feat(sim): replay trajectories from dynamic joint state #286

Job	Run time
pythonpackage	3m 4s
check-paths	9s
build_cpp_extensions (rcs_fr3)	3m 54s
build_cpp_extensions (rcs_panda)	3m 14s
build_cpp_extensions (rcs_robotics_library)	3m 23s
build_cpp_extensions (rcs_so101)	4m 8s
build_extensions (rcs_xarm7)	2m 20s
build_extensions (rcs_tacto)	2m 32s
build_extensions (rcs_usb_cam)	2m 32s
build_extensions (rcs_robotiq2f85)	2m 25s
build_extensions (rcs_realsense)	2m 14s
	29m 55s

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