v0.1.1 -- consumer friction audit fixes

Fixes every finding from the ActAhead consumer friction audit plus adversarial-review hardening. Highlights: chunk envelope enforced (tightening-only), safety_profile verified against the active profile, Cartesian-mode auto-ensure with a strict FakeBackend, speed-parameterized move_joint + go_home_safe exit ritual, blocking gripper, get_safety_profile RPC + validate_chunk + workspace reject mode, cooperative cancel/stop that cannot be lost, lease liveness during blocking RPCs, RemoteRobot response-id validation + motion timeouts, re-derived actahead_lab pick-place profile. See CHANGELOG.md for the full list.