Add dynamics calibration and qualification toolkit

[yuecideng]

Description

This PR adds an application-level dynamics calibration and qualification toolkit for robot drive parameters.

The new embodichain calibrate-dynamics workflow:

• delegates generic URDF physical-consistency checks to dexsim.simready;
• searches bounded stiffness, damping, armature, friction, effort, and velocity-limit candidates in isolated subprocesses;
• uses deterministic candidate generation and content-addressed result caching;
• evaluates aggregate, per-joint, per-control-group, worst-joint, CVaR, overshoot, settling, effort/velocity saturation, joint-limit, stability, control-frequency, and qvel-write evidence;
• applies hard qualification gates on held-out application trajectories;
• writes a non-destructive drive_overlay.yaml plus complete JSON and Markdown provenance reports;
• includes a real qpos-only multisine evaluator and public target-qvel write instrumentation.

The V1 claim is deliberately limited to effective drive tuning. It does not expose fit-physical or claim mass, center-of-mass, inertia, or friction identification without suitable real-system evidence.

Motivation: robot assets often contain incomplete or application-inappropriate dynamics and drive parameters. This workflow makes application tuning reproducible and reviewable while keeping engine-owned SimReady facts in DexSim and never rewriting vendor assets.

Dependencies:

• Depends on DexSim Draft MR !1370, which introduces dexsim.simready.
• The current dexsim_engine==0.4.3 pin is intentionally unchanged because the dependent DexSim release does not exist yet. The pin must be updated after that release before this PR becomes ready to merge.

Related issue: none.

Type of change

• New feature (non-breaking change which adds functionality)

Screenshots

N/A — the feature is an offline CLI/Python workflow producing YAML, JSON, and Markdown artifacts.

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation
• Public API changes are reflected in the API docs (python docs/scripts/check_api_docs.py), if applicable
• I have added tests that prove my fix is effective or that my feature works
• Dependencies have been updated, if applicable.

Validation

• Full-repository Black gate: 846 files unchanged.
• Public API documentation gate: 1735/1735 exports documented.
• Calibration, unified CLI, and Articulation regression selection: 57 passed, 20 skipped, 1 slow test deselected.
• Real isolated simulator evaluator: 1 passed.
• Documentation checker tests: 20 passed.
• Structural pre-commit checks for Apache headers, future annotations, __all__, Google-style public API docstrings, type annotations, and @configclass configuration contracts: passed.
• Cross-repository smoke test: URDF audit, candidate search, overlay generation, held-out qualification, and JSON/Markdown reporting completed with final status pass.

The full pytest suite was not run because the PR skill calls for proportional validation; the affected toolkit, shared CLI registration, Articulation instrumentation, documentation checks, and real simulator path were exercised directly. The repository-wide Sphinx -W build remains non-green with 721 existing warnings; a focused filter found no warnings associated with the changed dynamics-calibration pages.