diff --git a/.gitignore b/.gitignore
index 747bbed4..76eaed1d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,4 @@ coverage/
 !.env.example
 *-lock.json
 *-lock.yaml
+.idea
\ No newline at end of file
diff --git a/package-lock.json b/package-lock.json
index 7eb25986..f382c269 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -15,10 +15,12 @@
         "better-sqlite3": "^12.4.1",
         "dotenv": "^17.2.3",
         "express": "^4.21.2",
+        "jszip": "^3.10.1",
         "lucide-react": "^0.546.0",
         "motion": "^12.23.24",
         "react": "^19.0.0",
         "react-dom": "^19.0.0",
+        "socket.io-client": "^4.8.3",
         "three": "^0.183.2",
         "vite": "^6.2.0"
       },
@@ -26,6 +28,7 @@
         "@types/express": "^4.17.21",
         "@types/node": "^22.14.0",
         "autoprefixer": "^10.4.21",
+        "gh-pages": "^6.1.1",
         "tailwindcss": "^4.1.14",
         "tsx": "^4.21.0",
         "typescript": "~5.8.2",
@@ -60,6 +63,7 @@
       "resolved": "https://registry.npmjs.org/@babel/core/-/core-7.29.0.tgz",
       "integrity": "sha512-CGOfOJqWjg2qW/Mb6zNsDm+u5vFQ8DxXfbM09z69p5Z6+mE1ikP2jUXw+j42Pf1XTYED2Rni5f95npYeuwMDQA==",
       "license": "MIT",
+      "peer": true,
       "dependencies": {
         "@babel/code-frame": "^7.29.0",
         "@babel/generator": "^7.29.0",
@@ -796,6 +800,44 @@
         "@jridgewell/sourcemap-codec": "^1.4.14"
       }
     },
+    "node_modules/@nodelib/fs.scandir": {
+      "version": "2.1.5",
+      "resolved": "https://registry.npmjs.org/@nodelib/fs.scandir/-/fs.scandir-2.1.5.tgz",
+      "integrity": "sha512-vq24Bq3ym5HEQm2NKCr3yXDwjc7vTsEThRDnkp2DK9p1uqLR+DHurm/NOTo0KG7HYHU7eppKZj3MyqYuMBf62g==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@nodelib/fs.stat": "2.0.5",
+        "run-parallel": "^1.1.9"
+      },
+      "engines": {
+        "node": ">= 8"
+      }
+    },
+    "node_modules/@nodelib/fs.stat": {
+      "version": "2.0.5",
+      "resolved": "https://registry.npmjs.org/@nodelib/fs.stat/-/fs.stat-2.0.5.tgz",
+      "integrity": "sha512-RkhPPp2zrqDAQA/2jNhnztcPAlv64XdhIp7a7454A5ovI7Bukxgt7MX7udwAu3zg1DcpPU0rz3VV1SeaqvY4+A==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">= 8"
+      }
+    },
+    "node_modules/@nodelib/fs.walk": {
+      "version": "1.2.8",
+      "resolved": "https://registry.npmjs.org/@nodelib/fs.walk/-/fs.walk-1.2.8.tgz",
+      "integrity": "sha512-oGB+UxlgWcgQkgwo8GcEGwemoTFt3FIO9ababBmaGwXIoBKZ+GTy0pP185beGg7Llih/NSHSV2XAs1lnznocSg==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@nodelib/fs.scandir": "2.1.5",
+        "fastq": "^1.6.0"
+      },
+      "engines": {
+        "node": ">= 8"
+      }
+    },
     "node_modules/@pkgjs/parseargs": {
       "version": "0.11.0",
       "resolved": "https://registry.npmjs.org/@pkgjs/parseargs/-/parseargs-0.11.0.tgz",
@@ -1201,6 +1243,12 @@
         "win32"
       ]
     },
+    "node_modules/@socket.io/component-emitter": {
+      "version": "3.1.2",
+      "resolved": "https://registry.npmjs.org/@socket.io/component-emitter/-/component-emitter-3.1.2.tgz",
+      "integrity": "sha512-9BCxFwvbGg/RsZK9tjXd8s4UcwR0MWeFQ1XEKIQVVvAGJyINdrqKMcTRyLoK8Rse1GjzLV9cwjWV1olXRWEXVA==",
+      "license": "MIT"
+    },
     "node_modules/@tailwindcss/node": {
       "version": "4.2.1",
       "resolved": "https://registry.npmjs.org/@tailwindcss/node/-/node-4.2.1.tgz",
@@ -1528,6 +1576,7 @@
       "resolved": "https://registry.npmjs.org/@tensorflow/tfjs-core/-/tfjs-core-4.22.0.tgz",
       "integrity": "sha512-LEkOyzbknKFoWUwfkr59vSB68DMJ4cjwwHgicXN0DUi3a0Vh1Er3JQqCI1Hl86GGZQvY8ezVrtDIvqR1ZFW55A==",
       "license": "Apache-2.0",
+      "peer": true,
       "dependencies": {
         "@types/long": "^4.0.1",
         "@types/offscreencanvas": "~2019.7.0",
@@ -1902,6 +1951,23 @@
       "integrity": "sha512-PCVAQswWemu6UdxsDFFX/+gVeYqKAod3D3UVm91jHwynguOwAvYPhx8nNlM++NqRcK6CxxpUafjmhIdKiHibqg==",
       "license": "MIT"
     },
+    "node_modules/array-union": {
+      "version": "2.1.0",
+      "resolved": "https://registry.npmjs.org/array-union/-/array-union-2.1.0.tgz",
+      "integrity": "sha512-HGyxoOTYUyCM6stUe6EJgnd4EoewAI7zMdfqO+kGjnlZmBDz/cR5pf8r/cR4Wq60sL/p0IkcjUEEPwS3GFrIyw==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=8"
+      }
+    },
+    "node_modules/async": {
+      "version": "3.2.6",
+      "resolved": "https://registry.npmjs.org/async/-/async-3.2.6.tgz",
+      "integrity": "sha512-htCUDlxyyCLMgaM3xXg0C0LW2xqfuQ6p05pCEIsXuyQ+a1koYKTuBMzRNwmybfLgvJDMd0r1LTn4+E0Ti6C2AA==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/asynckit": {
       "version": "0.4.0",
       "resolved": "https://registry.npmjs.org/asynckit/-/asynckit-0.4.0.tgz",
@@ -2074,6 +2140,19 @@
         "balanced-match": "^1.0.0"
       }
     },
+    "node_modules/braces": {
+      "version": "3.0.3",
+      "resolved": "https://registry.npmjs.org/braces/-/braces-3.0.3.tgz",
+      "integrity": "sha512-yQbXgO/OSZVD2IsiLlro+7Hf6Q18EJrKSEsdoMzKePKXct3gvD8oLcOQdIzGupr5Fj+EDe8gO/lxc1BzfMpxvA==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "fill-range": "^7.1.1"
+      },
+      "engines": {
+        "node": ">=8"
+      }
+    },
     "node_modules/browserslist": {
       "version": "4.28.1",
       "resolved": "https://registry.npmjs.org/browserslist/-/browserslist-4.28.1.tgz",
@@ -2093,6 +2172,7 @@
         }
       ],
       "license": "MIT",
+      "peer": true,
       "dependencies": {
         "baseline-browser-mapping": "^2.9.0",
         "caniuse-lite": "^1.0.30001759",
@@ -2346,6 +2426,23 @@
         "node": ">= 0.8"
       }
     },
+    "node_modules/commander": {
+      "version": "13.1.0",
+      "resolved": "https://registry.npmjs.org/commander/-/commander-13.1.0.tgz",
+      "integrity": "sha512-/rFeCpNJQbhSZjGVwO9RFV3xPqbnERS8MmIQzCtD/zl6gpJuV/bMLuN92oG3F7d8oDEHHRrujSXNUr8fpjntKw==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=18"
+      }
+    },
+    "node_modules/commondir": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/commondir/-/commondir-1.0.1.tgz",
+      "integrity": "sha512-W9pAhw0ja1Edb5GVdIF1mjZw/ASI0AlShXM83UUGe2DVr5TdAPEA1OA8m/g8zWp9x6On7gqufY+FatDbC3MDQg==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/content-disposition": {
       "version": "0.5.4",
       "resolved": "https://registry.npmjs.org/content-disposition/-/content-disposition-0.5.4.tgz",
@@ -2399,6 +2496,12 @@
         "url": "https://opencollective.com/core-js"
       }
     },
+    "node_modules/core-util-is": {
+      "version": "1.0.3",
+      "resolved": "https://registry.npmjs.org/core-util-is/-/core-util-is-1.0.3.tgz",
+      "integrity": "sha512-ZQBvi1DcpJ4GDqanjucZ2Hj3wEO5pZDS89BWbkcrvdxksJorwUDDZamX9ldFkp9aw2lmBDLgkObEA4DWNJ9FYQ==",
+      "license": "MIT"
+    },
     "node_modules/cross-spawn": {
       "version": "7.0.6",
       "resolved": "https://registry.npmjs.org/cross-spawn/-/cross-spawn-7.0.6.tgz",
@@ -2500,6 +2603,19 @@
         "node": ">=8"
       }
     },
+    "node_modules/dir-glob": {
+      "version": "3.0.1",
+      "resolved": "https://registry.npmjs.org/dir-glob/-/dir-glob-3.0.1.tgz",
+      "integrity": "sha512-WkrWp9GR4KXfKGYzOLmTuGVi1UWFfws377n9cc55/tb6DuqyF6pcQ5AbiHEshaDpY9v6oaSr2XCDidGmMwdzIA==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "path-type": "^4.0.0"
+      },
+      "engines": {
+        "node": ">=8"
+      }
+    },
     "node_modules/dotenv": {
       "version": "17.3.1",
       "resolved": "https://registry.npmjs.org/dotenv/-/dotenv-17.3.1.tgz",
@@ -2553,6 +2669,13 @@
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       "license": "ISC"
     },
+    "node_modules/email-addresses": {
+      "version": "5.0.0",
+      "resolved": "https://registry.npmjs.org/email-addresses/-/email-addresses-5.0.0.tgz",
+      "integrity": "sha512-4OIPYlA6JXqtVn8zpHpGiI7vE6EQOAg16aGnDMIAlZVinnoZ8208tW1hAbjWydgN/4PLTT9q+O1K6AH/vALJGw==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/emoji-regex": {
       "version": "9.2.2",
       "resolved": "https://registry.npmjs.org/emoji-regex/-/emoji-regex-9.2.2.tgz",
@@ -2577,6 +2700,49 @@
         "once": "^1.4.0"
       }
     },
+    "node_modules/engine.io-client": {
+      "version": "6.6.4",
+      "resolved": "https://registry.npmjs.org/engine.io-client/-/engine.io-client-6.6.4.tgz",
+      "integrity": "sha512-+kjUJnZGwzewFDw951CDWcwj35vMNf2fcj7xQWOctq1F2i1jkDdVvdFG9kM/BEChymCH36KgjnW0NsL58JYRxw==",
+      "license": "MIT",
+      "dependencies": {
+        "@socket.io/component-emitter": "~3.1.0",
+        "debug": "~4.4.1",
+        "engine.io-parser": "~5.2.1",
+        "ws": "~8.18.3",
+        "xmlhttprequest-ssl": "~2.1.1"
+      }
+    },
+    "node_modules/engine.io-client/node_modules/ws": {
+      "version": "8.18.3",
+      "resolved": "https://registry.npmjs.org/ws/-/ws-8.18.3.tgz",
+      "integrity": "sha512-PEIGCY5tSlUt50cqyMXfCzX+oOPqN0vuGqWzbcJ2xvnkzkq46oOpz7dQaTDBdfICb4N14+GARUDw2XV2N4tvzg==",
+      "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/engine.io-parser": {
+      "version": "5.2.3",
+      "resolved": "https://registry.npmjs.org/engine.io-parser/-/engine.io-parser-5.2.3.tgz",
+      "integrity": "sha512-HqD3yTBfnBxIrbnM1DoD6Pcq8NECnh8d4As1Qgh0z5Gg3jRRIqijury0CL3ghu/edArpUYiYqQiDUQBIs4np3Q==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=10.0.0"
+      }
+    },
     "node_modules/enhanced-resolve": {
       "version": "5.20.0",
       "resolved": "https://registry.npmjs.org/enhanced-resolve/-/enhanced-resolve-5.20.0.tgz",
@@ -2692,6 +2858,16 @@
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       "license": "MIT"
     },
+    "node_modules/escape-string-regexp": {
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/escape-string-regexp/-/escape-string-regexp-1.0.5.tgz",
+      "integrity": "sha512-vbRorB5FUQWvla16U8R/qgaFIya2qGzwDrNmCZuYKrbdSUMG6I1ZCGQRefkRVhuOkIGVne7BQ35DSfo1qvJqFg==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=0.8.0"
+      }
+    },
     "node_modules/etag": {
       "version": "1.8.1",
       "resolved": "https://registry.npmjs.org/etag/-/etag-1.8.1.tgz",
@@ -2777,6 +2953,33 @@
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       "license": "MIT"
     },
+    "node_modules/fast-glob": {
+      "version": "3.3.3",
+      "resolved": "https://registry.npmjs.org/fast-glob/-/fast-glob-3.3.3.tgz",
+      "integrity": "sha512-7MptL8U0cqcFdzIzwOTHoilX9x5BrNqye7Z/LuC7kCMRio1EMSyqRK3BEAUD7sXRq4iT4AzTVuZdhgQ2TCvYLg==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@nodelib/fs.stat": "^2.0.2",
+        "@nodelib/fs.walk": "^1.2.3",
+        "glob-parent": "^5.1.2",
+        "merge2": "^1.3.0",
+        "micromatch": "^4.0.8"
+      },
+      "engines": {
+        "node": ">=8.6.0"
+      }
+    },
+    "node_modules/fastq": {
+      "version": "1.20.1",
+      "resolved": "https://registry.npmjs.org/fastq/-/fastq-1.20.1.tgz",
+      "integrity": "sha512-GGToxJ/w1x32s/D2EKND7kTil4n8OVk/9mycTc4VDza13lOvpUZTGX3mFSCtV9ksdGBVzvsyAVLM6mHFThxXxw==",
+      "dev": true,
+      "license": "ISC",
+      "dependencies": {
+        "reusify": "^1.0.4"
+      }
+    },
     "node_modules/fdir": {
       "version": "6.5.0",
       "resolved": "https://registry.npmjs.org/fdir/-/fdir-6.5.0.tgz",
@@ -2823,6 +3026,47 @@
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       "license": "MIT"
     },
+    "node_modules/filename-reserved-regex": {
+      "version": "2.0.0",
+      "resolved": "https://registry.npmjs.org/filename-reserved-regex/-/filename-reserved-regex-2.0.0.tgz",
+      "integrity": "sha512-lc1bnsSr4L4Bdif8Xb/qrtokGbq5zlsms/CYH8PP+WtCkGNF65DPiQY8vG3SakEdRn8Dlnm+gW/qWKKjS5sZzQ==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=4"
+      }
+    },
+    "node_modules/filenamify": {
+      "version": "4.3.0",
+      "resolved": "https://registry.npmjs.org/filenamify/-/filenamify-4.3.0.tgz",
+      "integrity": "sha512-hcFKyUG57yWGAzu1CMt/dPzYZuv+jAJUT85bL8mrXvNe6hWj6yEHEc4EdcgiA6Z3oi1/9wXJdZPXF2dZNgwgOg==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "filename-reserved-regex": "^2.0.0",
+        "strip-outer": "^1.0.1",
+        "trim-repeated": "^1.0.0"
+      },
+      "engines": {
+        "node": ">=8"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/sindresorhus"
+      }
+    },
+    "node_modules/fill-range": {
+      "version": "7.1.1",
+      "resolved": "https://registry.npmjs.org/fill-range/-/fill-range-7.1.1.tgz",
+      "integrity": "sha512-YsGpe3WHLK8ZYi4tWDg2Jy3ebRz2rXowDxnld4bkQB00cc/1Zw9AWnC0i9ztDJitivtQvaI9KaLyKrc+hBW0yg==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "to-regex-range": "^5.0.1"
+      },
+      "engines": {
+        "node": ">=8"
+      }
+    },
     "node_modules/finalhandler": {
       "version": "1.3.2",
       "resolved": "https://registry.npmjs.org/finalhandler/-/finalhandler-1.3.2.tgz",
@@ -2856,6 +3100,38 @@
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       "license": "MIT"
     },
+    "node_modules/find-cache-dir": {
+      "version": "3.3.2",
+      "resolved": "https://registry.npmjs.org/find-cache-dir/-/find-cache-dir-3.3.2.tgz",
+      "integrity": "sha512-wXZV5emFEjrridIgED11OoUKLxiYjAcqot/NJdAkOhlJ+vGzwhOAfcG5OX1jP+S0PcjEn8bdMJv+g2jwQ3Onig==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "commondir": "^1.0.1",
+        "make-dir": "^3.0.2",
+        "pkg-dir": "^4.1.0"
+      },
+      "engines": {
+        "node": ">=8"
+      },
+      "funding": {
+        "url": "https://github.com/avajs/find-cache-dir?sponsor=1"
+      }
+    },
+    "node_modules/find-up": {
+      "version": "4.1.0",
+      "resolved": "https://registry.npmjs.org/find-up/-/find-up-4.1.0.tgz",
+      "integrity": "sha512-PpOwAdQ/YlXQ2vj8a3h8IipDuYRi3wceVQQGYWxNINccq40Anw7BlsEXCMbt1Zt+OLA6Fq9suIpIWD0OsnISlw==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "locate-path": "^5.0.0",
+        "path-exists": "^4.0.0"
+      },
+      "engines": {
+        "node": ">=8"
+      }
+    },
     "node_modules/foreground-child": {
       "version": "3.3.1",
       "resolved": "https://registry.npmjs.org/foreground-child/-/foreground-child-3.3.1.tgz",
@@ -2965,6 +3241,21 @@
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       "license": "MIT"
     },
+    "node_modules/fs-extra": {
+      "version": "11.3.4",
+      "resolved": "https://registry.npmjs.org/fs-extra/-/fs-extra-11.3.4.tgz",
+      "integrity": "sha512-CTXd6rk/M3/ULNQj8FBqBWHYBVYybQ3VPBw0xGKFe3tuH7ytT6ACnvzpIQ3UZtB8yvUKC2cXn1a+x+5EVQLovA==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "graceful-fs": "^4.2.0",
+        "jsonfile": "^6.0.1",
+        "universalify": "^2.0.0"
+      },
+      "engines": {
+        "node": ">=14.14"
+      }
+    },
     "node_modules/fsevents": {
       "version": "2.3.3",
       "resolved": "https://registry.npmjs.org/fsevents/-/fsevents-2.3.3.tgz",
@@ -3085,6 +3376,29 @@
         "url": "https://github.com/privatenumber/get-tsconfig?sponsor=1"
       }
     },
+    "node_modules/gh-pages": {
+      "version": "6.3.0",
+      "resolved": "https://registry.npmjs.org/gh-pages/-/gh-pages-6.3.0.tgz",
+      "integrity": "sha512-Ot5lU6jK0Eb+sszG8pciXdjMXdBJ5wODvgjR+imihTqsUWF2K6dJ9HST55lgqcs8wWcw6o6wAsUzfcYRhJPXbA==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "async": "^3.2.4",
+        "commander": "^13.0.0",
+        "email-addresses": "^5.0.0",
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@@ -4223,6 +4863,7 @@
       "resolved": "https://registry.npmjs.org/react/-/react-19.2.4.tgz",
       "integrity": "sha512-9nfp2hYpCwOjAN+8TZFGhtWEwgvWHXqESH8qT89AT/lWklpLON22Lc8pEtnpsZz7VmawabSU0gCjnj8aC0euHQ==",
       "license": "MIT",
+      "peer": true,
       "engines": {
         "node": ">=0.10.0"
       }
@@ -4232,6 +4873,7 @@
       "resolved": "https://registry.npmjs.org/react-dom/-/react-dom-19.2.4.tgz",
       "integrity": "sha512-AXJdLo8kgMbimY95O2aKQqsz2iWi9jMgKJhRBAxECE4IFxfcazB2LmzloIoibJI3C12IlY20+KFaLv+71bUJeQ==",
       "license": "MIT",
+      "peer": true,
       "dependencies": {
         "scheduler": "^0.27.0"
       },
@@ -4296,6 +4938,17 @@
         "node": ">= 4"
       }
     },
+    "node_modules/reusify": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/reusify/-/reusify-1.1.0.tgz",
+      "integrity": "sha512-g6QUff04oZpHs0eG5p83rFLhHeV00ug/Yf9nZM6fLeUrPguBTkTQOdpAWWspMh55TZfVQDPaN3NQJfbVRAxdIw==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "iojs": ">=1.0.0",
+        "node": ">=0.10.0"
+      }
+    },
     "node_modules/rimraf": {
       "version": "5.0.10",
       "resolved": "https://registry.npmjs.org/rimraf/-/rimraf-5.0.10.tgz",
@@ -4355,6 +5008,30 @@
         "fsevents": "~2.3.2"
       }
     },
+    "node_modules/run-parallel": {
+      "version": "1.2.0",
+      "resolved": "https://registry.npmjs.org/run-parallel/-/run-parallel-1.2.0.tgz",
+      "integrity": "sha512-5l4VyZR86LZ/lDxZTR6jqL8AFE2S0IFLMP26AbjsLVADxHdhB/c0GUsH+y39UfCi3dzz8OlQuPmnaJOMoDHQBA==",
+      "dev": true,
+      "funding": [
+        {
+          "type": "github",
+          "url": "https://github.com/sponsors/feross"
+        },
+        {
+          "type": "patreon",
+          "url": "https://www.patreon.com/feross"
+        },
+        {
+          "type": "consulting",
+          "url": "https://feross.org/support"
+        }
+      ],
+      "license": "MIT",
+      "dependencies": {
+        "queue-microtask": "^1.2.2"
+      }
+    },
     "node_modules/safe-buffer": {
       "version": "5.2.1",
       "resolved": "https://registry.npmjs.org/safe-buffer/-/safe-buffer-5.2.1.tgz",
@@ -4391,7 +5068,8 @@
       "version": "3.0.5",
       "resolved": "https://registry.npmjs.org/seedrandom/-/seedrandom-3.0.5.tgz",
       "integrity": "sha512-8OwmbklUNzwezjGInmZ+2clQmExQPvomqjL7LFqOYqtmuxRgQYqOD3mHaU+MvZn5FLUeVxVfQjwLZW/n/JFuqg==",
-      "license": "MIT"
+      "license": "MIT",
+      "peer": true
     },
     "node_modules/semver": {
       "version": "6.3.1",
@@ -4456,6 +5134,12 @@
         "node": ">= 0.8.0"
       }
     },
+    "node_modules/setimmediate": {
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/setimmediate/-/setimmediate-1.0.5.tgz",
+      "integrity": "sha512-MATJdZp8sLqDl/68LfQmbP8zKPLQNV6BIZoIgrscFDQ+RsvK/BxeDQOgyxKKoh0y/8h3BqVFnCqQ/gd+reiIXA==",
+      "license": "MIT"
+    },
     "node_modules/setprototypeof": {
       "version": "1.2.0",
       "resolved": "https://registry.npmjs.org/setprototypeof/-/setprototypeof-1.2.0.tgz",
@@ -4612,6 +5296,44 @@
         "simple-concat": "^1.0.0"
       }
     },
+    "node_modules/slash": {
+      "version": "3.0.0",
+      "resolved": "https://registry.npmjs.org/slash/-/slash-3.0.0.tgz",
+      "integrity": "sha512-g9Q1haeby36OSStwb4ntCGGGaKsaVSjQ68fBxoQcutl5fS1vuY18H3wSt3jFyFtrkx+Kz0V1G85A4MyAdDMi2Q==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=8"
+      }
+    },
+    "node_modules/socket.io-client": {
+      "version": "4.8.3",
+      "resolved": "https://registry.npmjs.org/socket.io-client/-/socket.io-client-4.8.3.tgz",
+      "integrity": "sha512-uP0bpjWrjQmUt5DTHq9RuoCBdFJF10cdX9X+a368j/Ft0wmaVgxlrjvK3kjvgCODOMMOz9lcaRzxmso0bTWZ/g==",
+      "license": "MIT",
+      "dependencies": {
+        "@socket.io/component-emitter": "~3.1.0",
+        "debug": "~4.4.1",
+        "engine.io-client": "~6.6.1",
+        "socket.io-parser": "~4.2.4"
+      },
+      "engines": {
+        "node": ">=10.0.0"
+      }
+    },
+    "node_modules/socket.io-parser": {
+      "version": "4.2.6",
+      "resolved": "https://registry.npmjs.org/socket.io-parser/-/socket.io-parser-4.2.6.tgz",
+      "integrity": "sha512-asJqbVBDsBCJx0pTqw3WfesSY0iRX+2xzWEWzrpcH7L6fLzrhyF8WPI8UaeM4YCuDfpwA/cgsdugMsmtz8EJeg==",
+      "license": "MIT",
+      "dependencies": {
+        "@socket.io/component-emitter": "~3.1.0",
+        "debug": "~4.4.1"
+      },
+      "engines": {
+        "node": ">=10.0.0"
+      }
+    },
     "node_modules/source-map-js": {
       "version": "1.2.1",
       "resolved": "https://registry.npmjs.org/source-map-js/-/source-map-js-1.2.1.tgz",
@@ -4750,6 +5472,19 @@
         "node": ">=0.10.0"
       }
     },
+    "node_modules/strip-outer": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/strip-outer/-/strip-outer-1.0.1.tgz",
+      "integrity": "sha512-k55yxKHwaXnpYGsOzg4Vl8+tDrWylxDEpknGjhTiZB8dFRU5rTo9CAzeycivxV3s+zlTKwrs6WxMxR95n26kwg==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "escape-string-regexp": "^1.0.2"
+      },
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
     "node_modules/supports-color": {
       "version": "7.2.0",
       "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-7.2.0.tgz",
@@ -4831,6 +5566,19 @@
         "url": "https://github.com/sponsors/SuperchupuDev"
       }
     },
+    "node_modules/to-regex-range": {
+      "version": "5.0.1",
+      "resolved": "https://registry.npmjs.org/to-regex-range/-/to-regex-range-5.0.1.tgz",
+      "integrity": "sha512-65P7iz6X5yEr1cwcgvQxbbIw7Uk3gOy5dIdtZ4rDveLqhrdJP+Li/Hx6tyK0NEb+2GCyneCMJiGqrADCSNk8sQ==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "is-number": "^7.0.0"
+      },
+      "engines": {
+        "node": ">=8.0"
+      }
+    },
     "node_modules/toidentifier": {
       "version": "1.0.1",
       "resolved": "https://registry.npmjs.org/toidentifier/-/toidentifier-1.0.1.tgz",
@@ -4846,6 +5594,19 @@
       "integrity": "sha512-N3WMsuqV66lT30CrXNbEjx4GEwlow3v6rr4mCcv6prnfwhS01rkgyFdjPNBYd9br7LpXV1+Emh01fHnq2Gdgrw==",
       "license": "MIT"
     },
+    "node_modules/trim-repeated": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/trim-repeated/-/trim-repeated-1.0.0.tgz",
+      "integrity": "sha512-pkonvlKk8/ZuR0D5tLW8ljt5I8kmxp2XKymhepUeOdCEfKpZaktSArkLHZt76OB1ZvO9bssUsDty4SWhLvZpLg==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "escape-string-regexp": "^1.0.2"
+      },
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
     "node_modules/tslib": {
       "version": "2.8.1",
       "resolved": "https://registry.npmjs.org/tslib/-/tslib-2.8.1.tgz",
@@ -4858,6 +5619,7 @@
       "integrity": "sha512-5C1sg4USs1lfG0GFb2RLXsdpXqBSEhAaA/0kPL01wxzpMqLILNxIxIOKiILz+cdg/pLnOUxFYOR5yhHU666wbw==",
       "devOptional": true,
       "license": "MIT",
+      "peer": true,
       "dependencies": {
         "esbuild": "~0.27.0",
         "get-tsconfig": "^4.7.5"
@@ -4917,6 +5679,16 @@
       "integrity": "sha512-iwDZqg0QAGrg9Rav5H4n0M64c3mkR59cJ6wQp+7C4nI0gsmExaedaYLNO44eT4AtBBwjbTiGPMlt2Md0T9H9JQ==",
       "license": "MIT"
     },
+    "node_modules/universalify": {
+      "version": "2.0.1",
+      "resolved": "https://registry.npmjs.org/universalify/-/universalify-2.0.1.tgz",
+      "integrity": "sha512-gptHNQghINnc/vTGIk0SOFGFNXw7JVrlRUtConJRlvaw6DuX0wO5Jeko9sWrMBhh+PsYAZ7oXAiOnf/UKogyiw==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">= 10.0.0"
+      }
+    },
     "node_modules/unpipe": {
       "version": "1.0.0",
       "resolved": "https://registry.npmjs.org/unpipe/-/unpipe-1.0.0.tgz",
@@ -4985,6 +5757,7 @@
       "resolved": "https://registry.npmjs.org/vite/-/vite-6.4.1.tgz",
       "integrity": "sha512-+Oxm7q9hDoLMyJOYfUYBuHQo+dkAloi33apOPP56pzj+vsdJDzr+j1NISE5pyaAuKL4A3UD34qd0lx5+kfKp2g==",
       "license": "MIT",
+      "peer": true,
       "dependencies": {
         "esbuild": "^0.25.0",
         "fdir": "^6.4.4",
@@ -5669,6 +6442,14 @@
         }
       }
     },
+    "node_modules/xmlhttprequest-ssl": {
+      "version": "2.1.2",
+      "resolved": "https://registry.npmjs.org/xmlhttprequest-ssl/-/xmlhttprequest-ssl-2.1.2.tgz",
+      "integrity": "sha512-TEU+nJVUUnA4CYJFLvK5X9AOeH4KvDvhIfm0vV1GaQRtchnG0hgK5p8hw/xjv8cunWYCsiPCSDzObPyhEwq3KQ==",
+      "engines": {
+        "node": ">=0.4.0"
+      }
+    },
     "node_modules/y18n": {
       "version": "5.0.8",
       "resolved": "https://registry.npmjs.org/y18n/-/y18n-5.0.8.tgz",
diff --git a/src/App.tsx b/src/App.tsx
index fe93810c..4c649b27 100644
--- a/src/App.tsx
+++ b/src/App.tsx
@@ -21,7 +21,9 @@ export default function App() {
     const [trainingStatus, setTrainingStatus] = useState('');
     const [trainedModels, setTrainedModels] = useState<{ name: string }[]>([
         { name: '跟随网球示例' },
-        { name: '自动避障示例' }
+        { name: '自动避障示例' },
+        { name: '找到小球并拾取示例' },
+        { name: '找到红桶放下小球示例' }
     ]);
     const [selectedModel, setSelectedModel] = useState<string>('跟随网球示例');
     const [trainedModel, setTrainedModel] = useState<{ name: string } | null>(null);
@@ -80,6 +82,8 @@ export default function App() {
         episodes: [] as any[],
         currentEpisode: [] as any[],
         target: null as THREE.Mesh | null,
+        bucket: null as THREE.Mesh | null,
+        draggingObject: null as THREE.Mesh | null,
         walls: [] as THREE.Mesh[],
         environmentGroup: null as THREE.Group | null,
         dirLight: null as THREE.DirectionalLight | null,
@@ -174,6 +178,7 @@ export default function App() {
         sim.current.arm = {
             lowerArm, elbow, wrist, gripper,
             state: 'idle',
+            hasBall: false,
             grabbedObject: null,
             targetRotations: { lowerArm: Math.PI/4, elbow: Math.PI/2.5, wrist: -Math.PI/6 }
         };
@@ -187,23 +192,53 @@ export default function App() {
 
         // Dragging Logic
         const onMouseDown = (event: MouseEvent) => {
-            if (!container || !sim.current.camera || !sim.current.target) return;
+            // 防止在已经拖动时再次设置拖动对象
+            if (isDragging.current) return;
+            
+            if (!container || !sim.current.camera) return;
             
             const rect = container.getBoundingClientRect();
             mouse.current.x = ((event.clientX - rect.left) / container.clientWidth) * 2 - 1;
             mouse.current.y = -((event.clientY - rect.top) / container.clientHeight) * 2 + 1;
             
             raycaster.current.setFromCamera(mouse.current, sim.current.camera);
-            const intersects = raycaster.current.intersectObject(sim.current.target);
             
-            if (intersects.length > 0) {
+            // 优先检查目标对象，使用距离最近的
+            const allIntersects = [];
+            
+            if (sim.current.target) {
+                const targetIntersects = raycaster.current.intersectObject(sim.current.target);
+                allIntersects.push(...targetIntersects.map(i => ({ ...i, object: sim.current.target })));
+            }
+            
+            if (sim.current.bucket) {
+                const bucketIntersects = raycaster.current.intersectObject(sim.current.bucket);
+                allIntersects.push(...bucketIntersects.map(i => ({ ...i, object: sim.current.bucket })));
+            }
+            
+            // 选择距离最近的对象
+            if (allIntersects.length > 0) {
+                allIntersects.sort((a, b) => a.distance - b.distance);
+                const selectedObject = allIntersects[0].object;
+                const isTargetHeld = selectedObject === sim.current.target && (
+                    sim.current.arm?.hasBall ||
+                    sim.current.arm?.grabbedObject === sim.current.target ||
+                    sim.current.arm?.state === 'holding'
+                );
+                
+                // 如果拖动的是小球且已被持有，则不允许拖动
+                if (isTargetHeld) {
+                    return;
+                }
+                
+                sim.current.draggingObject = selectedObject;
                 isDragging.current = true;
                 if (renderer.domElement) renderer.domElement.style.cursor = 'grabbing';
             }
         };
 
         const onMouseMove = (event: MouseEvent) => {
-            if (!container || !sim.current.camera || !sim.current.target) return;
+            if (!container || !sim.current.camera) return;
 
             const rect = container.getBoundingClientRect();
             mouse.current.x = ((event.clientX - rect.left) / container.clientWidth) * 2 - 1;
@@ -212,26 +247,37 @@ export default function App() {
             raycaster.current.setFromCamera(mouse.current, sim.current.camera);
 
             if (!isDragging.current) {
-                const intersects = raycaster.current.intersectObject(sim.current.target);
+                // 仅改变光标，不更新任何对象位置
+                const targetIsHeld = !!sim.current.target && (
+                    sim.current.arm?.hasBall ||
+                    sim.current.arm?.grabbedObject === sim.current.target ||
+                    sim.current.arm?.state === 'holding'
+                );
+                const targetIntersects = sim.current.target && !targetIsHeld ? raycaster.current.intersectObject(sim.current.target) : [];
+                const bucketIntersects = sim.current.bucket ? raycaster.current.intersectObject(sim.current.bucket) : [];
+                
                 if (renderer.domElement) {
-                    renderer.domElement.style.cursor = intersects.length > 0 ? 'grab' : 'default';
+                    renderer.domElement.style.cursor = (targetIntersects.length > 0 || bucketIntersects.length > 0) ? 'grab' : 'default';
                 }
                 return;
             }
 
-            if (!sim.current.plane) return;
+            // 拖动时：只更新当前拖动的对象，与平面交集
+            if (!sim.current.plane || !sim.current.draggingObject) return;
             
-            const intersects = raycaster.current.intersectObject(sim.current.plane);
+            const planeIntersects = raycaster.current.intersectObject(sim.current.plane);
             
-            if (intersects.length > 0) {
-                const point = intersects[0].point;
-                sim.current.target.position.x = point.x;
-                sim.current.target.position.z = point.z;
+            if (planeIntersects.length > 0) {
+                const point = planeIntersects[0].point;
+                // 明确只更新 draggingObject，不触及其他对象
+                sim.current.draggingObject.position.x = point.x;
+                sim.current.draggingObject.position.z = point.z;
             }
         };
 
         const onMouseUp = () => {
             isDragging.current = false;
+            sim.current.draggingObject = null;
             if (renderer.domElement) renderer.domElement.style.cursor = 'default';
         };
 
@@ -461,10 +507,21 @@ export default function App() {
         const ball = new THREE.Mesh(ballGeo, ballMat);
         ball.position.set(0, 0.25, -5);
         ball.castShadow = true;
-        ball.userData = { w: 0.5, d: 0.5 };
+        ball.userData = { w: 0.5, d: 0.5, isDraggable: true };
         group.add(ball);
         sim.current.walls.push(ball);
-        sim.current.target = ball; // Use ball as the target since red cube is removed
+        sim.current.target = ball;
+
+        // 红色方块（红桶）
+        const bucketGeo = new THREE.BoxGeometry(0.6, 0.6, 0.6);
+        const bucketMat = new THREE.MeshStandardMaterial({ color: 0xFF0000, roughness: 0.6 });
+        const bucket = new THREE.Mesh(bucketGeo, bucketMat);
+        bucket.position.set(0, 0.3, 5);
+        bucket.castShadow = true;
+        bucket.userData = { w: 0.6, d: 0.6, isDraggable: true, isBucket: true };
+        group.add(bucket);
+        sim.current.walls.push(bucket);
+        sim.current.bucket = bucket;
 
         addLog(`Scene updated: ${sceneType}, Size: ${sceneSize}, Complexity: ${sceneComplexity}`, 'info');
     }, [sceneType, sceneSize, sceneComplexity, addLog]);
@@ -802,7 +859,12 @@ export default function App() {
                 }
 
                 if (closestObj) {
+                    if (closestObj === sim.current.target && sim.current.draggingObject === sim.current.target) {
+                        isDragging.current = false;
+                        sim.current.draggingObject = null;
+                    }
                     arm.grabbedObject = closestObj;
+                    arm.hasBall = closestObj === sim.current.target;
                     arm.state = 'picking_down';
                     arm.targetRotations = { lowerArm: Math.PI/2.2, elbow: Math.PI/4, wrist: Math.PI/4 };
                     addLog('Picking up object...', 'info');
@@ -852,6 +914,7 @@ export default function App() {
                     // Drop to ground level
                     arm.grabbedObject.position.y = 0.25;
                     arm.grabbedObject = null;
+                    arm.hasBall = false;
                 }
                 arm.state = 'dropping_up';
                 arm.targetRotations = { lowerArm: Math.PI/4, elbow: Math.PI/2.5, wrist: -Math.PI/6 };
@@ -1425,283 +1488,291 @@ export default function App() {
         if (!sim.current.isInferencing || !sim.current.target) return;
 
         const { robotState, target, model } = sim.current;
+        const armState = sim.current.arm?.state;
+        const isHolding = armState === 'holding';
+        const isArmBusy = armState === 'picking_down' || armState === 'picking_up' || armState === 'dropping_down' || armState === 'dropping_up';
 
-        if (selectedModel === '跟随网球示例' || selectedModel === '自动避障示例') {
-            let targetSpeed = 0;
-            let targetTurn = 0;
+        if (isArmBusy) {
+            robotState.velocity = 0;
+            robotState.angularVelocity = 0;
+            sim.current.inferenceTimeoutId = setTimeout(runInference, 100);
+            return;
+        }
 
-            if (selectedModel === '跟随网球示例') {
-                const dirX = Math.sin(robotState.rotation);
-                const dirZ = Math.cos(robotState.rotation);
-                
-                // Calculate from camera position (0.85 units forward) to match visual FOV
-                const camX = robotState.x + dirX * 0.85;
-                const camZ = robotState.z + dirZ * 0.85;
-                
-                const dx = target.position.x - camX;
-                const dz = target.position.z - camZ;
-                const distance = Math.sqrt(dx * dx + dz * dz);
-                
-                const targetAngle = Math.atan2(dx, dz);
-                let angleDiff = targetAngle - robotState.rotation;
-                
-                while (angleDiff > Math.PI) angleDiff -= Math.PI * 2;
-                while (angleDiff < -Math.PI) angleDiff += Math.PI * 2;
-
-                // Camera horizontal FOV is ~96 degrees (48 left/right). Use 45 degrees for strict visibility.
-                const FOV = Math.PI / 4; 
-                let isVisible = Math.abs(angleDiff) <= FOV;
-
-                // Check for obstacles blocking the view
-                if (isVisible && distance > 1.0) {
-                    const steps = Math.floor(distance / 0.5);
-                    const stepX = dx / steps;
-                    const stepZ = dz / steps;
-                    let px = camX;
-                    let pz = camZ;
-                    
-                    for (let i = 1; i < steps; i++) {
-                        px += stepX;
-                        pz += stepZ;
-                        for (const wall of sim.current.walls) {
-                            if (wall === target) continue;
-                            const w = wall.userData.w;
-                            const depth = wall.userData.d;
-                            const wx = wall.position.x;
-                            const wz = wall.position.z;
-                            if (px > wx - w/2 && px < wx + w/2 && pz > wz - depth/2 && pz < wz + depth/2) {
-                                isVisible = false;
-                                break;
-                            }
+        let targetSpeed = 0;
+        let targetTurn = 0;
+
+        const computeFollow = (goal: THREE.Mesh) => {
+            const dirX = Math.sin(robotState.rotation);
+            const dirZ = Math.cos(robotState.rotation);
+            const camX = robotState.x + dirX * 0.85;
+            const camZ = robotState.z + dirZ * 0.85;
+
+            const dx = goal.position.x - camX;
+            const dz = goal.position.z - camZ;
+            const distance = Math.sqrt(dx * dx + dz * dz);
+
+            const targetAngle = Math.atan2(dx, dz);
+            let angleDiff = targetAngle - robotState.rotation;
+            while (angleDiff > Math.PI) angleDiff -= Math.PI * 2;
+            while (angleDiff < -Math.PI) angleDiff += Math.PI * 2;
+
+            const FOV = Math.PI / 4;
+            let isVisible = Math.abs(angleDiff) <= FOV;
+
+            if (isVisible && distance > 1.0) {
+                const steps = Math.max(1, Math.floor(distance / 0.5));
+                const stepX = dx / steps;
+                const stepZ = dz / steps;
+                let px = camX;
+                let pz = camZ;
+
+                for (let i = 1; i < steps; i++) {
+                    px += stepX;
+                    pz += stepZ;
+                    for (const wall of sim.current.walls) {
+                        if (wall === goal) continue;
+                        const w = wall.userData.w;
+                        const depth = wall.userData.d;
+                        const wx = wall.position.x;
+                        const wz = wall.position.z;
+
+                        if (px > wx - w / 2 && px < wx + w / 2 && pz > wz - depth / 2 && pz < wz + depth / 2) {
+                            isVisible = false;
+                            break;
                         }
-                        if (!isVisible) break;
                     }
+                    if (!isVisible) break;
+                }
+            }
+
+            if (distance <= 1.2 && isVisible) {
+                targetSpeed = 0;
+                targetTurn = 0;
+            } else if (!isVisible) {
+                targetSpeed = 0;
+                targetTurn = turnSpeed;
+            } else {
+                targetTurn = angleDiff * 1.0;
+                targetTurn = Math.max(-turnSpeed * 1.5, Math.min(turnSpeed * 1.5, targetTurn));
+                targetSpeed = Math.min(speed, (distance - 1.2) * 0.5);
+                if (Math.abs(angleDiff) > Math.PI / 6) {
+                    targetSpeed *= 0.5;
                 }
+            }
+
+            return { distance, isVisible };
+        };
+
+        if (selectedModel === '跟随网球示例' || selectedModel === '找到小球并拾取示例' || selectedModel === '找到红桶放下小球示例') {
+            let followGoal: THREE.Mesh;
+            let shouldFollow = true;
 
-                if (distance <= 1.5 && isVisible) {
-                    // Reached the ball and it's visible: stop completely, no jittering
+            if (selectedModel === '找到小球并拾取示例') {
+                followGoal = target;
+                if (isHolding) {
+                    // 拾取成功后停止移动
+                    shouldFollow = false;
                     targetSpeed = 0;
                     targetTurn = 0;
-                } else if (!isVisible) {
-                    // Ball out of FOV or blocked: rotate in place to search
+                }
+            } else if (selectedModel === '找到红桶放下小球示例') {
+                followGoal = isHolding && sim.current.bucket ? sim.current.bucket : target;
+                if (!isHolding) {
+                    // 如果没有持有球，停止移动等待用户手动拾取
+                    shouldFollow = false;
                     targetSpeed = 0;
-                    targetTurn = turnSpeed;
-                } else {
-                    // Ball in FOV: track and approach
-                    // Use a smaller multiplier for smoother turning
-                    targetTurn = angleDiff * 1.0;
-                    
-                    // Cap the turn speed to prevent violent swings
-                    targetTurn = Math.max(-turnSpeed * 1.5, Math.min(turnSpeed * 1.5, targetTurn));
-                    
-                    // Smooth speed approach
-                    targetSpeed = Math.min(speed, (distance - 1.5) * 0.5);
-                    
-                    // If the angle is too large, slow down to turn
-                    if (Math.abs(angleDiff) > Math.PI / 6) {
-                        targetSpeed *= 0.5;
-                    }
+                    targetTurn = 0;
                 }
-            } else if (selectedModel === '自动避障示例') {
-                const checkDistance = (angleOffset: number) => {
-                    const checkAngle = robotState.rotation + angleOffset;
-                    const dirX = Math.sin(checkAngle);
-                    const dirZ = Math.cos(checkAngle);
-                    
-                    let minDist = 5; // max lookahead
-                    const robotRadius = 1.0; // slightly larger for safety
+            } else {
+                followGoal = target;
+            }
 
-                    for (const wall of sim.current.walls) {
-                        for (let d = 0.5; d < minDist; d += 0.5) {
-                            const px = robotState.x + dirX * d;
-                            const pz = robotState.z + dirZ * d;
-                            
-                            const w = wall.userData.w;
-                            const depth = wall.userData.d;
-                            const wx = wall.position.x;
-                            const wz = wall.position.z;
-                            
-                            if (px > wx - w/2 - robotRadius && px < wx + w/2 + robotRadius &&
-                                pz > wz - depth/2 - robotRadius && pz < wz + depth/2 + robotRadius) {
-                                minDist = d;
-                                break;
-                            }
+            if (shouldFollow) {
+                const { distance, isVisible } = computeFollow(followGoal);
+
+                if (selectedModel === '找到小球并拾取示例' && !isHolding && distance <= 1.2 && isVisible) {
+                    sim.current.keys['q'] = true;
+                }
+
+                if (selectedModel === '找到红桶放下小球示例' && isHolding && sim.current.bucket && distance <= 1.2 && isVisible) {
+                    sim.current.keys['e'] = true;
+                }
+            }
+        } else if (selectedModel === '自动避障示例') {
+            const checkDistance = (angleOffset: number) => {
+                const checkAngle = robotState.rotation + angleOffset;
+                const dirX = Math.sin(checkAngle);
+                const dirZ = Math.cos(checkAngle);
+
+                let minDist = 5;
+                const robotRadius = 1.0;
+
+                for (const wall of sim.current.walls) {
+                    for (let d = 0.5; d < minDist; d += 0.5) {
+                        const px = robotState.x + dirX * d;
+                        const pz = robotState.z + dirZ * d;
+                        const w = wall.userData.w;
+                        const depth = wall.userData.d;
+                        const wx = wall.position.x;
+                        const wz = wall.position.z;
+
+                        if (px > wx - w / 2 - robotRadius && px < wx + w / 2 + robotRadius &&
+                            pz > wz - depth / 2 - robotRadius && pz < wz + depth / 2 + robotRadius) {
+                            minDist = d;
+                            break;
                         }
                     }
-                    return minDist;
-                };
+                }
+                return minDist;
+            };
 
-                const distFront = checkDistance(0);
-                const distLeft = checkDistance(Math.PI / 4);
-                const distRight = checkDistance(-Math.PI / 4);
+            const distFront = checkDistance(0);
+            const distLeft = checkDistance(Math.PI / 4);
+            const distRight = checkDistance(-Math.PI / 4);
 
-                targetSpeed = speed * 0.8;
-                targetTurn = 0;
+            targetSpeed = speed * 0.8;
+            targetTurn = 0;
 
-                if (distFront < 3) {
-                    targetSpeed = 0; 
-                    if (distLeft > distRight) {
-                        targetTurn = turnSpeed;
-                    } else {
-                        targetTurn = -turnSpeed;
-                    }
-                    if (distLeft < 2 && distRight < 2) {
-                        targetSpeed = -speed * 0.5;
-                        targetTurn = turnSpeed;
-                    }
+            if (distFront < 3) {
+                targetSpeed = 0;
+                if (distLeft > distRight) {
+                    targetTurn = turnSpeed;
                 } else {
-                    if (distLeft < 3) targetTurn = -turnSpeed * 0.5;
-                    if (distRight < 3) targetTurn = turnSpeed * 0.5;
+                    targetTurn = -turnSpeed;
+                }
+                if (distLeft < 2 && distRight < 2) {
+                    targetSpeed = -speed * 0.5;
+                    targetTurn = turnSpeed;
                 }
+            } else {
+                if (distLeft < 3) targetTurn = -turnSpeed * 0.5;
+                if (distRight < 3) targetTurn = turnSpeed * 0.5;
             }
+        } else {
+            if (!model) return;
 
-            targetSpeed = Math.max(-speed, Math.min(speed, targetSpeed));
-            targetTurn = Math.max(-turnSpeed, Math.min(turnSpeed, targetTurn));
-
-            robotState.velocity = robotState.velocity * 0.5 + targetSpeed * 0.5;
-            robotState.angularVelocity = robotState.angularVelocity * 0.5 + targetTurn * 0.5;
-
-            const newActiveKeys: Record<string, boolean> = {};
-            if (robotState.velocity > 0.02) newActiveKeys['w'] = true;
-            if (robotState.velocity < -0.02) newActiveKeys['s'] = true;
-            if (robotState.angularVelocity > 0.01) newActiveKeys['a'] = true;
-            if (robotState.angularVelocity < -0.01) newActiveKeys['d'] = true;
-            
-            setActiveKeys(prev => {
-                const keysChanged = Object.keys(newActiveKeys).length !== Object.keys(prev).length || 
-                                   Object.keys(newActiveKeys).some(k => newActiveKeys[k] !== prev[k]);
-                return keysChanged ? newActiveKeys : prev;
-            });
-
-            sim.current.inferenceTimeoutId = setTimeout(runInference, 100);
-            return;
-        }
-
-        if (!model) return;
+            if (typeof sim.current.lastX === 'undefined') {
+                sim.current.lastX = robotState.x;
+                sim.current.lastZ = robotState.z;
+                sim.current.stuckCounter = 0;
+            }
 
-        // Stuck detection logic
-        if (typeof sim.current.lastX === 'undefined') {
+            const distMoved = Math.sqrt(
+                Math.pow(robotState.x - sim.current.lastX, 2) +
+                Math.pow(robotState.z - sim.current.lastZ, 2)
+            );
             sim.current.lastX = robotState.x;
             sim.current.lastZ = robotState.z;
-            sim.current.stuckCounter = 0;
-        }
 
-        const distMoved = Math.sqrt(
-            Math.pow(robotState.x - sim.current.lastX, 2) +
-            Math.pow(robotState.z - sim.current.lastZ, 2)
-        );
-        sim.current.lastX = robotState.x;
-        sim.current.lastZ = robotState.z;
+            if (Math.abs(robotState.velocity) > 0.05 && distMoved < 0.005) {
+                sim.current.stuckCounter++;
+            } else {
+                sim.current.stuckCounter = Math.max(0, sim.current.stuckCounter - 1);
+            }
 
-        if (Math.abs(robotState.velocity) > 0.05 && distMoved < 0.005) {
-            sim.current.stuckCounter++;
-        } else {
-            sim.current.stuckCounter = Math.max(0, sim.current.stuckCounter - 1);
-        }
+            if (sim.current.stuckCounter > 20) {
+                addLog('Stuck detected! Recovering...', 'warning');
+                robotState.velocity = -0.2;
+                robotState.angularVelocity = (Math.random() - 0.5) * 2.0;
+                sim.current.stuckCounter = 0;
+                sim.current.inferenceTimeoutId = setTimeout(runInference, 1500);
+                return;
+            }
 
-        if (sim.current.stuckCounter > 20) {
-            addLog('Stuck detected! Recovering...', 'warning');
-            robotState.velocity = -0.2;
-            robotState.angularVelocity = (Math.random() - 0.5) * 2.0; // Increased rotation range
-            sim.current.stuckCounter = 0;
-            // Increase recovery time to 1.5s to allow robot to back away fully
-            sim.current.inferenceTimeoutId = setTimeout(runInference, 1500);
-            return;
-        }
+            const image = captureImage();
+            if (!image) return;
 
-        const image = captureImage();
-        if (!image) return;
+            const dx = target.position.x - robotState.x;
+            const dz = target.position.z - robotState.z;
+            const targetDist = Math.sqrt(dx * dx + dz * dz);
 
-        const dx = target.position.x - robotState.x;
-        const dz = target.position.z - robotState.z;
-        const targetDist = Math.sqrt(dx * dx + dz * dz);
+            const state = new Array(14).fill(0);
+            state[0] = robotState.x;
+            state[1] = robotState.z;
+            state[2] = robotState.rotation;
+            state[3] = robotState.velocity;
+            state[4] = targetDist;
 
-        const state = new Array(14).fill(0);
-        state[0] = robotState.x;
-        state[1] = robotState.z;
-        state[2] = robotState.rotation;
-        state[3] = robotState.velocity;
-        state[4] = targetDist;
+            const prediction = actService.predict(model, image, state);
 
-        const prediction = actService.predict(model, image, state);
+            if (!sim.current.actionBuffer) sim.current.actionBuffer = [];
 
-        // Temporal Ensembling (simplified)
-        if (!sim.current.actionBuffer) sim.current.actionBuffer = [];
+            const newChunk: any[] = [];
+            for (let i = 0; i < actService.CHUNK_SIZE; i++) {
+                newChunk.push({
+                    v: prediction[i * 2],
+                    w: prediction[i * 2 + 1],
+                    weight: Math.exp(-0.5 * i)
+                });
+            }
 
-        // Parse prediction into chunk
-        const newChunk = [];
-        for (let i = 0; i < actService.CHUNK_SIZE; i++) {
-            newChunk.push({
-                v: prediction[i * 2],
-                w: prediction[i * 2 + 1],
-                weight: Math.exp(-0.5 * i) // Exponential weighting
-            });
-        }
-        setActionChunks(newChunk.map(a => a.v));
-        sim.current.actionBuffer.push(newChunk);
+            setActionChunks(newChunk.map(a => a.v));
+            sim.current.actionBuffer.push(newChunk);
 
-        // Keep buffer size limited
-        if (sim.current.actionBuffer.length > actService.CHUNK_SIZE) {
-            sim.current.actionBuffer.shift();
-        }
+            if (sim.current.actionBuffer.length > actService.CHUNK_SIZE) {
+                sim.current.actionBuffer.shift();
+            }
+
+            let sumV = 0;
+            let sumW = 0;
+            let totalWeight = 0;
+
+            sim.current.actionBuffer.forEach((chunk: any[], index: number) => {
+                const offset = sim.current.actionBuffer.length - 1 - index;
+                if (offset < chunk.length) {
+                    const action = chunk[offset];
+                    sumV += action.v * action.weight;
+                    sumW += action.w * action.weight;
+                    totalWeight += action.weight;
+                }
+            });
 
-        // Aggregate actions
-        let sumV = 0, sumW = 0, totalWeight = 0;
+            if (totalWeight > 0) {
+                const targetV = Math.max(-speed, Math.min(speed, sumV / totalWeight));
+                const targetW = Math.max(-turnSpeed, Math.min(turnSpeed, sumW / totalWeight));
 
-        sim.current.actionBuffer.forEach((chunk: any[], index: number) => {
-            const offset = sim.current.actionBuffer.length - 1 - index;
-            if (offset < chunk.length) {
-                const action = chunk[offset];
-                sumV += action.v * action.weight;
-                sumW += action.w * action.weight;
-                totalWeight += action.weight;
+                robotState.velocity = robotState.velocity * 0.5 + targetV * 0.5;
+                robotState.angularVelocity = robotState.angularVelocity * 0.5 + targetW * 0.5;
+            } else {
+                robotState.velocity = Math.max(-speed, Math.min(speed, prediction[0]));
+                robotState.angularVelocity = Math.max(-turnSpeed, Math.min(turnSpeed, prediction[1]));
             }
-        });
 
-        if (totalWeight > 0) {
-            // Apply slight smoothing to velocity to prevent sudden jumps
-            const targetV = Math.max(-speed, Math.min(speed, sumV / totalWeight));
-            const targetW = Math.max(-turnSpeed, Math.min(turnSpeed, sumW / totalWeight));
+            const newActiveKeys: Record<string, boolean> = {};
+            if (robotState.velocity > 0.02) newActiveKeys['w'] = true;
+            if (robotState.velocity < -0.02) newActiveKeys['s'] = true;
+            if (robotState.angularVelocity > 0.01) newActiveKeys['a'] = true;
+            if (robotState.angularVelocity < -0.01) newActiveKeys['d'] = true;
 
-            // Simple low-pass filter (alpha = 0.5)
-            robotState.velocity = robotState.velocity * 0.5 + targetV * 0.5;
-            robotState.angularVelocity = robotState.angularVelocity * 0.5 + targetW * 0.5;
+            setActiveKeys(prev => {
+                const keysChanged = Object.keys(newActiveKeys).length !== Object.keys(prev).length ||
+                    Object.keys(newActiveKeys).some(k => newActiveKeys[k] !== prev[k]);
+                return keysChanged ? newActiveKeys : prev;
+            });
 
-            // Log movement periodically (every 200ms)
-            if (!sim.current.lastInferenceLogTime || Date.now() - sim.current.lastInferenceLogTime > 200) {
-                addLog(`Inference Movement: V=${robotState.velocity.toFixed(2)}, W=${robotState.angularVelocity.toFixed(2)}`, 'info');
-                sim.current.lastInferenceLogTime = Date.now();
-            }
-        } else {
-            robotState.velocity = Math.max(-speed, Math.min(speed, prediction[0]));
-            robotState.angularVelocity = Math.max(-turnSpeed, Math.min(turnSpeed, prediction[1]));
+            sim.current.inferenceTimeoutId = setTimeout(runInference, 100);
+            return;
         }
 
-        // Update active keys for UI highlighting during inference
+        targetSpeed = Math.max(-speed, Math.min(speed, targetSpeed));
+        targetTurn = Math.max(-turnSpeed, Math.min(turnSpeed, targetTurn));
+
+        robotState.velocity = robotState.velocity * 0.5 + targetSpeed * 0.5;
+        robotState.angularVelocity = robotState.angularVelocity * 0.5 + targetTurn * 0.5;
+
         const newActiveKeys: Record<string, boolean> = {};
         if (robotState.velocity > 0.02) newActiveKeys['w'] = true;
         if (robotState.velocity < -0.02) newActiveKeys['s'] = true;
         if (robotState.angularVelocity > 0.01) newActiveKeys['a'] = true;
         if (robotState.angularVelocity < -0.01) newActiveKeys['d'] = true;
-        
+
         setActiveKeys(prev => {
-            const keysChanged = Object.keys(newActiveKeys).length !== Object.keys(prev).length || 
-                               Object.keys(newActiveKeys).some(k => newActiveKeys[k] !== prev[k]);
+            const keysChanged = Object.keys(newActiveKeys).length !== Object.keys(prev).length ||
+                Object.keys(newActiveKeys).some(k => newActiveKeys[k] !== prev[k]);
             return keysChanged ? newActiveKeys : prev;
         });
 
-        // Check goal
-        if (targetDist < 1.0) {
-            addLog('Target reached!', 'success');
-            target.position.set(
-                (Math.random() - 0.5) * 12,
-                0.4,
-                (Math.random() - 0.5) * 12
-            );
-            sim.current.actionBuffer = [];
-        }
-
-        // Match training frequency (10Hz = 100ms)
         sim.current.inferenceTimeoutId = setTimeout(runInference, 100);
     }, [addLog, captureImage, speed, turnSpeed, selectedModel]);
 
@@ -1720,8 +1791,17 @@ export default function App() {
             }
 
             try {
-                if (selectedModel === '跟随网球示例' || selectedModel === '自动避障示例') {
+                if (selectedModel === '跟随网球示例' || selectedModel === '自动避障示例' || selectedModel === '找到小球并拾取示例' || selectedModel === '找到红桶放下小球示例') {
                     addLog(`Loading ${selectedModel}...`, 'info');
+                    
+                    // 检查初始状态
+                    if (selectedModel === '找到小球并拾取示例' && sim.current.arm?.hasBall) {
+                        addLog('警告: 初始状态已拾取到小球，此示例应从未拾取状态开始', 'warning');
+                    }
+                    if (selectedModel === '找到红桶放下小球示例' && !sim.current.arm?.hasBall) {
+                        addLog('警告: 初始状态未拾取到小球，请先手动拾取小球', 'warning');
+                    }
+                    
                     sim.current.isInferencing = true;
                     setIsInferencing(true);
                     addLog(`Starting Frontend ACT inference with ${selectedModel}...`, 'success');
diff --git a/src/sim/environment.ts b/src/sim/environment.ts
index 6d71deeb..f90f7afd 100644
--- a/src/sim/environment.ts
+++ b/src/sim/environment.ts
@@ -89,9 +89,19 @@ export function updateEnvironment(
     const ball = new THREE.Mesh(ballGeo, ballMat);
     ball.position.set(-halfSize/2 + 1.5, 0.25, halfSize/2 - 1.5);
     ball.castShadow = true;
-    ball.userData = { w: 0.5, d: 0.5 };
+    ball.userData = { w: 0.5, d: 0.5, isDraggable: true };
     group.add(ball);
     walls.push(ball);
 
-    return { walls, group, target: null };
+    // 红桶（红色方块）
+    const bucketGeo = new THREE.BoxGeometry(0.6, 0.6, 0.6);
+    const bucketMat = new THREE.MeshStandardMaterial({ color: 0xFF0000, roughness: 0.6 });
+    const bucket = new THREE.Mesh(bucketGeo, bucketMat);
+    bucket.position.set(halfSize/2 - 2, 0.3, -halfSize/2 + 2);
+    bucket.castShadow = true;
+    bucket.userData = { w: 0.6, d: 0.6, isDraggable: true, isBucket: true };
+    group.add(bucket);
+    walls.push(bucket);
+
+    return { walls, group, target: null, bucket };
 }