
+        border-bottom: 1px solid var(--line);
+        display: flex;
+        justify-content: space-between;
+        align-items: center;
+        gap: 12px;
+      }
+
+      .card-head h2 {
+        margin: 0;
+        font-size: 18px;
+      }
+
+      .status {
+        font-size: 13px;
+        color: var(--muted);
+        padding: 6px 10px;
+        border: 1px solid var(--line);
+        border-radius: 999px;
+        background: rgba(255, 255, 255, 0.7);
+      }
+
+      .body {
+        padding: 20px;
+      }
+
+      label {
+        display: block;
+        font-size: 13px;
+        color: var(--muted);
+        margin-bottom: 8px;
+      }
+
+      textarea {
+        width: 100%;
+        min-height: 320px;
+        resize: vertical;
+        border: 1px solid var(--line);
+        border-radius: 14px;
+        padding: 14px;
+        font:
+          13px/1.5 Consolas,
+          'Courier New',
+          monospace;
+        color: var(--text);
+        background: #fff;
+      }
+
+      .actions {
+        display: flex;
+        flex-wrap: wrap;
+        gap: 12px;
+        margin-top: 16px;
+      }
+
+      .sample-bar {
+        display: grid;
+        gap: 10px;
+        margin-top: 16px;
+        padding: 14px;
+        border: 1px solid var(--line);
+        border-radius: 14px;
+        background: rgba(255, 255, 255, 0.72);
+      }
+
+      .sample-row {
+        display: flex;
+        flex-wrap: wrap;
+        gap: 10px;
+        align-items: center;
+      }
+
+      select {
+        width: 100%;
+        border: 1px solid var(--line);
+        border-radius: 12px;
+        padding: 11px 12px;
+        font-size: 14px;
+        color: var(--text);
+        background: #fff;
+      }
+
+      button {
+        border: 0;
+        border-radius: 12px;
+        padding: 12px 16px;
+        font-size: 14px;
+        font-weight: 600;
+        cursor: pointer;
+      }
+
+      .primary {
+        background: var(--accent);
+        color: #fff;
+      }
+
+      .secondary {
+        background: #fff;
+        color: var(--text);
+        border: 1px solid var(--line);
+      }
+
+      pre {
+        margin: 0;
+        min-height: 420px;
+        padding: 16px;
+        overflow: auto;
+        background: #172126;
+        color: #e8f2ef;
+        font:
+          13px/1.5 Consolas,
+          'Courier New',
+          monospace;
+      }
+
+      .response-shell {
+        display: grid;
+        gap: 0;
+      }
+
+      .response-meta {
+        display: grid;
+        grid-template-columns: repeat(2, minmax(0, 1fr));
+        gap: 10px;
+        padding: 16px 20px;
+        background: rgba(17, 30, 35, 0.04);
+        border-bottom: 1px solid var(--line);
+      }
+
+      .response-meta-item {
+        padding: 10px 12px;
+        border: 1px solid rgba(210, 199, 179, 0.8);
+        border-radius: 12px;
+        background: rgba(255, 255, 255, 0.75);
+      }
+
+      .response-meta-label {
+        font-size: 12px;
+        color: var(--muted);
+        margin-bottom: 4px;
+      }
+
+      .response-meta-value {
+        font-size: 14px;
+        font-weight: 600;
+        color: var(--text);
+        word-break: break-all;
+      }
+
+      .response-meta-value.is-ok {
+        color: var(--accent);
+      }
+
+      .response-meta-value.is-error {
+        color: var(--error);
+      }
+
+      .json-key {
+        color: #7dd3fc;
+      }
+
+      .json-string {
+        color: #f9d65c;
+      }
+
+      .json-number {
+        color: #f59e0b;
+      }
+
+      .json-boolean {
+        color: #fb7185;
+        font-weight: 700;
+      }
+
+      .json-null {
+        color: #c084fc;
+        font-weight: 700;
+      }
+
+      .tips {
+        display: grid;
+        gap: 10px;
+        margin-top: 18px;
+        color: var(--muted);
+        font-size: 13px;
+      }
+
+      .tips code {
+        color: var(--accent);
+      }
+
+      @media (max-width: 900px) {
         .layout {
-            display: grid;
-            grid-template-columns: 1.05fr 0.95fr;
-            gap: 20px;
-        }
-
-        .card {
-            background: rgba(255, 250, 240, 0.9);
-            backdrop-filter: blur(10px);
-            border: 1px solid var(--line);
-            border-radius: 20px;
-            box-shadow: 0 20px 40px rgba(38, 50, 56, 0.08);
-            overflow: hidden;
-        }
-
-        .card-head {
-            padding: 18px 20px;
-            border-bottom: 1px solid var(--line);
-            display: flex;
-            justify-content: space-between;
-            align-items: center;
-            gap: 12px;
-        }
-
-        .card-head h2 {
-            margin: 0;
-            font-size: 18px;
-        }
-
-        .status {
-            font-size: 13px;
-            color: var(--muted);
-            padding: 6px 10px;
-            border: 1px solid var(--line);
-            border-radius: 999px;
-            background: rgba(255, 255, 255, 0.7);
-        }
-
-        .body {
-            padding: 20px;
-        }
-
-        label {
-            display: block;
-            font-size: 13px;
-            color: var(--muted);
-            margin-bottom: 8px;
-        }
-
-        textarea {
-            width: 100%;
-            min-height: 320px;
-            resize: vertical;
-            border: 1px solid var(--line);
-            border-radius: 14px;
-            padding: 14px;
-            font: 13px/1.5 Consolas, "Courier New", monospace;
-            color: var(--text);
-            background: #fff;
-        }
-
-        .actions {
-            display: flex;
-            flex-wrap: wrap;
-            gap: 12px;
-            margin-top: 16px;
-        }
-
-        .sample-bar {
-            display: grid;
-            gap: 10px;
-            margin-top: 16px;
-            padding: 14px;
-            border: 1px solid var(--line);
-            border-radius: 14px;
-            background: rgba(255, 255, 255, 0.72);
-        }
-
-        .sample-row {
-            display: flex;
-            flex-wrap: wrap;
-            gap: 10px;
-            align-items: center;
-        }
-
-        select {
-            width: 100%;
-            border: 1px solid var(--line);
-            border-radius: 12px;
-            padding: 11px 12px;
-            font-size: 14px;
-            color: var(--text);
-            background: #fff;
-        }
-
-        button {
-            border: 0;
-            border-radius: 12px;
-            padding: 12px 16px;
-            font-size: 14px;
-            font-weight: 600;
-            cursor: pointer;
-        }
-
-        .primary {
-            background: var(--accent);
-            color: #fff;
-        }
-
-        .secondary {
-            background: #fff;
-            color: var(--text);
-            border: 1px solid var(--line);
+          grid-template-columns: 1fr;
         }
 
+        textarea,
         pre {
-            margin: 0;
-            min-height: 420px;
-            padding: 16px;
-            overflow: auto;
-            background: #172126;
-            color: #e8f2ef;
-            font: 13px/1.5 Consolas, "Courier New", monospace;
-        }
-
-        .response-shell {
-            display: grid;
-            gap: 0;
+          min-height: 260px;
         }
 
         .response-meta {
-            display: grid;
-            grid-template-columns: repeat(2, minmax(0, 1fr));
-            gap: 10px;
-            padding: 16px 20px;
-            background: rgba(17, 30, 35, 0.04);
-            border-bottom: 1px solid var(--line);
-        }
-
-        .response-meta-item {
-            padding: 10px 12px;
-            border: 1px solid rgba(210, 199, 179, 0.8);
-            border-radius: 12px;
-            background: rgba(255, 255, 255, 0.75);
-        }
-
-        .response-meta-label {
-            font-size: 12px;
-            color: var(--muted);
-            margin-bottom: 4px;
-        }
-
-        .response-meta-value {
-            font-size: 14px;
-            font-weight: 600;
-            color: var(--text);
-            word-break: break-all;
-        }
-
-        .response-meta-value.is-ok {
-            color: var(--accent);
-        }
-
-        .response-meta-value.is-error {
-            color: var(--error);
-        }
-
-        .json-key {
-            color: #7dd3fc;
-        }
-
-        .json-string {
-            color: #f9d65c;
-        }
-
-        .json-number {
-            color: #f59e0b;
-        }
-
-        .json-boolean {
-            color: #fb7185;
-            font-weight: 700;
-        }
-
-        .json-null {
-            color: #c084fc;
-            font-weight: 700;
-        }
-
-        .tips {
-            display: grid;
-            gap: 10px;
-            margin-top: 18px;
-            color: var(--muted);
-            font-size: 13px;
-        }
-
-        .tips code {
-            color: var(--accent);
-        }
-
-        @media (max-width: 900px) {
-            .layout {
-                grid-template-columns: 1fr;
-            }
-
-            textarea,
-            pre {
-                min-height: 260px;
-            }
-
-            .response-meta {
-                grid-template-columns: 1fr;
-            }
+          grid-template-columns: 1fr;
         }
+      }
     </style>
-</head>
-<body>
-    <div class="shell">
-        <section class="hero">
-            <h1>smart_wasm 本地调试页</h1>
-            <p>这个页面直接加载 <code>public/wasm/smart_math.js</code>，可以在本地验证 WASM 初始化、命令调用和返回 JSON。</p>
-        </section>
+  </head>
+  <body>
+    <div style="width: 200px; height: 300px">
+      <iframe
+        id="ModelLibraryPanel_iframe"
+        title="模型库"
+        src="https://www.claudedt.com/dmtModelLibrary"
+        style="width: 100%; height: 100%; border: 0; display: block"
+      ></iframe>
+    </div>
 
-        <section class="layout">
-            <div class="card">
-                <div class="card-head">
-                    <h2>请求</h2>
-                    <div class="status" id="module-status">WASM 未初始化</div>
-                </div>
-                <div class="body">
-                    <label for="request">JSON Request</label>
-                    <textarea id="request">{
+    <div class="shell">
+      <section class="hero">
+        <h1>smart_wasm 本地调试页</h1>
+        <p>
+          这个页面直接加载
+          <code>public/wasm/smart_math.js</code>，可以在本地验证 WASM
+          初始化、命令调用和返回 JSON。
+        </p>
+      </section>
+
+      <section class="layout">
+        <div class="card">
+          <div class="card-head">
+            <h2>请求</h2>
+            <div class="status" id="module-status">WASM 未初始化</div>
+          </div>
+          <div class="body">
+            <label for="request">JSON Request</label>
+            <textarea id="request">
+{
   "msg": "list robots after init",
   "req_code": "CASE_LIST_001",
   "req_from": "local_debug",
   "req_cmd": "Cmd_ListRobots",
   "req_param": {}
-}</textarea>
+}</textarea
+            >
 
-                    <div class="sample-bar">
-                        <label for="sample-select">接口测试样例</label>
-                        <div class="sample-row">
-                            <select id="sample-select">
-                                <option value="listRobots">机器人列表 Cmd_ListRobots</option>
-                                <option value="kinematicsForwardZero">运动学正解 Cmd_Kinematics_forward_pose_str</option>
-                                <option value="kinematicsForwardAllJoints">全关节正解 Cmd_Kinematics_forward_all_joints</option>
-                                <option value="spcBasic">SPC 计算 Cmd_Spc</option>
-                                <option value="fourBarValid">四连杆有效样例 Cmd_FourBar_CrankSlider</option>
-                                <option value="fourBarInvalid">四连杆异常样例 Cmd_FourBar_CrankSlider</option>
-                                <option value="quadrupedPoints">四足姿态点位 Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles</option>
-                                <option value="quadrupedForwardGait">四足步态正解 Cmd_QuadrupedRobot_PerformForwardKinematics</option>
-                            </select>
-                        </div>
-                        <div class="sample-row">
-                            <button class="secondary" id="sample-btn" type="button">填充选中样例</button>
-                        </div>
-                    </div>
-
-                    <div class="actions">
-                        <button class="primary" id="init-btn" type="button">初始化 WASM</button>
-                        <button class="primary" id="run-btn" type="button">发送请求</button>
-                        <button class="secondary" id="clear-btn" type="button">清空输出</button>
-                    </div>
-
-                    <div class="tips">
-                        <div>1. 先点 <code>初始化 WASM</code>，会调用 <code>_init_func()</code>。</div>
-                        <div>2. 再点 <code>发送请求</code>，会调用 <code>_func()</code>。</div>
-                        <div>3. 默认地址使用 <code>http://localhost:8080/</code>。</div>
-                    </div>
-                </div>
+            <div class="sample-bar">
+              <label for="sample-select">接口测试样例</label>
+              <div class="sample-row">
+                <select id="sample-select">
+                  <option value="listRobots">机器人列表 Cmd_ListRobots</option>
+                  <option value="kinematicsForwardZero">
+                    运动学正解 Cmd_Kinematics_forward_pose_str
+                  </option>
+                  <option value="kinematicsForwardAllJoints">
+                    全关节正解 Cmd_Kinematics_forward_all_joints
+                  </option>
+                  <option value="spcBasic">SPC 计算 Cmd_Spc</option>
+                  <option value="fourBarValid">
+                    四连杆有效样例 Cmd_FourBar_CrankSlider
+                  </option>
+                  <option value="fourBarInvalid">
+                    四连杆异常样例 Cmd_FourBar_CrankSlider
+                  </option>
+                  <option value="quadrupedPoints">
+                    四足姿态点位
+                    Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles
+                  </option>
+                  <option value="quadrupedForwardGait">
+                    四足步态正解 Cmd_QuadrupedRobot_PerformForwardKinematics
+                  </option>
+                </select>
+              </div>
+              <div class="sample-row">
+                <button class="secondary" id="sample-btn" type="button">
+                  填充选中样例
+                </button>
+              </div>
             </div>
 
-            <div class="card">
-                <div class="card-head">
-                    <h2>响应</h2>
-                    <div class="status" id="request-status">等待操作</div>
-                </div>
-                <div class="response-shell">
-                    <div class="response-meta" id="response-meta">
-                        <div class="response-meta-item">
-                            <div class="response-meta-label">状态</div>
-                            <div class="response-meta-value" id="meta-success">未执行</div>
-                        </div>
-                        <div class="response-meta-item">
-                            <div class="response-meta-label">代码</div>
-                            <div class="response-meta-value" id="meta-code">-</div>
-                        </div>
-                        <div class="response-meta-item">
-                            <div class="response-meta-label">命令</div>
-                            <div class="response-meta-value" id="meta-cmd">-</div>
-                        </div>
-                        <div class="response-meta-item">
-                            <div class="response-meta-label">请求号</div>
-                            <div class="response-meta-value" id="meta-req">-</div>
-                        </div>
-                    </div>
-                    <pre id="output">No output yet.</pre>
-                </div>
+            <div class="actions">
+              <button class="primary" id="init-btn" type="button">
+                初始化 WASM
+              </button>
+              <button class="primary" id="run-btn" type="button">
+                发送请求
+              </button>
+              <button class="secondary" id="clear-btn" type="button">
+                清空输出
+              </button>
             </div>
-        </section>
+
+            <div class="tips">
+              <div>
+                1. 先点 <code>初始化 WASM</code>，会调用
+                <code>_init_func()</code>。
+              </div>
+              <div>
+                2. 再点 <code>发送请求</code>，会调用 <code>_func()</code>。
+              </div>
+              <div>3. 默认地址使用 <code>http://localhost:8080/</code>。</div>
+            </div>
+          </div>
+        </div>
+
+        <div class="card">
+          <div class="card-head">
+            <h2>响应</h2>
+            <div class="status" id="request-status">等待操作</div>
+          </div>
+          <div class="response-shell">
+            <div class="response-meta" id="response-meta">
+              <div class="response-meta-item">
+                <div class="response-meta-label">状态</div>
+                <div class="response-meta-value" id="meta-success">未执行</div>
+              </div>
+              <div class="response-meta-item">
+                <div class="response-meta-label">代码</div>
+                <div class="response-meta-value" id="meta-code">-</div>
+              </div>
+              <div class="response-meta-item">
+                <div class="response-meta-label">命令</div>
+                <div class="response-meta-value" id="meta-cmd">-</div>
+              </div>
+              <div class="response-meta-item">
+                <div class="response-meta-label">请求号</div>
+                <div class="response-meta-value" id="meta-req">-</div>
+              </div>
+            </div>
+            <pre id="output">No output yet.</pre>
+          </div>
+        </div>
+      </section>
     </div>
 
     <script src="./wasm/smart_math.js"></script>
     <script>
-        let wasmModule = null;
+      let wasmModule = null;
 
-        const moduleStatus = document.getElementById("module-status");
-        const requestStatus = document.getElementById("request-status");
-        const requestBox = document.getElementById("request");
-        const output = document.getElementById("output");
-        const sampleSelect = document.getElementById("sample-select");
-        const metaSuccess = document.getElementById("meta-success");
-        const metaCode = document.getElementById("meta-code");
-        const metaCmd = document.getElementById("meta-cmd");
-        const metaReq = document.getElementById("meta-req");
+      const moduleStatus = document.getElementById('module-status');
+      const requestStatus = document.getElementById('request-status');
+      const requestBox = document.getElementById('request');
+      const output = document.getElementById('output');
+      const sampleSelect = document.getElementById('sample-select');
+      const metaSuccess = document.getElementById('meta-success');
+      const metaCode = document.getElementById('meta-code');
+      const metaCmd = document.getElementById('meta-cmd');
+      const metaReq = document.getElementById('meta-req');
 
-        const requestSamples = {
-            listRobots: {
-                msg: "list robots after init",
-                req_code: "CASE_LIST_001",
-                req_from: "local_debug",
-                req_cmd: "Cmd_ListRobots",
-                req_param: {
-                    detail: true
-                }
+      const requestSamples = {
+        listRobots: {
+          msg: 'list robots after init',
+          req_code: 'CASE_LIST_001',
+          req_from: 'local_debug',
+          req_cmd: 'Cmd_ListRobots',
+          req_param: {
+            detail: true,
+          },
+        },
+        kinematicsForwardZero: {
+          msg: 'fk zero pose',
+          req_code: 'CASE_FK_001',
+          req_from: 'local_debug',
+          req_cmd: 'Cmd_Kinematics_forward_pose_str',
+          req_param: {
+            robot_uuid: 'abb_irb120_3_58',
+            q_init_str: '0,0,0,0,0,0',
+          },
+        },
+        kinematicsForwardAllJoints: {
+          msg: 'fk all joints path',
+          req_code: 'CASE_FK_ALL_001',
+          req_from: 'local_debug',
+          req_cmd: 'Cmd_Kinematics_forward_all_joints',
+          req_param: {
+            robot_uuid: 'abb_irb120_3_58',
+            joints_str: '0,0,0,0,0,0;10,20,30,40,50,60',
+          },
+        },
+        spcBasic: {
+          msg: 'spc basic 5x30',
+          req_code: 'CASE_SPC_001',
+          req_from: 'local_debug',
+          req_cmd: 'Cmd_Spc',
+          req_param: {
+            n: 5,
+            k: 30,
+            usl: 1.7,
+            lsl: 1.5,
+            x: [
+              1.55, 1.58, 1.61, 1.6, 1.6, 1.58, 1.63, 1.63, 1.62, 1.63, 1.62,
+              1.63, 1.62, 1.59, 1.58, 1.58, 1.6, 1.61, 1.62, 1.63, 1.58, 1.64,
+              1.63, 1.62, 1.62, 1.62, 1.62, 1.63, 1.61, 1.57, 1.64, 1.62, 1.61,
+              1.6, 1.58, 1.57, 1.59, 1.61, 1.62, 1.63, 1.58, 1.61, 1.6, 1.62,
+              1.63, 1.6, 1.61, 1.64, 1.64, 1.63, 1.58, 1.6, 1.62, 1.63, 1.65,
+              1.62, 1.58, 1.59, 1.57, 1.58, 1.57, 1.57, 1.58, 1.59, 1.64, 1.61,
+              1.64, 1.62, 1.6, 1.59, 1.65, 1.62, 1.62, 1.6, 1.58, 1.57, 1.59,
+              1.57, 1.59, 1.62, 1.56, 1.57, 1.57, 1.61, 1.62, 1.56, 1.58, 1.59,
+              1.6, 1.62, 1.58, 1.6, 1.6, 1.62, 1.63, 1.58, 1.59, 1.6, 1.63,
+              1.62, 1.58, 1.59, 1.62, 1.63, 1.64, 1.58, 1.59, 1.62, 1.63, 1.61,
+              1.58, 1.59, 1.6, 1.61, 1.63, 1.57, 1.59, 1.61, 1.61, 1.62, 1.58,
+              1.58, 1.6, 1.61, 1.63, 1.62, 1.58, 1.58, 1.58, 1.57, 1.63, 1.59,
+              1.57, 1.58, 1.57, 1.58, 1.62, 1.61, 1.63, 1.61, 1.58, 1.57, 1.59,
+              1.6, 1.62, 1.62, 1.6, 1.6, 1.57, 1.57,
+            ],
+          },
+        },
+        fourBarValid: {
+          msg: 'fourbar valid',
+          req_code: 'CASE_FB_001',
+          req_from: 'local_debug',
+          req_cmd: 'Cmd_FourBar_CrankSlider',
+          req_param: {
+            L_AB: 0.5,
+            L_BS: 2.0,
+            S_OFS: 0.0,
+            angleDeg: 45.0,
+          },
+        },
+        fourBarInvalid: {
+          msg: 'fourbar invalid',
+          req_code: 'CASE_FB_002',
+          req_from: 'local_debug',
+          req_cmd: 'Cmd_FourBar_CrankSlider',
+          req_param: {
+            L_AB: 0.0,
+            L_BS: 0.2,
+            S_OFS: 0.5,
+            angleDeg: 30.0,
+          },
+        },
+        quadrupedPoints: {
+          msg: 'quadruped points from motor angles',
+          req_code: 'CASE_QP_001',
+          req_from: 'local_debug',
+          req_cmd: 'Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles',
+          req_param: {
+            Param: {
+              LF: {
+                thigh_angle_deg: -37.4784578338516,
+                shank_angle_deg: -22.4917532451628,
+                ankle_angle_deg: 0.0,
+              },
+              LH: {
+                thigh_angle_deg: -34.0564623655754,
+                shank_angle_deg: -22.1353106546916,
+                ankle_angle_deg: 0.0,
+              },
+              RF: {
+                thigh_angle_deg: 34.0564623655754,
+                shank_angle_deg: 22.1353106546916,
+                ankle_angle_deg: 0.0,
+              },
+              RH: {
+                thigh_angle_deg: 37.4784578338516,
+                shank_angle_deg: 22.4917532451628,
+                ankle_angle_deg: 0.0,
+              },
             },
-            kinematicsForwardZero: {
-                msg: "fk zero pose",
-                req_code: "CASE_FK_001",
-                req_from: "local_debug",
-                req_cmd: "Cmd_Kinematics_forward_pose_str",
-                req_param: {
-                    robot_uuid: "abb_irb120_3_58",
-                    q_init_str: "0,0,0,0,0,0"
-                }
+          },
+        },
+        quadrupedForwardGait: {
+          msg: 'quadruped forward gait',
+          req_code: 'CASE_QP_002',
+          req_from: 'local_debug',
+          req_cmd: 'Cmd_QuadrupedRobot_PerformForwardKinematics',
+          req_param: {
+            GaitInfo: {
+              GaitType: 'trot',
+              Period: 0.8,
+              Frequency: 50.0,
+              StepTime: 0.02,
+              SupportTime: 0.4,
+              SwingTime: 0.4,
+              SupportRatio: 0.5,
+              SwingRatio: 0.5,
+              TotalFrames: 40,
+              TotalTime: 0.8,
             },
-            kinematicsForwardAllJoints: {
-                msg: "fk all joints path",
-                req_code: "CASE_FK_ALL_001",
-                req_from: "local_debug",
-                req_cmd: "Cmd_Kinematics_forward_all_joints",
-                req_param: {
-                    robot_uuid: "abb_irb120_3_58",
-                    joints_str: "0,0,0,0,0,0;10,20,30,40,50,60"
-                }
+            SystemParameters: {
+              A_x: 0.0,
+              A_y: 500.0,
+              L10: 300.0,
+              L20: 286.0,
+              L30: 55.0,
+              StepLength: 60.0,
+              StepHeight: 50.0,
+              X: 30.0,
+              DeltaX: 0.0,
+              L21: 70.0,
+              L22: 292.0,
+              L23: 80.0,
+              Beta1: 166.0,
+              BB2_BC_Angle: 3.3859387489,
+              C1_B_Length: 107.0,
+              CC1: 179.0,
+              L31: 32.0,
+              C2C3_Length: 32.0,
+              Lead: 10.0,
+              D1_L_Offset: 90.0,
+              D2_L_Offset: 50.0,
+              C4_D2_Offset: 18.0,
+              ThighMotorReduction: 1.0,
+              ShankMotorReduction: 1.0,
+              AnkleMotorReduction: 1.0,
             },
-            spcBasic: {
-                msg: "spc basic 5x30",
-                req_code: "CASE_SPC_001",
-                req_from: "local_debug",
-                req_cmd: "Cmd_Spc",
-                req_param: {
-                    n: 5,
-                    k: 30,
-                    usl: 1.7,
-                    lsl: 1.5,
-                    x: [
-                        1.55, 1.58, 1.61, 1.6, 1.6, 1.58, 1.63, 1.63, 1.62, 1.63,
-                        1.62, 1.63, 1.62, 1.59, 1.58, 1.58, 1.6, 1.61, 1.62, 1.63,
-                        1.58, 1.64, 1.63, 1.62, 1.62, 1.62, 1.62, 1.63, 1.61, 1.57,
-                        1.64, 1.62, 1.61, 1.6, 1.58, 1.57, 1.59, 1.61, 1.62, 1.63,
-                        1.58, 1.61, 1.6, 1.62, 1.63, 1.6, 1.61, 1.64, 1.64, 1.63,
-                        1.58, 1.6, 1.62, 1.63, 1.65, 1.62, 1.58, 1.59, 1.57, 1.58,
-                        1.57, 1.57, 1.58, 1.59, 1.64, 1.61, 1.64, 1.62, 1.6, 1.59,
-                        1.65, 1.62, 1.62, 1.6, 1.58, 1.57, 1.59, 1.57, 1.59, 1.62,
-                        1.56, 1.57, 1.57, 1.61, 1.62, 1.56, 1.58, 1.59, 1.6, 1.62,
-                        1.58, 1.6, 1.6, 1.62, 1.63, 1.58, 1.59, 1.6, 1.63, 1.62,
-                        1.58, 1.59, 1.62, 1.63, 1.64, 1.58, 1.59, 1.62, 1.63, 1.61,
-                        1.58, 1.59, 1.6, 1.61, 1.63, 1.57, 1.59, 1.61, 1.61, 1.62,
-                        1.58, 1.58, 1.6, 1.61, 1.63, 1.62, 1.58, 1.58, 1.58, 1.57,
-                        1.63, 1.59, 1.57, 1.58, 1.57, 1.58, 1.62, 1.61, 1.63, 1.61,
-                        1.58, 1.57, 1.59, 1.6, 1.62, 1.62, 1.6, 1.6, 1.57, 1.57
-                    ]
-                }
-            },
-            fourBarValid: {
-                msg: "fourbar valid",
-                req_code: "CASE_FB_001",
-                req_from: "local_debug",
-                req_cmd: "Cmd_FourBar_CrankSlider",
-                req_param: {
-                    L_AB: 0.5,
-                    L_BS: 2.0,
-                    S_OFS: 0.0,
-                    angleDeg: 45.0
-                }
-            },
-            fourBarInvalid: {
-                msg: "fourbar invalid",
-                req_code: "CASE_FB_002",
-                req_from: "local_debug",
-                req_cmd: "Cmd_FourBar_CrankSlider",
-                req_param: {
-                    L_AB: 0.0,
-                    L_BS: 0.2,
-                    S_OFS: 0.5,
-                    angleDeg: 30.0
-                }
-            },
-            quadrupedPoints: {
-                msg: "quadruped points from motor angles",
-                req_code: "CASE_QP_001",
-                req_from: "local_debug",
-                req_cmd: "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles",
-                req_param: {
-                    Param: {
-                        LF: {
-                            thigh_angle_deg: -37.4784578338516,
-                            shank_angle_deg: -22.4917532451628,
-                            ankle_angle_deg: 0.0
-                        },
-                        LH: {
-                            thigh_angle_deg: -34.0564623655754,
-                            shank_angle_deg: -22.1353106546916,
-                            ankle_angle_deg: 0.0
-                        },
-                        RF: {
-                            thigh_angle_deg: 34.0564623655754,
-                            shank_angle_deg: 22.1353106546916,
-                            ankle_angle_deg: 0.0
-                        },
-                        RH: {
-                            thigh_angle_deg: 37.4784578338516,
-                            shank_angle_deg: 22.4917532451628,
-                            ankle_angle_deg: 0.0
-                        }
-                    }
-                }
-            },
-            quadrupedForwardGait: {
-                msg: "quadruped forward gait",
-                req_code: "CASE_QP_002",
-                req_from: "local_debug",
-                req_cmd: "Cmd_QuadrupedRobot_PerformForwardKinematics",
-                req_param: {
-                    GaitInfo: {
-                        GaitType: "trot",
-                        Period: 0.8,
-                        Frequency: 50.0,
-                        StepTime: 0.02,
-                        SupportTime: 0.4,
-                        SwingTime: 0.4,
-                        SupportRatio: 0.5,
-                        SwingRatio: 0.5,
-                        TotalFrames: 40,
-                        TotalTime: 0.8
-                    },
-                    SystemParameters: {
-                        A_x: 0.0,
-                        A_y: 500.0,
-                        L10: 300.0,
-                        L20: 286.0,
-                        L30: 55.0,
-                        StepLength: 60.0,
-                        StepHeight: 50.0,
-                        X: 30.0,
-                        DeltaX: 0.0,
-                        L21: 70.0,
-                        L22: 292.0,
-                        L23: 80.0,
-                        Beta1: 166.0,
-                        BB2_BC_Angle: 3.3859387489,
-                        C1_B_Length: 107.0,
-                        CC1: 179.0,
-                        L31: 32.0,
-                        C2C3_Length: 32.0,
-                        Lead: 10.0,
-                        D1_L_Offset: 90.0,
-                        D2_L_Offset: 50.0,
-                        C4_D2_Offset: 18.0,
-                        ThighMotorReduction: 1.0,
-                        ShankMotorReduction: 1.0,
-                        AnkleMotorReduction: 1.0
-                    }
-                }
-            }
-        };
+          },
+        },
+      };
 
-        function escapeHtml(value) {
-            return value
-                .replaceAll("&", "&amp;")
-                .replaceAll("<", "&lt;")
-                .replaceAll(">", "&gt;");
-        }
+      function escapeHtml(value) {
+        return value
+          .replaceAll('&', '&amp;')
+          .replaceAll('<', '&lt;')
+          .replaceAll('>', '&gt;');
+      }
 
-        function resetMeta() {
-            metaSuccess.textContent = "未执行";
-            metaSuccess.className = "response-meta-value";
-            metaCode.textContent = "-";
-            metaCode.className = "response-meta-value";
-            metaCmd.textContent = "-";
-            metaReq.textContent = "-";
-        }
+      function resetMeta() {
+        metaSuccess.textContent = '未执行';
+        metaSuccess.className = 'response-meta-value';
+        metaCode.textContent = '-';
+        metaCode.className = 'response-meta-value';
+        metaCmd.textContent = '-';
+        metaReq.textContent = '-';
+      }
 
-        function setMetaFromJson(data) {
-            const success = data && typeof data.success === "boolean" ? data.success : null;
-            metaSuccess.textContent = success === null ? "未知" : (success ? "成功" : "失败");
-            metaSuccess.className = "response-meta-value " + (success ? "is-ok" : success === false ? "is-error" : "");
+      function setMetaFromJson(data) {
+        const success =
+          data && typeof data.success === 'boolean' ? data.success : null;
+        metaSuccess.textContent =
+          success === null ? '未知' : success ? '成功' : '失败';
+        metaSuccess.className =
+          'response-meta-value ' +
+          (success ? 'is-ok' : success === false ? 'is-error' : '');
 
-            metaCode.textContent = data && "code" in data ? String(data.code) : "-";
-            metaCode.className = "response-meta-value " + (success === false ? "is-error" : "");
+        metaCode.textContent = data && 'code' in data ? String(data.code) : '-';
+        metaCode.className =
+          'response-meta-value ' + (success === false ? 'is-error' : '');
 
-            metaCmd.textContent = data && data.req_cmd ? data.req_cmd : "-";
-            metaReq.textContent = data && data.req_code ? data.req_code : "-";
-        }
+        metaCmd.textContent = data && data.req_cmd ? data.req_cmd : '-';
+        metaReq.textContent = data && data.req_code ? data.req_code : '-';
+      }
 
-        function highlightJson(value) {
-            const escaped = escapeHtml(value);
-            return escaped.replace(
-                /("(?:\\u[a-fA-F0-9]{4}|\\[^u]|[^\\"])*")(\s*:)?|\b(true|false|null)\b|-?\d+(?:\.\d+)?(?:[eE][+\-]?\d+)?/g,
-                (match, stringToken, keySuffix, literalToken) => {
-                    if (stringToken) {
-                        if (keySuffix) {
-                            return `<span class="json-key">${stringToken}</span>${keySuffix}`;
-                        }
-                        return `<span class="json-string">${stringToken}</span>`;
-                    }
-
-                    if (literalToken === "true" || literalToken === "false") {
-                        return `<span class="json-boolean">${match}</span>`;
-                    }
-
-                    if (literalToken === "null") {
-                        return `<span class="json-null">${match}</span>`;
-                    }
-
-                    return `<span class="json-number">${match}</span>`;
-                }
-            );
-        }
-
-        function renderOutput(value) {
-            if (typeof value !== "string") {
-                const jsonText = JSON.stringify(value, null, 2);
-                output.innerHTML = highlightJson(jsonText);
-                setMetaFromJson(value);
-                return;
+      function highlightJson(value) {
+        const escaped = escapeHtml(value);
+        return escaped.replace(
+          /("(?:\\u[a-fA-F0-9]{4}|\\[^u]|[^\\"])*")(\s*:)?|\b(true|false|null)\b|-?\d+(?:\.\d+)?(?:[eE][+\-]?\d+)?/g,
+          (match, stringToken, keySuffix, literalToken) => {
+            if (stringToken) {
+              if (keySuffix) {
+                return `<span class="json-key">${stringToken}</span>${keySuffix}`;
+              }
+              return `<span class="json-string">${stringToken}</span>`;
             }
 
-            try {
-                const parsed = JSON.parse(value);
-                renderOutput(parsed);
-            } catch {
-                resetMeta();
-                output.textContent = value;
-            }
-        }
-
-        function allocString(value) {
-            const size = wasmModule.lengthBytesUTF8(value) + 1;
-            const ptr = wasmModule._malloc(size);
-            wasmModule.stringToUTF8(value, ptr, size);
-            return ptr;
-        }
-
-        function loadSelectedSample() {
-            const selectedKey = sampleSelect.value;
-            const sample = requestSamples[selectedKey];
-            if (!sample) {
-                return;
-            }
-            requestBox.value = JSON.stringify(sample, null, 2);
-        }
-
-        async function ensureModule() {
-            if (wasmModule) {
-                return wasmModule;
+            if (literalToken === 'true' || literalToken === 'false') {
+              return `<span class="json-boolean">${match}</span>`;
             }
 
-            requestStatus.textContent = "正在加载模块";
-            wasmModule = await createSmartMathModule();
-            moduleStatus.textContent = "WASM 已加载";
-            requestStatus.textContent = "模块加载完成";
-            return wasmModule;
-        }
-
-        async function initializeBusinessApi() {
-            const mod = await ensureModule();
-            let responsePtr = null;
-
-            try {
-                responsePtr = mod._init_func();
-                const text = mod.UTF8ToString(responsePtr);
-                renderOutput(text);
-                moduleStatus.textContent = "业务接口已初始化";
-                requestStatus.textContent = "初始化成功";
-            } catch (error) {
-                moduleStatus.textContent = "初始化失败";
-                requestStatus.textContent = "初始化失败";
-                resetMeta();
-                output.textContent = String(error && error.stack ? error.stack : error);
-            } finally {
-                if (responsePtr) {
-                    mod._smart_free_string(responsePtr);
-                }
+            if (literalToken === 'null') {
+              return `<span class="json-null">${match}</span>`;
             }
+
+            return `<span class="json-number">${match}</span>`;
+          },
+        );
+      }
+
+      function renderOutput(value) {
+        if (typeof value !== 'string') {
+          const jsonText = JSON.stringify(value, null, 2);
+          output.innerHTML = highlightJson(jsonText);
+          setMetaFromJson(value);
+          return;
         }
 
-        async function runRequest() {
-            const mod = await ensureModule();
-            let requestPtr = null;
-            let responsePtr = null;
+        try {
+          const parsed = JSON.parse(value);
+          renderOutput(parsed);
+        } catch {
+          resetMeta();
+          output.textContent = value;
+        }
+      }
 
-            try {
-                const raw = requestBox.value.trim();
-                JSON.parse(raw);
-                requestPtr = allocString(raw);
-                responsePtr = mod._func(requestPtr);
-                const text = mod.UTF8ToString(responsePtr);
-                renderOutput(text);
-                requestStatus.textContent = "请求成功";
-            } catch (error) {
-                requestStatus.textContent = "请求失败";
-                resetMeta();
-                output.textContent = String(error && error.stack ? error.stack : error);
-            } finally {
-                if (requestPtr) {
-                    mod._free(requestPtr);
-                }
-                if (responsePtr) {
-                    mod._smart_free_string(responsePtr);
-                }
-            }
+      function allocString(value) {
+        const size = wasmModule.lengthBytesUTF8(value) + 1;
+        const ptr = wasmModule._malloc(size);
+        wasmModule.stringToUTF8(value, ptr, size);
+        return ptr;
+      }
+
+      function loadSelectedSample() {
+        const selectedKey = sampleSelect.value;
+        const sample = requestSamples[selectedKey];
+        if (!sample) {
+          return;
+        }
+        requestBox.value = JSON.stringify(sample, null, 2);
+      }
+
+      async function ensureModule() {
+        if (wasmModule) {
+          return wasmModule;
         }
 
-        document.getElementById("init-btn").addEventListener("click", initializeBusinessApi);
-        document.getElementById("run-btn").addEventListener("click", runRequest);
-        document.getElementById("sample-btn").addEventListener("click", loadSelectedSample);
-        document.getElementById("clear-btn").addEventListener("click", () => {
-            requestStatus.textContent = "等待操作";
-            resetMeta();
-            output.textContent = "No output yet.";
-        });
+        requestStatus.textContent = '正在加载模块';
+        wasmModule = await createSmartMathModule();
+        moduleStatus.textContent = 'WASM 已加载';
+        requestStatus.textContent = '模块加载完成';
+        return wasmModule;
+      }
 
+      async function initializeBusinessApi() {
+        const mod = await ensureModule();
+        let responsePtr = null;
+
+        try {
+          responsePtr = mod._init_func();
+          const text = mod.UTF8ToString(responsePtr);
+          renderOutput(text);
+          moduleStatus.textContent = '业务接口已初始化';
+          requestStatus.textContent = '初始化成功';
+        } catch (error) {
+          moduleStatus.textContent = '初始化失败';
+          requestStatus.textContent = '初始化失败';
+          resetMeta();
+          output.textContent = String(
+            error && error.stack ? error.stack : error,
+          );
+        } finally {
+          if (responsePtr) {
+            mod._smart_free_string(responsePtr);
+          }
+        }
+      }
+
+      async function runRequest() {
+        const mod = await ensureModule();
+        let requestPtr = null;
+        let responsePtr = null;
+
+        try {
+          const raw = requestBox.value.trim();
+          JSON.parse(raw);
+          requestPtr = allocString(raw);
+          responsePtr = mod._func(requestPtr);
+          const text = mod.UTF8ToString(responsePtr);
+          renderOutput(text);
+          requestStatus.textContent = '请求成功';
+        } catch (error) {
+          requestStatus.textContent = '请求失败';
+          resetMeta();
+          output.textContent = String(
+            error && error.stack ? error.stack : error,
+          );
+        } finally {
+          if (requestPtr) {
+            mod._free(requestPtr);
+          }
+          if (responsePtr) {
+            mod._smart_free_string(responsePtr);
+          }
+        }
+      }
+
+      document
+        .getElementById('init-btn')
+        .addEventListener('click', initializeBusinessApi);
+      document.getElementById('run-btn').addEventListener('click', runRequest);
+      document
+        .getElementById('sample-btn')
+        .addEventListener('click', loadSelectedSample);
+      document.getElementById('clear-btn').addEventListener('click', () => {
+        requestStatus.textContent = '等待操作';
         resetMeta();
-        loadSelectedSample();
+        output.textContent = 'No output yet.';
+      });
+
+      resetMeta();
+      loadSelectedSample();
     </script>
-</body>
+  </body>
 </html>
diff --git a/public/smart_test.html b/public/smart_test.html
index 76e41b0..49aac0b 100644
--- a/public/smart_test.html
+++ b/public/smart_test.html
@@ -1,11 +1,11 @@
-<!DOCTYPE html>
+<!doctype html>
 <html lang="zh-CN">
-<head>
-    <meta charset="UTF-8">
-    <meta http-equiv="refresh" content="0; url=./index.html">
+  <head>
+    <meta charset="UTF-8" />
+    <meta http-equiv="refresh" content="0; url=./index.html" />
     <title>Redirecting</title>
-</head>
-<body>
+  </head>
+  <body>
     <p>Redirecting to <a href="./index.html">index.html</a> ...</p>
-</body>
+  </body>
 </html>
