feat(app): 模型上传与注册增强 — normalize_model、upload_model_package、backend client

- model_upload.py: normalize_model_package 标准化模型目录 + upload_model_package 上传到后端
- register.py: 设备注册时自动检测并上传本地模型文件
- web/client.py: BackendClient 新增 get_model_upload_urls/publish_model/update_template_model
- tests: test_model_upload.py、test_normalize_model.py 单元测试

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

unilabos/app/register.py

@@ -5,6 +5,48 @@ from unilabos.utils.log import logger
 from unilabos.utils.tools import normalize_json as _normalize_device
 
 
+def normalize_model_for_upload(model_dict: dict) -> dict:
+    """将 Registry YAML 的 model 字段映射为后端 DeviceModel 结构化格式。
+
+    保留所有原始字段，额外做以下标准化：
+    1. 自动推断 format（如果 YAML 未指定）
+    2. 将 children_mesh 扁平字段映射为结构化 children_mesh 对象
+    """
+    if not model_dict:
+        return model_dict
+
+    result = {**model_dict}
+
+    # 自动推断 format
+    if "format" not in result and result.get("path"):
+        path = result["path"]
+        if path.endswith(".xacro"):
+            result["format"] = "xacro"
+        elif path.endswith(".urdf"):
+            result["format"] = "urdf"
+        elif path.endswith(".stl"):
+            result["format"] = "stl"
+        elif path.endswith((".gltf", ".glb")):
+            result["format"] = "gltf"
+
+    # 将 children_mesh 扁平字段 → 结构化 children_mesh 对象
+    if "children_mesh" in result and isinstance(result["children_mesh"], str):
+        cm_path = result.pop("children_mesh")
+        cm_tf = result.pop("children_mesh_tf", None)
+        cm_oss = result.pop("children_mesh_path", None)
+        result["children_mesh"] = {
+            "path": cm_oss or cm_path,
+            "format": "stl" if cm_path.endswith(".stl") else "gltf",
+            "default_visible": True,
+        }
+        if cm_tf and len(cm_tf) >= 3:
+            result["children_mesh"]["local_offset"] = cm_tf[:3]
+        if cm_tf and len(cm_tf) >= 6:
+            result["children_mesh"]["local_rotation"] = cm_tf[3:6]
+
+    return result
+
+
 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
     """
     注册设备和资源到服务器（仅支持HTTP）
@@ -16,11 +58,18 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
 
     devices_to_register = {}
     for device_info in lab_registry.obtain_registry_device_info():
-        devices_to_register[device_info["id"]] = _normalize_device(device_info)
+        normalized = _normalize_device(device_info)
+        # 标准化 model 字段
+        if normalized.get("model"):
+            normalized["model"] = normalize_model_for_upload(normalized["model"])
+        devices_to_register[device_info["id"]] = normalized
         logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
 
     resources_to_register = {}
     for resource_info in lab_registry.obtain_registry_resource_info():
+        # 标准化 model 字段
+        if resource_info.get("model"):
+            resource_info["model"] = normalize_model_for_upload(resource_info["model"])
         resources_to_register[resource_info["id"]] = resource_info
         logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")