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/packages.py

@@ -0,0 +1,161 @@
+"""Authenticated browser scene snapshots; no caller-supplied filesystem paths."""
+
+import hashlib
+import json
+import re
+import shutil
+import stat
+import tempfile
+import threading
+import zipfile
+from pathlib import Path, PurePosixPath
+from xml.etree import ElementTree as ET
+
+from .config import ROBOTS, TASK
+
+MAX_UPLOAD = 128 * 1024**2
+MAX_EXPANDED = 512 * 1024**2
+
+
+class MobilePackages:
+    def __init__(self, root):
+        self.root = Path(root)
+        self.lock = threading.Lock()
+
+    def receive(self, stream, length):
+        if not 0 < length <= MAX_UPLOAD:
+            raise ValueError("场景上传大小必须在 1–128 MiB 内")
+        self.root.mkdir(parents=True, exist_ok=True)
+        with self.lock, tempfile.TemporaryDirectory(dir=self.root) as temporary:
+            temp = Path(temporary)
+            archive = temp / "upload.zip"
+            digest = hashlib.sha256()
+            with archive.open("wb") as out:
+                remaining = length
+                while remaining:
+                    chunk = stream.read(min(1024 * 1024, remaining))
+                    if not chunk:
+                        raise ValueError("场景上传不完整")
+                    digest.update(chunk)
+                    out.write(chunk)
+                    remaining -= len(chunk)
+            package_id = digest.hexdigest()
+            destination = self.root / package_id
+            if destination.is_dir():
+                return {"id": package_id, **self.describe(package_id)}
+            if sum(p.is_dir() and len(p.name) == 64 for p in self.root.iterdir()) >= 20:
+                raise ValueError("场景快照已达 20 份，请在停止服务后清理 mobile_packages")
+            directory = temp / "package"
+            directory.mkdir()
+            try:
+                with zipfile.ZipFile(archive) as z:
+                    infos = z.infolist()
+                    if len(infos) > 10000 or sum(i.file_size for i in infos) > MAX_EXPANDED:
+                        raise ValueError("场景展开超出 512 MiB / 10000 文件上限")
+                    names = set()
+                    for info in infos:
+                        name = info.filename
+                        path = PurePosixPath(name)
+                        if (
+                            not name
+                            or "\\" in name
+                            or ":" in name
+                            or path.is_absolute()
+                            or ".." in path.parts
+                            or str(path) in names
+                            or stat.S_ISLNK(info.external_attr >> 16)
+                        ):
+                            raise ValueError("场景包含不安全或重复路径")
+                        names.add(str(path))
+                        if not info.is_dir():
+                            target = directory.joinpath(*path.parts)
+                            target.parent.mkdir(parents=True, exist_ok=True)
+                            with z.open(info) as src, target.open("wb") as dst:
+                                shutil.copyfileobj(src, dst)
+                self._validate(directory)
+            except (
+                zipfile.BadZipFile,
+                KeyError,
+                TypeError,
+                ET.ParseError,
+                OSError,
+                NotImplementedError,
+                RuntimeError,
+            ) as error:
+                raise ValueError(f"场景快照无效：{error}") from error
+            directory.rename(destination)
+            return {"id": package_id, **self.describe(package_id)}
+
+    def path(self, package_id):
+        if not isinstance(package_id, str) or not re.fullmatch(r"[0-9a-f]{64}", package_id):
+            raise ValueError("mobilePackageId 无效")
+        directory = self.root / package_id
+        if not directory.is_dir():
+            raise ValueError("移动操作场景不存在，请重新开始训练以同步场景")
+        return directory
+
+    def describe(self, package_id):
+        return self._validate(self.path(package_id))
+
+    @staticmethod
+    def _validate(directory):
+        for name in ("environment.json", "robot.json", "task.json"):
+            if (directory / name).stat().st_size > 128 * 1024:
+                raise ValueError("场景契约 JSON 超过 128 KiB")
+        metadata = json.loads((directory / "environment.json").read_text())
+        robot_bytes = (directory / "robot.json").read_bytes()
+        robot = json.loads(robot_bytes)
+        if (
+            not isinstance(metadata, dict)
+            or not isinstance(robot, dict)
+            or not isinstance(robot.get("id"), str)
+            or robot.get("id") not in ROBOTS
+            or robot != ROBOTS[robot["id"]]
+            or json.loads((directory / "task.json").read_text()) != TASK
+            or metadata.get("robotId") != robot["id"]
+            or metadata.get("taskId") != TASK["id"]
+        ):
+            raise ValueError("场景机器人/任务契约与已注册变体不匹配")
+        if metadata.get("mujoco") != "3.11.0":
+            raise ValueError("场景需要与浏览器一致的 MuJoCo 3.11.0")
+        scene_name = metadata.get("scene")
+        if not isinstance(scene_name, str) or "\\" in scene_name or ":" in scene_name:
+            raise ValueError("scene 路径无效")
+        scene = (directory / scene_name).resolve()
+        if not scene.is_relative_to(directory.resolve()) or not scene.is_file():
+            raise ValueError("scene 越界或不存在")
+        if scene.stat().st_size > 16 * 1024**2:
+            raise ValueError("场景 MJCF 超过 16 MiB")
+        data = scene.read_bytes()
+        if b"<!DOCTYPE" in data.upper() or b"<!ENTITY" in data.upper():
+            raise ValueError("场景不接受 DTD/entity")
+        root = ET.fromstring(data)
+        if (
+            root.tag != "mujoco"
+            or root.find(".//include") is not None
+            or root.find(".//plugin") is not None
+        ):
+            raise ValueError("必须上传展开后的 MJCF，不允许 include/plugin")
+        compiler = root.find("compiler")
+        for element in root.iter():
+            for key, value in element.attrib.items():
+                # Includes texture cubemap fileleft/fileright/fileup/... references.
+                is_file = key.startswith("file")
+                if not is_file and key not in ("meshdir", "texturedir", "assetdir"):
+                    continue
+                if "\\" in value or ":" in value or PurePosixPath(value).is_absolute():
+                    raise ValueError("场景资产必须是包内相对路径")
+                prefix = ""
+                if is_file and compiler is not None:
+                    prefix = compiler.get("meshdir" if element.tag == "mesh" else "texturedir", "")
+                    prefix = prefix or compiler.get("assetdir", "")
+                target = (scene.parent / prefix / value).resolve()
+                if not target.is_relative_to(directory.resolve()):
+                    raise ValueError("场景资产引用越界")
+                if is_file and not target.is_file():
+                    raise ValueError(f"场景缺少资产：{value}")
+        return {
+            "robotId": robot["id"],
+            "sceneSha256": hashlib.sha256(data).hexdigest(),
+            "robotConfigSha256": hashlib.sha256(robot_bytes).hexdigest(),
+        }