refactor: Phase 0 scope reset + history rewrite for #705 feature branch (#886, #887)

[TATP-233]

Summary

本 PR 依次执行 #886(Phase 0: Scope reset and repository cleanup)与 #887(Phase 0 history rewrite),从 #882 umbrella 拆出的前两个阶段:

#886 — Scope reset(顶层提交 71946170,即审查 diff 的主体)

删除偏离 #882 最终架构的代码与基础设施:

• Issue Work: 统一规划 manager-based task API 与独立 mjwarp 后端 #705 专属 acceptance manifests、claim inventory、freshness receipts、raw artifacts(tests/acceptance/)及 phase-gate audit/capture/validate 工具(tooling/、scripts/audit_acceptance.py、scripts/capture_acceptance.py、src/unilab/tools/ 5 个工具)与全部配套测试;
• issue-specific full-CI(.github/workflows/ci-full.yml)、ci.yml test-shard 改造、local_evidence marker 与 dev 依赖 pyproject plumbing;
• host/device/DR/PPO/training-behavior performance gate(tooling/acceptance/thresholds.py、training_behavior.py、src/unilab/base/backend/{performance,phase_timing}.py、6 个 benchmark 文件及配套测试);
• mjwarp Recommended support promotion(conf/support/、src/unilab/support/ 整体删除,support matrix 回退 main);
• rsl_rl_device runner、DeviceManagedRuntime、device_sync、device-only G1 runtime(managed_device.py、G1MjwarpManagedEnv)、runtime_impl: mjwarp_device_v1 路由(conf/ppo/task/g1_walk_flat/mjwarp.yaml、entrypoints.py);
• production mjwarp graph/controller/transfer/DR mutation 全链(backend/{graph,telemetry,device,mutation_batch}.py、mjwarp/{device,controller,telemetry,*mutation,recompute,armature_recompute}.py)及 SimBackend 上只服务该路径的抽象方法(get_transfer_*、reset_transfer_telemetry、create_reset_phase_timing_session、get_device_graph_diagnostics、get_mutation_performance_diagnostics);
• train/play/export 中只服务该并行路径的特判(脚本回退 main 版本)。

保留(#882 后续 Phase 的基础):backend-neutral manager 核心(spec/registry/compiler/plan/fingerprint/runtime)、physics contract seed(typed batch/reset/mutation)、MuJoCo host reference、mjwarp identity + 最小 host correctness adapter、keyed_rng、host Numba fused executor、backend isolation/public selector/lifecycle/numerical parity owner tests。

显式退役诊断(替代旧 device_resident 路径):新增 src/unilab/training/retirement.py,旧 owner YAML 请求(task=g1_walk_flat/mjwarp)、含 mjwarp_device_v1/device_resident/device ABI 标记的 checkpoint、resume、playback 请求在 train/play/viser/sim2sim 五个入口抛出 RetiredDevicePathError 并给迁移提示,不再产生 obscure import/attribute/shape error。

#887 — History rewrite(分支全部历史)

• 已用 bundle 备份原 feature branch:/tmp/issue-705-feature-branch-backup.bundle(99MB,git bundle verify 通过;feat/issue-705-manager-mjwarp 本地与远程引用均未改动);
• git filter-repo --refs main..HEAD --path tests/acceptance --invert-paths:从本分支可达历史中清除全部已提交的大型 raw artifact(最大单文件 53MB,含历史路径 tests/acceptance/issue_705/ 与 tests/acceptance/manager_mjwarp/)与 issue-specific generated evidence;
• 正常源码提交顺序与内容保持不变(仅 80 个纯 artifact 提交在变空后被剪除,305 → 225 commits);
• 验证:重写后 tip tree 与重写前逐文件一致(git diff 为空);main(b2a00c48)与其他分支引用未变化;tests/acceptance 在重写后历史中 0 可达对象;剩余最大 blob 为 uv.lock(875KB,正常源码)。

与 #887 的步骤偏差(按用户指示)

用户要求"新建分支 + PR"交付,因此没有按 #887 步骤 5-6 force-push feat/issue-705-manager-mjwarp 并通知协作者。本分支是 #705 feature branch 的重写替代品:合入建议是用本分支 force-push 更新 #847(而非普通 merge——merge 会让旧 artifact 历史经 merge commit 保持可达,purge 失效),或关闭 #847 改由本 PR 承接。

Validation

• 核心测试(按用户指示跳过 make test-all 中无关测试):pytest tests/base tests/manager tests/training tests/config tests/dr tests/tools tests/envs/locomotion/g1 tests/scripts tests/utils tests/integration — 1100 passed, 0 failed;
• ruff check src/ scripts/ tests/ — 通过;mypy src/unilab — 267 文件无 issue;
• 退役诊断端到端冒烟:train_rsl_rl.py task=g1_walk_flat/mjwarp 立即抛 RetiredDevicePathError(含迁移提示);
• make test-all 未完整运行(用户明确指示本次只跑核心测试);GPU slow 车道测试中 tests/base mjwarp/mujoco 相关 32 个已在 RTX 4090 上通过。

Closes #886
Refs #887, #882, #705