Typed Factory Functions for FR3 Gymnasium Environments

[juelg]

• Factory functions that produce correctly wrapped and configured typed gymnasium (hardware and simulation) environments for the FR3.
• Integration tests which test the functionality of the simulation environment:
  • Test that a zero action does not change the state significantly
  • Test that a certain action leads to the expected change in state
  • Check that an obvious collision is detected by the CollisionGuard