feat(agent): add autonomous map exploration and local person identity

[axelpey]

Summary

• add local face and body embeddings with a run-scoped person gallery and inspectable identity artifacts
• add a reusable autonomous map-explorer agent and optimized global viewpoint route
• wire the household-orders agent to the stronger identity and exploration behavior
• ship the simulator recognition runtime and OSNet model needed for offline identity

Stack

• stacked on feat(agent): fulfill household orders autonomously #680, which supplies the household-orders agent and reusable skills this PR extends
• deliberately independent of feat(nav): add editable keepout zones #689; keepout zones now live in that main-based PR

Validation

• clean five-commit replay onto the current feat(agent): fulfill household orders autonomously #680 head
• disposable ROS Humble colcon build through brain_client passed
• focused person-identity and map-explorer tests: 17 passed
• pinned Ruff check and format passed on all changed Python files
• Python compilation and git diff checks passed

Scope note

This preserves the five exploration and identity commits split out of #689. Keepout-specific wording was removed so this branch has no dependency on the keepout implementation.