[TATP-233]

Goal

Unify whole-MJCF and portable Genesis scenes on one device-resident runtime DR lifecycle and remove the legacy portable host reset/interval path.

Motivating UniLab roadmap: Motphys/UniLab#2520.

Contract

• DomainRandomizationCapabilities is split authoritatively by plane.
• Active exact CUDA/AMDGPU Genesis sessions declare only:
  • device reset: body_mass, kp, kd
  • device interval: body_force, body_torque
• Host term sets are empty, including portable and CPU/no-lifecycle sessions.
• Portable host reset/interval runtime paths and compatibility aliases are removed.
• Runtime validation/scatter/commit stays device-resident; host/CPU payloads fail closed naming term and plane.
• Cold materialization/startup/index/default-table work remains explicit and separate from hot DR.

Validation

• uv run pytest -q — 1864 passed, 120 skipped
• ruff check . — passed
• ruff format --check — passed
• mypy src/unisim — passed
• pyright — passed
• check_support.py --check-docs — passed
• Real-CUDA portable lifecycle acceptance passed on RTX 4090
• CPU-masked fail-closed process test passed (CUDA_VISIBLE_DEVICES="")

Follow-up

After this is released, UniLab PR Motphys/UniLab#2523 will bump the default and ROCm unisim-core pins and regenerate both lockfiles. That PR intentionally remains non-mergeable until the release exists.