feat(sim): record and replay MuJoCo state

[juelg]

Summary

• add a SimStateObservationWrapper that injects the full MuJoCo integration state into sim observations
• add replay utilities and a CLI/script to load recorded parquet trajectories and restore sim state step by step
• use duckdb as the preferred parquet reader, with a pyarrow fallback in library calls
• add a focused test that records sim state, reloads it from parquet, restores the sim, and re-renders a frame

Fixes #252.

Validation

• make pyformat
• make cppformat
• make pylint
• pytest -vv python/tests/test_sim_state_record_replay.py

Notes

• I validated the new feature path directly, including the duckdb-backed load path.
• I did not run the full repo pytest suite from this host because the current machine hit disk-space/build pressure when trying to rebuild the editable package cleanly for the whole repo environment.