sim: make Python Root object a singleton
Enforce that the Python Root SimObject is instantiated only
once.  The C++ Root object already panics if more than one is
created.  This change avoids the need to track what the root
object is, since it's available from Root.getInstance() (if it
exists).  It's now redundant to have the user pass the root
object to functions like instantiate(), checkpoint(), and
restoreCheckpoint(), so that arg is gone.  Users who use
configs/common/Simulate.py should not notice.