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chore(deps): 消费 unisim-core 2.1.0，interval op payload 对齐 torch-first 契约 - #2496
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关联 #2474（审计 P0 D3 的 UniLab 消费侧对齐）。不发布 UniLab 版本。
改动
pyproject.toml（3 处）+pyproject.rocm.toml（2 处）：unisim-core==2.0.1→==2.1.0（含 motrix/superdex extras）。uv.lock/uv.rocm.lock：最小重解（--upgrade-package unisim-core，仅 unisim-core 一行版本变动，torch 保持 2.14.0+cu130，rocm 轨道同步）。tests/base/5 个文件：interval op 的 payload 与body_ids从 np 数组改为 torch tensor——unisim 2.1.0 起 op 路径（含 handler 边界的 body_ids 转换）对 NumPy 抛 TypeError（torch-first DR 契约，fix(dr): reject NumPy payloads on the torch-first interval op path unilabsim/unisim#415）。断言数值与负例意图不变。mjwarp 两个 slow/CUDA 档文件本机仅 collect 验证。src/ sweep 结论：生产代码 payload 全部已是 torch（entity.py 校验函数返回 Tensor），无行为影响。
验证（隔离 worktree @ origin/main f1b5916）
pytest -q tests/base tests/envs/mdp：611 passedmake check：ruff + mypy(210) + pyright 全绿2734 passed, 60 skipped, 0 failed（升级前同 head 为 2727+7 failed，7 个失败全部修复）