fix: limit per-step deltas for absolute actions

[juelg]

Summary

• apply RelativeActionSpace limits even when relative_to == RelativeTo.NONE
• in that absolute-action mode, clamp each step against the current/last commanded action instead of passing the target through unchanged
• keep the env creators wrapping when max_relative_movement is configured, even for absolute actions
• add sim tests for absolute joint/TRPY action limiting and a scene-level regression test

Testing

• python/tests/test_sim_envs.py