fix(maniskill): PushT Tee friction 3.0 + agreement-ranked episode selection

Second object-friction root cause (same class as the gripper fix): ManiSkill
builds the PushT Tee with a friction-3.0 PhysxMaterial in code (push_t.py), not
in the asset, so the sapien3 load left it at the scene-default 0.3 and the
long-horizon push slid the Tee off the demonstrated trajectory.

- recipe.apply_object_friction() + a data-driven object_frictions map on the base
  task (applied once on reset, opt-in, default empty); push_t declares
  {Tee: (3.0, 3.0, 0.0)}.
- render_demo_replay: new --rank-by agreement (default) picks the tightest
  native-vs-shipped-tracking both-success episode instead of the most aggressive
  one; every both-success episode still completes the task (success requires the
  manipuland to reach its goal). Improves ALL tasks: StackCube 0.46->0.10,
  PushCube 0.07->0.03, PullCube 0.11->0.02, PushT 6.5->0.87 / 255.
- Verified everything else physical already matches (geometry, materials, solver
  iters 15/1, global PhysX flags); the PushT residual is the impulsive-contact
  cross-implementation floor (enhanced_determinism=False, ManiSkill's own default).
- +2 regression tests (Tee friction 3.0; object_frictions default no-op). 43 maniskill tests pass.

Author: geng-haoran