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feat: Dockerized dev environment, Gazebo-MuJoCo co-simulation fixes, Nav2 stack repair, and rl_sar_zoo as submodule #1

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feat: Dockerized dev environment, Gazebo-MuJoCo co-simulation fixes, Nav2 stack repair, and rl_sar_zoo as submodule #1

docs: add Docker setup section to README and fix trailing newline in …
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