[TATP-233]

Goal

UniLab integration for #2520: consume the unified, device-resident Genesis runtime DR contract and remove the stale owner/docs claim that Genesis tensor reset cannot randomize PD gains.

Closes #2520.

Changes

• Negotiate Genesis interval capabilities on the backend-bound tensor device plane; lift wrench payloads/body IDs onto that device before creating interval ops.
• Declare the packed reset device before Manager event construction so cold binds negotiate the eventual commit plane.
• Align the SAC Genesis G1 walk owner with PPO/MuJoCo: pd_gains is enabled through the device-plane packed reset kp/kd lane.
• Record the public contract in ADR-0021 and refresh owner docs, DR status docs, bilingual generated support data, and the shared changelog.

Validation

• uv run --no-sync pytest -q tests/base/test_genesis_backend.py tests/envs/mdp/test_events.py tests/base/test_reset_state.py tests/envs/locomotion/g1/test_g1_owner_contract.py tests/config/test_g1_motion_tracking_owners.py tests/envs/test_env_configs.py tests/scripts/test_check_docs.py tests/scripts/test_support_matrix.py — 146 passed.
• uv run --no-sync pytest -q -m slow tests/envs/locomotion/g1/test_g1_owner_contract.py::test_g1_walk_flat_genesis_owner_real_runtime_smoke — 2 passed on RTX 4090 / Genesis 1.3.3.
• uv run --no-sync ruff format --check ., uv run --no-sync ruff check ., test ruff gate, uv run --no-sync mypy src/unilab, and uv run --no-sync pyright — passed.
• UNILAB_DOCS_SKIP_AUTODOC=1 ... sphinx-build -b html -n ... — build succeeded with the nine pre-existing excluded-toctree warnings.
• make test-all was attempted. Check/type gates passed; the non-slow coverage suite reached 2824 passed / 38 skipped / 1 xfailed but stopped at the pre-existing Motrix failure in test_fused_tensor_root_reset_reads_back_world_angular_velocity[motrix]. Re-running that focused test and stashing this branch both reproduce the identical failure on main, so it is unrelated to this change.
• make test-benchmark-smoke — 35/35 module imports and 36/36 script imports passed.

Dependency status

The public dependency releases are now available and both default and ROCm profiles resolve them from PyPI:

• unisim-core==2.2.0
• optional uniray[warp]==0.1.0 through the ray extra

The former sibling-checkout ray-local path source is removed. Both lockfiles are regenerated and validate with locked dry-runs.

Final validation

uv lock --check
PASS

uv sync --locked --dry-run --extra ray
PASS

ROCm uv lock --check
PASS

ROCm uv sync --locked --dry-run --extra ray
PASS

uv run pytest -q tests/scripts/test_rocm_dependency_profile.py tests/scripts/test_check_docs.py
PASS: 24 passed

uv sync --locked --extra ray --extra mujoco
PASS

uv run --no-sync pytest -q tests/envs/mdp/test_ray_observation.py tests/envs/test_manager_based_rl_env.py -k ray
PASS: 23 passed, 112 deselected
```text
CUDA_VISIBLE_DEVICES= uv run --no-sync pytest -q tests/base/test_genesis_backend.py
PASS: 26 passed

make check
PASS

make test-all
PASS
2828 passed, 61 skipped, 374 deselected, 18 warnings
benchmark import smoke: 35/35 module mode, 36/36 script mode

[TATP-233]

Current head 5d4633c3 now resolves only published dependencies: unisim-core==2.2.0 and optional uniray[warp]==0.1.0. The sibling ray-local path source is removed from both CUDA and ROCm profiles.

Validation at this head:

• default and ROCm uv lock --check: PASS
• default and ROCm uv sync --locked --dry-run --extra ray: PASS
• public-package ray focused tests: 23 passed
• CPU Genesis fake suite: 26 passed
• make check: PASS
• make test-all: PASS — 2828 passed, 61 skipped, 374 deselected; benchmark smoke 35/35 module and 36/36 script
• remote CI: all checks PASS

The only remaining merge blocker shown by GitHub is review approval.