[core][math] Add Lie-group utilities, SimulationContext & multi-controller architecture, SO(3) helpers, and simulation engine refactor

[jesusBV20]

This PR introduces a set of features and refactors aimed at enabling Lie-group (SO(3)) utilities, a new SimulationContext for composing robot models and multiple controllers, controller interfaces, an improved SimulationEngine and integrators, robust data logging, and a number of smaller utilities and API improvements. Key goals are modularity for multi-controller simulations, safe data tracking/logging, and correct handling of 3D rotations via lie tools with numerically stable exp/log maps.

Changes

• Added SimulationContext for multi-controller orchestration and unified interfaces.
• Refactored SimulationEngine to integrate with the new SimulationContext.
• Enhanced Controller and RobotModel with safety checks and standardized data tracking.
• Updated robot models to include dimension validation and vectorized computations.
• Improved integrators — Euler integrator now supports rotation splitting.
• Introduced new math module lie.py providing SO(3) exponential/log maps and rotation utilities.
• Revised robot models and controllers (e.g., Unicycle2D, oscillator controller) for compatibility.
• Refreshed example scripts to align with the updated APIs.