Add revolute joint constraint for closed-loop hinges

[jslee02]

Summary

• add constraint-based revolute joint for closed-loop hinges and expose in dartpy
• document the new constraint and add integration/python coverage for hinge loops
• loosen hinge closure tolerances to stabilize cross-platform CI

Testing

• CI Linux
• CI Windows
• CI macOS
• CI gz-physics
• Publish dartpy

Closes #465

[chatgpt-codex-connector]

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[codecov]

Codecov Report

❌ Patch coverage is 68.37945% with 80 lines in your changes missing coverage. Please review.
✅ Project coverage is 61.39%. Comparing base (9b39285) to head (39b7a7d).

Files with missing lines	Patch %	Lines
dart/constraint/RevoluteJointConstraint.cpp	68.37%	80 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2252      +/-   ##
==========================================
+ Coverage   61.06%   61.39%   +0.33%     
==========================================
  Files         353      354       +1     
  Lines       32144    32397     +253     
  Branches     4182     4223      +41     
==========================================
+ Hits        19628    19890     +262     
+ Misses      12516    12507       -9     

Flag	Coverage Δ
unittests	61.39% <68.37%> (+0.33%)	⬆️

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Files with missing lines	Coverage Δ
dart/constraint/RevoluteJointConstraint.cpp	68.37% <68.37%> (ø)

... and 3 files with indirect coverage changes

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[jslee02]

@codex review

[chatgpt-codex-connector]

💡 Codex Review

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[chatgpt-codex-connector]

Preserve legacy Dantzig include install path

The CMake install rules no longer install the Dantzig LCP headers under the legacy include/dart/math/lcp/Dantzig path (the compatibility block was removed, leaving only the lowercase dantzig install). Downstream projects that still include headers via the old capitalized path will now fail to build once they upgrade to a package built from this commit, even though the change is unrelated to the new revolute constraint. Was the backward-compatibility removal intentional?

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