feat: add parquet replay CLI for sim rerendering

[juelg]

• add a replay pipeline that restores recorded sim states from parquet via DuckDB and rerecords trajectories through the current wrapper stack
• support both single-env and multi-robot parquet layouts by reading sim state from info and replaying recorded env_action
• add a typer CLI entrypoint under python -m rcs replay with configurable dataset, headless mode, frequency, relative_to, scene, and task config
• preserve per-episode instructions during replay and propagate recorded success flags back into the storage wrapper
• add integration tests that verify replay reproduces stable parquet content and can add camera observations to episodes that were originally recorded without cameras

closes #291