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/tests/generate_mobile_golden.py

@@ -0,0 +1,75 @@
+"""Deterministic native-math oracle, consumed by Vitest. Run from repository root."""
+
+import json
+from pathlib import Path
+
+import numpy as np
+
+from training_server.mobile_manipulator.kernel import ROBOTS, TASK, TaskKernel, decode_action
+from training_server.mobile_manipulator.motion import SafeActionController
+
+
+def generate():
+    rng = np.random.default_rng(2026)
+    cases = []
+    for config in ROBOTS:
+        kernel = TaskKernel(config)
+        for i in range(20):
+            s = rng.uniform(-2, 2, TASK["stateSize"])
+            for start in [3, 33, 40, 50]:
+                q = rng.normal(size=4)
+                s[start : start + 4] = q / np.linalg.norm(q)
+            s[29] = rng.uniform(0, 1)
+            action = rng.uniform(-1.5, 1.5, TASK["actionSize"]).astype(np.float32)
+            kernel.reset()
+            kernel.has_lifted = bool(i % 2)
+            obs, reward, terminated, truncated, info = kernel.evaluate(s)
+            cases.append(
+                {
+                    "robotId": config["id"],
+                    "state": s.tolist(),
+                    "action": action.tolist(),
+                    "lifted": bool(i % 2),
+                    "observation": obs.tolist(),
+                    "control": decode_action(config, action).tolist(),
+                    "reward": reward,
+                    "terminated": terminated,
+                    "truncated": truncated,
+                    "info": info,
+                }
+            )
+    target = Path(__file__).resolve().parents[2] / "contracts/fixtures/mobile-golden.json"
+    target.write_text(json.dumps(cases, indent=2) + "\n")
+    motion_cases = []
+    for config in ROBOTS:
+        for stage in ("navigate", "reach", "pick-place"):
+            s = np.zeros(TASK["stateSize"])
+            s[[3, 33, 40, 50]] = 1
+            s[37:40] = [*TASK["navigationOffset"][:2], TASK["objectStart"][2]]
+            s[29] = 1
+            for i, joint in enumerate(config["armJoints"]):
+                s[13 + i] = joint["neutral"]
+            motion = SafeActionController(config)
+            motion.reset(s)
+            frames = []
+            for _ in range(12):
+                action = rng.uniform(-2, 2, TASK["actionSize"]).astype(np.float32)
+                motion.apply(action, s, stage, False)
+                frames.append(
+                    dict(
+                        action=action.tolist(),
+                        control=motion.control.tolist(),
+                        applied=motion.applied.tolist(),
+                        targets=motion.targets.tolist(),
+                    )
+                )
+            motion_cases.append(
+                dict(robotId=config["id"], stage=stage, state=s.tolist(), frames=frames)
+            )
+    target.with_name("mobile-motion-v2-golden.json").write_text(
+        json.dumps(motion_cases, indent=2) + "\n"
+    )
+
+
+if __name__ == "__main__":
+    generate()