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。

training_server/mobile_manipulator/config.py

@@ -0,0 +1,93 @@
+"""Dependency-free task registry and bounded PPO settings."""
+
+import json
+import math
+import re
+from pathlib import Path
+
+CONTRACTS = Path(__file__).resolve().parents[2] / "contracts"
+TASK = json.loads((CONTRACTS / "mobile-manipulator-v2.json").read_text())
+ROBOTS = {r["id"]: r for r in json.loads((CONTRACTS / "mobile-robots-v1.json").read_text())}
+MOBILE_TASKS = {
+    "MobileManipulator-LeKiwi-v1": "lekiwi-v1",
+    "MobileManipulator-LeKiwi-Bundle": "lekiwi-bundle",
+}
+
+
+def validate_mobile_params(value):
+    if not isinstance(value, dict) or value.keys() - {
+        "rolloutSteps",
+        "objectPosition",
+        "goalPosition",
+        "stage",
+        "sourceJobId",
+        "positionJitter",
+        "evaluationEpisodes",
+        "navigationBootstrapSteps",
+    }:
+        raise ValueError("mobileParams 包含未知参数")
+    steps = value.get("rolloutSteps", 128)
+    if isinstance(steps, bool) or not isinstance(steps, int) or not 8 <= steps <= 4096:
+        raise ValueError("rolloutSteps 必须为 8–4096 的整数")
+    stage = value.get("stage", "navigate")
+    if stage not in ("navigate", "reach", "pick-place"):
+        raise ValueError("stage 必须为 navigate / reach / pick-place")
+    source = value.get("sourceJobId")
+    if source is not None and (
+        not isinstance(source, str) or not re.fullmatch(r"[0-9a-f]{32}", source)
+    ):
+        raise ValueError("sourceJobId 必须是服务内的训练作业 ID，不接受 checkpoint 路径")
+    jitter = value.get("positionJitter", 0.1)
+    if isinstance(jitter, bool) or not isinstance(jitter, (int, float)) or not 0 <= jitter <= 0.3:
+        raise ValueError("positionJitter 必须在 0–0.3 m 内")
+    episodes = value.get("evaluationEpisodes", 10)
+    if isinstance(episodes, bool) or not isinstance(episodes, int) or not 2 <= episodes <= 64:
+        raise ValueError("evaluationEpisodes 必须为 2–64 的整数")
+    bootstrap = value.get("navigationBootstrapSteps", 4096)
+    if isinstance(bootstrap, bool) or not isinstance(bootstrap, int) or not 0 <= bootstrap <= 10000:
+        raise ValueError("navigationBootstrapSteps 必须为 0–10000 的整数")
+    result = {
+        "navigationBootstrapSteps": bootstrap,
+        "rolloutSteps": steps,
+        "stage": stage,
+        "positionJitter": jitter,
+        "evaluationEpisodes": episodes,
+    }
+    if source is not None:
+        result["sourceJobId"] = source
+    for key, default in (
+        ("objectPosition", TASK["objectStart"]),
+        ("goalPosition", TASK["goalStart"]),
+    ):
+        position = value.get(key, default)
+        if (
+            not isinstance(position, list)
+            or len(position) != 3
+            or any(
+                isinstance(x, bool)
+                or not isinstance(x, (float, int))
+                or not -TASK["positionScale"] <= x <= TASK["positionScale"]
+                or not math.isfinite(x)
+                for x in position
+            )
+            or position[2] < TASK["objectStart"][2]
+        ):
+            raise ValueError(f"{key} 必须是任务范围内的三维坐标，z 不低于物体半高")
+        result[key] = position.copy()
+    return result
+
+
+def mobile_metadata(task_id):
+    return {
+        "id": task_id,
+        "name": f"移动操作 · {ROBOTS[MOBILE_TASKS[task_id]]['label']}",
+        "family": "mobile-manipulator",
+        "robotId": MOBILE_TASKS[task_id],
+        "browserCompatible": True,
+        "terrainPresets": [],
+        "terrainParameters": {},
+        "sensorTypes": [],
+        "sensorParameters": {},
+        "mapSyncScope": "当前移动操作场景快照",
+        "controlDt": TASK["controlDt"],
+    }