feat(drake): scope Go2 owner into tensor runtime

[TATP-233]

Summary

• Reintroduces Drake into the torch Manager runtime through one narrow owner: PPO go2_joystick_flat.
• Registers the generic make_manager_based_rl_env factory for Go2/Drake and adds a Hydra Drake owner; Drake remains explicit-select and is not added to the implicit/default backend order.
• Routes --sim drake through the existing public UniSim Drake adapter and gates it on a local drake_uni install plus public ensure_drake_batch_available().
• Explicitly disables the unsupported or semantically unequal Go2 terms:
  • reset_root_state_uniform (no floating-root reset contract)
  • pd_gains (no reset randomization)
  • contact (world-frame net force vs MuJoCo contact-frame force, drake 后端 contact force 传感器输出世界系净力，与 contact-frame 契约不一致 #1471)
• Restores the local make setup-drake path, updates bilingual backend/install docs, and regenerates the support matrix.
• User-facing/training impact is limited to the scoped Drake Go2 PPO owner; existing active backend owners and default routing are unchanged. No PyPI publication or release metadata changes are included.

Linked Work

• Issue: Work: scope Drake Go2 owner into the torch Manager runtime #2066
• Parent roadmap: roadmap: tensor-only Manager-Based runtime and three-backend scope reduction #1811
• Governing ADR: ADR-0012 (temporary backend scope gate and capability/parity/support evidence)
• Related issue: drake 后端 contact force 传感器输出世界系净力，与 contact-frame 契约不一致 #1471
• Base branch: develop/tensor-runtime

Validation

• make test-all passed on the final local head before this PR was created or updated
• Additional task-specific validation listed below

make check:

UNILAB_LOCAL_UNISIM=... uv run ruff format
UNILAB_LOCAL_UNISIM=... uv run ruff check --fix
UNILAB_LOCAL_UNISIM=... uv run ruff check tests --select F401,F821,F811,F841 --output-format concise
UNILAB_LOCAL_UNISIM=... uv run mypy src/unilab
UNILAB_LOCAL_UNISIM=... uv run pyright

All passed.

Focused tests:

uv run --no-sync pytest tests/test_cli_runtime_requirements.py tests/base/test_registry.py tests/scripts/test_ci_scope.py -q
uv run -m slow --no-sync pytest tests/scripts/test_support_matrix.py -q
uv run --no-sync pytest tests/envs/locomotion/go2/test_manager_based_cfg.py tests/envs/test_stewart.py -q
UNILAB_LOCAL_UNISIM=... uv run --no-sync pytest tests/base/test_backend_imports.py tests/tasks/test_go2_tensor_runtime.py -q

All passed.

Full non-slow suite:

UNILAB_LOCAL_UNISIM=... uv run --no-sync pytest -m "not slow" -q

Result: 1831 passed, 44 skipped.

Coverage-equivalent full gate:

UNILAB_LOCAL_UNISIM=... uv run --no-sync pytest -m "not slow" --cov=src/unilab --cov-report=term-missing -q

All non-slow tests passed with coverage enabled.

Benchmark import smoke:

UNILAB_LOCAL_UNISIM=... uv run --no-sync python scripts/benchmark/smoke_test.py

Result: module-mode 35/35, script-mode 36/36.

Generated support matrix:

uv run scripts/generate_support_matrix.py --write

Docs checks:

uv run --no-sync pytest tests/scripts/test_check_docs.py -q

Real local DrakeUni runtime validation:

PYTHONPATH=.../drake_uni/src \
DRAKE_HOME=... \
UNILAB_DRAKE_HOME=... \
LD_LIBRARY_PATH=... \
UNILAB_LOCAL_UNISIM=... \
uv run --no-sync pytest -m slow tests/scripts/test_drake_training_smoke.py -q

Result: 1 passed; output contains Learning iteration 0/1.

Also exercised a real Manager reset/step path with local DrakeUni: observation widths stayed {obs: 49, critic: 52}, action width stayed 12, and observations/rewards remained finite.

Slow support-matrix suite:

UNILAB_LOCAL_UNISIM=... uv run --no-sync pytest -m slow tests/scripts/test_support_matrix.py -q

Result: 17 passed.

Remote CI route:

• Base is not main: not scheduled; local make test-all is the test gate.

Impact

• Backend impact: Drake only; no MuJoCo/Motrix behavior change.
• Platform impact: Drake local runtime path affects Linux x86_64 and Apple Silicon macOS users; other code paths are platform-neutral.
• Training effect expected: yes, only for the newly selectable Drake Go2 PPO owner. Existing owners and default backend routing are unchanged.

Artifacts

• W&B: none
• benchmark result: none (no expensive benchmark run required by this scoped owner)
• video / screenshot: none
• ONNX / checkpoint: none

Checklist

• Added or updated tests where needed
• Updated docs if behavior or workflow changed
• Linked the driving issue
• Noted any follow-up work explicitly

Follow-ups:

• Full cross-backend parity and complete-training validation before promoting Drake beyond Configured.
• Floating-root reset layout/public reset randomization contract.
• Contact-frame sensor parity (drake 后端 contact force 传感器输出世界系净力，与 contact-frame 契约不一致 #1471).
• tensor_runtime_workspace.json UniSim pin refresh; the local runtime used sibling head ae5443e, while the manifest pins 5e835923. Drake-related files are identical between those commits.