Bump viser to 1.0.30#24
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Bumps the viser pin from 1.0.27 to 1.0.30 and relocks. viser 1.0.30 slimmed its dependency tree, so the lockfile also drops a number of transitive packages (scipy, shapely, yourdfpy, vhacdx, and others) that were previously pulled in for viser's URDF support. mjviser doesn't use any of them; its convex-hull rendering is built from MuJoCo's own precomputed hull polygons, not trimesh/scipy. All tests and type checks pass.