Document run-env preview, recording, and replay

[yuecideng]

Description

This PR adds a dedicated run-env guide covering environment startup, interactive preview, rollout recording, and trajectory replay. It distinguishes structured datasets, debug videos, and replay trajectories; documents the kinematic, dynamic, and control replay modes; and adds an end-to-end recommended workflow.

The guide is linked from the Guides index, CLI reference, and data-generation tutorial so users can find detailed behavior without expanding the CLI argument reference further. It also updates an outdated run_env.py literalinclude marker found during documentation validation.

Dependencies: None.

Related issue: None.

Type of change

• Documentation update

Screenshots

Not applicable; this change adds reference documentation only.

Validation

• Black formatter and check passed for all 600 tracked Python files; no files changed.
• Sphinx dummy build completed successfully.
• The repository still emits existing documentation warnings, but none point to the changed pages.
• Python tests were not run because executable behavior was not changed.

Checklist

• I have run the Black formatter across the tracked code base.
• I have made corresponding changes to the documentation.
• I have added tests that prove my fix is effective or that my feature works. Not applicable for documentation-only changes.
• Dependencies have been updated, if applicable. No dependency changes are required.

[Copilot]

Pull request overview

This PR adds a dedicated Sphinx/MyST guide for embodichain run-env, documenting environment startup, interactive preview, recording options, and trajectory replay modes, and then links that guide from the existing documentation entry points.

Changes:

• Added a new run-env guide describing rollout vs preview vs replay, recording outputs (dataset/video/trajectory), and kinematic/dynamic/control replay workflows.
• Linked the new guide from the Guides index, CLI reference, and data-generation tutorial for discoverability.
• Updated the literalinclude marker in the data-generation tutorial to match the current run_env.py CLI signature.

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated no comments.

File	Description
docs/source/tutorial/data_generation.rst	Fixes literalinclude start marker for run_env.py and adds a pointer to the new guide.
docs/source/guides/run_env.md	New end-to-end run-env guide covering preview, recording outputs, and replay modes.
docs/source/guides/index.rst	Adds run_env to the Guides toctree so it’s included in navigation/build.
docs/source/guides/cli.md	Adds an explicit anchor for CLI cross-references and links to the detailed run_env guide.

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