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

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

contracts/mobile-manipulator-v2.json

@@ -0,0 +1,45 @@
+{
+  "id": "mobile-manipulator-v2",
+  "actionSemantics": "rate-limited-position-target-v1",
+  "observationSize": 92,
+  "actionSize": 12,
+  "maxArmJoints": 8,
+  "stateSize": 54,
+  "controlDt": 0.02,
+  "positionScale": 2,
+  "linearVelocityScale": 2,
+  "angularVelocityScale": 4,
+  "jointVelocityScale": 4,
+  "objectHalfSize": 0.018,
+  "objectStart": [0.7, 0, 0.019],
+  "goalStart": [0.95, 0.15, 0.019],
+  "liftHeight": 0.08,
+  "graspDistance": 0.09,
+  "goalTolerance": 0.04,
+  "settleSpeed": 0.05,
+  "releaseOpening": 0.65,
+  "settleSteps": 10,
+  "maxSteps": 1000,
+  "reachGain": 8,
+  "transportGain": 4,
+  "reachWeight": 0.1,
+  "liftWeight": 0.3,
+  "transportWeight": 0.5,
+  "successBonus": 20,
+  "baseSpeedLimits": [0.12, 0.12, 0.5],
+  "baseAccelerationLimits": [0.3, 0.3, 0.8],
+  "armSpeedLimit": 0.5,
+  "armAccelerationLimit": 1.5,
+  "armTrackingError": 0.2,
+  "jointSpeedStop": 2,
+  "gripperOpeningRate": 0.5,
+  "actionRateWeight": 0.005,
+  "jointVelocityWeight": 0.01,
+  "navigationOffset": [0.3, 0, 0],
+  "navigationTolerance": 0.06,
+  "navigationYawTolerance": 0.2,
+  "navigationSpeedTolerance": 0.035,
+  "navigationProgressWeight": 4,
+  "navigationSuccessRate": 0.8,
+  "safetyPenalty": 5
+}