Add the offset chunk key encoding and Array.prepend

[rhoadesScholar]

Adds the offset chunk key encoding (zarr-developers/zarr-extensions#80): the default key
of chunk_coords + offset, one integer per dimension, any sign. Under it an array grows in
the negative direction of an axis by whole chunks as a metadata-only change, and
Array.prepend(data, axis), the mirror of Array.append, does exactly that: shape grows,
offset drops, one zarr.json write, every existing chunk keeps its key, then data is
written in front.

z = zarr.create_array(store, shape=(6, 4), chunks=(3, 4), dtype="int32",
                      chunk_key_encoding={"name": "offset", "offset": (0, 0)})
z[:] = 1
z.prepend(np.full((6, 4), 2, dtype="int32"))   # shape (12, 4); keys c/-2/0, c/-1/0, c/0/0, c/1/0

Before / after. Today the only ways to add data before index 0 touch every chunk: rename
each chunk key (filesystem only), get/set/delete each chunk through the store API, or copy the
array. Measured on one machine (NVMe, 64³ uint8 chunks, two chunk rows added in front):

chunks	rename each file	store get/set/delete	copy to new array	metadata edit (prepend minus the write)
512	0.03 s	0.76 s	0.32 s	0.004 s
4 096	0.13 s	5.9 s	3.1 s	0.006 s
32 768 (8 GiB)	1.0 s	44 s	26 s	0.016 s

Script: https://github.com/rhoadesScholar/zarr-chunk-offset/tree/main/bench. The test
test_prepend_writes_in_front_and_leaves_every_existing_chunk_untouched asserts the property
directly: every pre-existing key holds the same bytes after the growth, and only the new keys
are added.

Design

• OffsetChunkKeyEncoding(offset, separator="/") in zarr.core.chunk_key_encodings,
  registered as "offset". The offset length is checked against the shape when
  ArrayV3Metadata is built, so a wrong-rank offset fails at creation, not at the first key.
• The ChunkKeyEncodingParams shortcut ({"name": ..., "separator": ...}) now carries
  offset into the configuration; before, that branch rebuilt the configuration with only
  separator.
• prepend mirrors append (same signature, same shape check) with one constraint the
  format imposes: the data must span a whole number of chunks (shards, when sharded) along the
  axis, since a sub-chunk growth cannot leave the existing chunks in place. On a default or
  v2 array it raises a TypeError naming the encoding rather than renaming chunks behind
  the caller's back; switching an existing array is a one-line metadata rewrite that the
  plugin's adopt performs and that could become a core helper later.
• Readers without the encoding refuse the array (unknown name; must_understand cannot be
  false for a chunk key encoding), which is the reason this is a new name and not a field on
  the regular grid.

Tests: 20 new (encoding round trips, negative components, rank checks, the shortcut, prepend
on plain, sharded, dot-separated and negative-axis arrays, refusals); tests/test_array.py, tests/test_metadata, tests/test_api and
tests/test_chunk_key_encodings.py pass; mypy and ruff clean. Docs: a "Prepending"
paragraph in the arrays guide and a changelog fragment.

Issues

Refs zarr-developers/zarr-specs#9 and zarr-developers/zarr-extensions#30; the registration PR
is zarr-developers/zarr-extensions#80.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 94.74%. Comparing base (bd0dc84) to head (7501ff3).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4516      +/-   ##
==========================================
+ Coverage   94.71%   94.74%   +0.02%     
==========================================
  Files          94       94              
  Lines       13663    13741      +78     
==========================================
+ Hits        12941    13019      +78     
  Misses        722      722              

Files with missing lines	Coverage Δ
src/zarr/core/array.py	98.48% <100.00%> (+0.04%)	⬆️
src/zarr/core/chunk_key_encodings.py	99.08% <100.00%> (+0.51%)	⬆️
src/zarr/core/metadata/v3.py	96.92% <100.00%> (+0.01%)	⬆️

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.
• 📦 JS Bundle Analysis: Save yourself from yourself by tracking and limiting bundle sizes in JS merges.

[rhoadesScholar]

Ready for review; the registry entry is zarr-developers/zarr-extensions#80. cc @d-v-b

[d-v-b]

thanks for this PR! I really want to see this feature added to zarr! But I think we want to be sure that we support negative chunk indices consistently across the ecosystem, so I'll hold off on reviewing until we get alignment from the other implementers on the zarr-extensions PR.