merge: AgentProject membership — the junction is now load-bearing

Merges feat/agent-project-membership (task 166/152). An agent can finally join
many projects: membership routes, per-membership role and optional brain
override, chat resolving context from the membership, and CLI attach-agent /
detach-agent / get memberships. The legacy Agent.projectId fallback is kept for
this release as the schema comment promises.

Conflict resolved in main.ts: that branch added its RBAC case to
mapUrlToPermission inline, while this branch had extracted the function to
middleware/url-permission.ts so it could be tested. Kept the extraction and
ported the case into it — joining a team is `edit:agents:<name>`, not
`create:agents`, which is the authority to mint a whole agent.

Also fixes something the extraction makes possible. security.test.ts contained a
hand-copied reproduction of mapUrlToPermission, because main.ts self-invokes
main() and nothing in it was importable. A security test asserting against a
copy stops testing the system the moment the real one changes, and this copy had
already drifted. It now imports the real function; all 18 assertions still pass,
against the code that actually runs.

Local: build clean, workspace 2550 passed, lint unchanged at 794 errors.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01N4wNHWf7xSwnZCWpJcyv9p

.taskmaster/tasks/task_115.md

@@ -0,0 +1,29 @@
+# Task ID: 115
+
+**Title:** RBAC tasks namespace split and alias repoint
+
+**Status:** pending
+
+**Dependencies:** None
+
+**Priority:** high
+
+**Description:** Split the RBAC 'tasks' resource into 'tasks' (work items) and 'inference-tasks', update RBAC_RESOURCES and RESOURCE_ALIASES in rbac-definition.schema.ts
+
+**Details:**
+
+In src/mcpd/src/validation/rbac-definition.schema.ts:
+1. Update RBAC_RESOURCES array to include: 'epics', 'epictasks', 'tasks', 'repos', 'sessions', 'inference-tasks'
+2. Update RESOURCE_ALIASES:
+   - task → tasks (work items)
+   - epic → epics
+   - epictask → epictasks, et → epictasks
+   - repo → repos, repository → repos, repositories → repos
+   - session → sessions
+   - inference-task → inference-tasks
+3. REMOVE the entry 'inference-tasks': 'tasks'
+4. Export normalizeResource unchanged (it uses the alias map)
+
+**Test Strategy:**
+
+Unit tests in src/mcpd/tests/validation/: verify normalizeResource('task') returns 'tasks', normalizeResource('inference-task') returns 'inference-tasks', normalizeResource('et') returns 'epictasks'. Test that RBAC_RESOURCES includes all new entries.