refactor: improve physical simulation stability with RK2 integration and update documentation across the environment and task modules

refactor: decouple inference logic to support multi-task execution and update success threshold to 0.80

Fix OpenEnv Reset validation by making body optional and removing strict 403 header block

feat(api): enhance endpoint validation, thread safety, and testing infrastructure

updated transition logic, completed parsing update and fixed inference values

Phase 0 changes

test suite initialised