fix(runtime): require explicit host-bridge manager devices

[TATP-233]

Summary

• Restored CPU-default Manager/TorchEnv placement for HOST_BRIDGE backends and made accelerator carriers explicitly requested through ManagerBasedRlEnvCfg.manager_torch_device.
• Routed explicit CUDA learner/collector placement through PPO, APPO, SAC/FlashSAC, and interactive playback env overrides; unsupported placements continue to fail closed against the declared backend capability inventory.
• Updated stale visualization/playback test doubles after the tensor-command and physics-state playback migrations, corrected Genesis test diagnostics/private camera field access, and fixed assertions accidentally migrated from a retired task owner.
• Updated ADR-0012, bilingual install docs, and the generated support matrix to describe explicit host-bridge Torch carrier placement.

User/training impact: default registry.make(..., sim_backend="mujoco") construction is CPU again on CUDA hosts. Training/playback processes that explicitly select CUDA still receive CUDA host-bridge carriers through the resolved learner/collector device.

Linked Work

• Issue: none created (validation-failure repair)
• Parent roadmap (when applicable): none
• Roadmap declared base (when applicable): none
• Milestone: none
• Base branch: main
• Governing ADR: ADR-0012-sole-tensor-manager-and-scoped-backends

Validation

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

Commands actually run:

uv run --no-sync pytest -q -m '' \
  tests/config/test_locomotion_params.py::test_ppo_g1_motion_tracking \
  tests/base/test_genesis_runtime.py::test_interactive_viewer_renders_frames \
  tests/envs/test_env_configs.py::test_env_reset_and_step \
  tests/envs/test_env_configs.py::test_g1_motion_manager_ppo_wraps_only_active_rows_in_one_state_commit \
  tests/envs/test_env_configs.py::test_g1_motion_manager_sac_clip_end_is_truncation \
  tests/envs/test_observation_partial_reset.py::test_observation_partial_reset_row_contract \
  tests/scripts/test_visualization_entrypoints.py::test_build_keyboard_commander_makes_keyboard_authoritative \
  tests/scripts/test_visualization_entrypoints.py::test_velocity_arrows_require_velocity_command_task_and_policy_obs \
  tests/scripts/test_visualization_entrypoints.py::test_play_interactive_binds_mjwarp_process_device_before_session \
  tests/scripts/test_visualization_entrypoints.py::test_play_interactive_device_binding_is_noop_for_mujoco \
  tests/scripts/test_train_scripts.py::test_host_bridge_env_overrides_route_explicit_manager_torch_device \
  tests/scripts/test_train_scripts.py::test_play_offpolicy_can_skip_onnx_export_and_still_record_video \
  tests/scripts/test_train_scripts.py::test_play_offpolicy_onnx_export_failure_still_records_video \
  tests/scripts/test_train_scripts.py::test_play_interactive_runner_log_dir_uses_algo_log_name \
  tests/envs/test_manager_based_rl_env.py::test_backend_capability_defaults_host_bridge_manager_carriers_to_cpu \
  tests/envs/test_manager_based_rl_env.py::test_host_bridge_ignores_accelerator_availability_without_explicit_request \
  tests/envs/test_manager_based_rl_env.py::test_manager_torch_device_rejects_non_tensor_device_and_invalid_syntax \
  tests/envs/test_manager_based_rl_env.py::test_mujoco_host_bridge_manager_tensor_lifecycle \
  tests/base/backend/test_process_device.py tests/scripts/test_support_matrix.py
# 67 passed

PYTHONPATH=../unisim-genesis/src uv run --no-sync pytest -q -m '' \
  'tests/envs/locomotion/g1/test_g1_owner_contract.py::test_g1_walk_flat_genesis_owner_real_runtime_smoke[ppo]' \
  'tests/envs/locomotion/g1/test_g1_owner_contract.py::test_g1_walk_flat_genesis_owner_real_runtime_smoke[sac]'
# 2 passed with the separate UniSim Genesis contact-view fix loaded

make check
# ruff, mypy, pyright, and test lint checks passed

make test
# 1873 passed, 21 skipped, 489 deselected

make test-all
# complete gate passed:
# - non-slow + coverage: 1873 passed, 21 skipped
# - benchmark import smoke: module-mode 34/34; script-mode 35/35

Remote CI route:

• Base main: current-head CI is requested by opening this PR; status must be checked before merge.

Impact

• Backend impact: mujoco / motrix / drake / superdex host-bridge Manager carrier placement
• Platform impact: Linux and macOS; explicit CUDA/ROCm CUDA-namespace carriers remain supported on Linux GPU hosts
• Training effect expected: yes — default direct MuJoCo construction is CPU again; explicit CUDA training/playback still routes CUDA carriers

Artifacts

• W&B: none
• benchmark result: none
• 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-up:

• The sibling UniSim repository contains the required Genesis tensor contact-view contract fix ((num_envs,) bool → (num_envs, 1) float32) in a local worktree. It must be reviewed/released in UniSim before this repository's Genesis runtime smoke can pass against published packages alone.