茂之钳
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feat(v4.0): motion simulation — revolute/prismatic/cylindrical/spherical/planar joints
- MotionJoint with type, anchor, axis, limits
- MotionSimulation: step/run with driver functions
- Constant speed and custom driver support
- Collision detection integration during simulation
- 13 tests: all joint types, limits, reset, multi-joint chains
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