Update quanser sim

[Armandpl]

• take reduction ratio into account when computing the torque in quanser sim
• clamp torque w/ stall torque in quanser sim, to avoid divergence and bc it wouldn't make sense physically
• fix CI no caching poetry install #60
• fix pygame missing from package dependencies #75
• flatten history obs in history wrapper
• use a smaller integration step in the sim, to avoid divergence

it still doesn't transfer, need more debugging: collect data on the robot and see if it matches sim data. switch to Pierre's sim