Misc Inference code improvements

1. Auto-detect network interface: TaskConfig.interface defaults to "auto" instead of "lo". When "auto", a new detect_robot_interface() function scans /sys/class/net/ for the first wired NIC that is operationally UP, skipping wifi/docker/veth interfaces. If no interface is found, we fallback to lo

2. Added debug config overrides for easier testing. Specifically DebugConfig to TaskConfig with three toggles: force_upright_imu (override gravity to [0,0,-1]), force_zero_angular_velocity, and force_zero_action (hold default pose). Also added a per-joint diagnostic table (_print_joint_table) that prints q/dq/action in degrees alongside observation printing. This is super helpful for debugging policies.

3. Freejoint detection in MuJoCo: The simulator no longer looks for a hardcoded "floating_base_joint" name. Instead it finds the freejoint by mjJNT_FREE type, and filters robot joints by joint type rather than name exclusion. This fixes compatibility with robot XMLs that don't follow this naming convention.

4. Lazy extension entrypoint loading: holosoma.config.inference and holosoma.config.robot entry points are now loaded on first use (_load_extensions()) instead of at module import time. This helps us avoid circular imports in extensions, while preseriving the nice --help messages in core and extensions. The AnnotatedInferenceConfig is replaced by a get_annotated_inference_config() factory that triggers lazy loading before building the tyro CLI type.

5. Suppress problematic tyro CLI fields — SceneConfig.scene_files and SceneConfig.rigid_objects are annotated with tyro.conf.Suppress to prevent opaque parser errors when users pass unrecognized CLI flags. Previously, we would somehow always get error about these fields whenever any unrecognized field would get in.

6. Remove dead SDK code. Deleted sdk/command_sender/ and sdk/state_processor/. These were superseded by the entry-point-based sdk/__init__.py interface factory and are no longer imported anywhere. I should've deleted them in Unify the robot SDK interface #45.

7. Added python3.12 mujoco setup scripts. I believe @kingb has a cleaner solution, though.

8. Docker Improvements: Inference docker now mounts /dev/input (for joystick) and persists bash history across container restarts. Added evdev to setup.py dependencies.

9. WBT observation printing: the WholeBodyTrackingPolicy now respects print_observations flag (was previously only wired in locomotion).

10. Remove unused upper controller path in base.py policy postprocessing.