fix: consume released unisim portable scenes

[TATP-233]

Summary

• Raises the base and optional SuperDex UniSim floors to unisim-core>=1.7.1 and locks the public PyPI sdist.
• Imports PORTABLE_MJCF_PROFILE_ID directly and exercises the portable robot/passive-object/table/mirror fixture without a local UniSim checkout or provisional skip.
• Migrates test doubles to UniSim 1.7's Motrix _portable_mode boundary, uses Genesis' exact supported contact form, and matches IsaacSim worker dependency isolation plus its explicit contact-sensor diagnostic.
• Updates the bilingual backend-contract page and changelog.

User-facing training behavior is unchanged; this consumes the corrected released portable-scene runtime.

Linked Work

• Issue: test: UniSim 公共场景契约的消费兼容与操作 smoke #1609
• Parent roadmap: roadmap: MJCF-first 可信场景组合与操作闭环（#91 后续） unilabsim/unisim#154
• Upstream contract: feat: 公共 MJCF 场景 profile、编译表示与内容身份（#154 A） unilabsim/unisim#155
• Upstream fix: fix: isolate IsaacSim worker imports unilabsim/unisim#225
• Upstream release: chore: release unisim-core 1.7.1 unilabsim/unisim#226 / v1.7.1
• Milestone: UniSim portable MJCF scenes
• Base branch: main

Released Artifact

• Dependency: unisim-core==1.7.1
• Public sdist: https://files.pythonhosted.org/packages/68/95/8be00e6aa8dfebece0421a2f9216a9f6159455476ac97c4e6eb3d616e31f/unisim_core-1.7.1.tar.gz
• SHA-256: d9a26a8cbf239cc6ae1b3dde35bcb6b844efd71ac2b23c86037d644c18780338
• Transitively locked SuperDex runtime: superdex-physics-uni==1.1.0, superdex-robotics-uni==1.1.0

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 on final head 7c59c739:

uv lock
uv sync --locked --extra mujoco --extra motrix
uv run --no-sync python -c "import importlib.metadata as m, unisim; print(m.version('unisim-core'), unisim.__file__)"
# 1.7.1 .venv/lib/python3.13/site-packages/unisim/__init__.py

env -u UNILAB_LOCAL_UNISIM uv run --no-sync pytest -q \
  tests/base/test_backend_pre_step_control.py \
  tests/base/test_motrix_backend_options.py \
  tests/base/test_genesis_backend.py \
  tests/base/test_isaacsim_backend.py \
  tests/training/test_training_helpers.py \
  tests/envs/test_multi_entity_consumer.py \
  tests/base/test_entity_scene_consumer.py \
  tests/scripts/test_check_docs.py
# 148 passed, 2 skipped

env -u UNILAB_LOCAL_UNISIM UNILAB_TEST_M2_ISAACSIM=1 \
  uv run --no-sync pytest -q \
  tests/envs/test_multi_entity_consumer.py::test_native_isaacsim_same_manager_task
# 2 passed

UV_NO_SYNC=1 make check
# passed

UV_NO_SYNC=1 make test
# 1491 passed, 28 skipped, 601 deselected

UV_NO_SYNC=1 make test-all
# 1491 passed, 28 skipped, 601 deselected; benchmark module imports 34/34 and script imports 35/35

uv lock --check
# Resolved 250 packages

git diff --check
# passed

Real IsaacSim evidence: NVIDIA GeForce RTX 4090, driver 595.84, IsaacSim 5.1.0.0, IsaacLab 0.47.2, external Python 3.11 worker, host unisim-core==1.7.1. Both passive/non-passive parameterizations passed from the public package with UNILAB_LOCAL_UNISIM removed.

Remote CI route:

• Base main: current-head remote CI was required and passed.
• CI at final head 7c59c739: success — https://github.com/Motphys/UniLab/actions/runs/35426168732
• Docs at final head 7c59c739: success — https://github.com/Motphys/UniLab/actions/runs/35426168790

Impact

• Backend impact: MuJoCo, Motrix, Genesis, IsaacSim dependency/test compatibility; SuperDex optional floor
• Platform impact: Linux for gated IsaacSim/SuperDex evidence; package change otherwise platform-neutral
• Training effect expected: no

Artifacts

• W&B: none
• benchmark result: no new benchmark claim; make test-all smoke imports passed
• 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

No UniSim or UniLab main checkout or commit was made; all work stayed on child/roadmap branches and PRs.