Add support for simulation reset via a publicly callable API

[arjo129]

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🎉 New feature

Closes #<NUMBER>

Summary

This allows us to reset simulations without having to call into gz-transport making the code more readable from an external API. Depends on #2647 and also provides a unit test.

Checklist

• [ ] Signed all commits for DCO
• [ ] Added tests
• [ ] Added example and/or tutorial
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if the library has them)
• [ ] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.