deps: unisim-core 1.4.0 and mjbatch-uni 0.2.1 - #1574
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Bump unisim-core to >=1.4.0 (per-env gravity reset, cross-backend body wrench/torque contract, PreStepControlOutput substep wrenches, and the executor split-substep sensor copyout on the MuJoCo pre-step control path) and pin mjbatch-uni to ~=0.2.1, matching unisim-core's hard executor requirement. Update both lockfiles, refresh the tests that pinned the previous executor callback protocol and Isaac worker diagnostic text, and record the change in the shared changelog.
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Summary
unisim-core到>=1.4.0（PyPI 最新版），并把 MuJoCo 执行器依赖固定为mjbatch-uni~=0.2.1，与 unisim-core 1.4.0 的硬性执行器要求一致（unisim#71、mjbatch_uni#28）。uv.lock与uv.rocm.lock（rocm 锁按仓库sync-rocm流程生成并还原工作区）。_apply_pre_step_control白盒 mock 补齐 1.4.0 的_convert_pre_step_control委托；_FakeMjBatch支持substep_sensor_copyout协议参数并记录每子步 wrench channel；callback 路径的 xfrc 生命周期断言改为“每子步组合应用、调用结束清零”；IsaacGym/IsaacSim 诊断文案断言改为匹配 1.4.0 的 worker interpreter 可操作信息（unisim 8cab4d6 将提示从 setup 脚本改为UNISIM_ISAAC*_HOME）。docs/sphinx/source/changelog.md）Unreleased 下新增 Changed 条目（中英双语）。unisim-core 1.4.0 关键内容
opt.gravity冷路径展开）。body_torque，质心作用点，计划级暂存清理语义与 MuJoCo 对齐）。set_pre_step_control支持PreStepControlOutput（ctrl + 动态 wrench）：逐子步重算、与固定扰动叠加、调用结束清理；MuJoCo 路径使用 mjbatch 0.2.1 split-substep 传感器增量拷出（约 14x 于主机重算，轨迹逐位一致）。Validation
make check通过（format / type / check-tests）make test1519 passed, 27 skipped（升级前 7 failed，已全部修复）uv lock --check通过（主锁与 rocm 锁均含 unisim-core 1.4.0 + mjbatch-uni 0.2.1）