[TATP-233]

Summary

• remove UniLab host/device plane negotiation from reset and interval capability checks
• consume unified backend capabilities and update DR/Genesis ADR and user documentation
• pin unisim-core 2.2.3 in default and ROCm profiles and regenerate both lockfiles

Integrated child PR: #2551
Closes #2550
Governing ADRs: docs/sphinx/source/adr/ADR-0021-genesis-device-resident-dr-lifecycle.md and unisim adr-dr-torch-first-payloads.md
Dependency release: https://github.com/unilabsim/unisim/releases/tag/v2.2.3

Impact

MuJoCo, MJWarp, Genesis, Newton, Motrix, and Isaac DR consumers now use plane-independent capabilities; backend-private payload guards remain enforced. Default and ROCm dependency profiles move from unisim-core 2.2.0 to 2.2.3.

Validation on final child head c50d465

• make test-all with published unisim-core 2.2.3 — 2850 passed, 62 skipped, 375 deselected
• benchmark smoke — 35/35 module imports and 36/36 script imports
• tests/scripts/test_rocm_dependency_profile.py tests/test_dependency_contracts.py — 6 passed
• uv lock --check