Physics MCP Server

Joints allow you to constrain the motion between bodies:
- FIXED: Rigid connection (glue objects together)
- REVOLUTE: Hinge rotation around an axis (doors, pendulums)
- SPHERICAL: Ball-and-socket rotation (ragdolls, gimbals)
- PRISMATIC: Sliding along an axis (pistons, elevators)

Args:
    sim_id: Simulation identifier
    joint: Joint definition with type and parameters

Returns:
    joint_id: Unique identifier for the created joint

Example - Simple Pendulum:
    # Create fixed anchor point
    add_rigid_body(
        sim_id=sim_id,
        body_id="anchor",
        body_type="static",
        shape="sphere",
        size=[0.05],
        position=[0.0, 5.0, 0.0],
    )

    # Create pendulum bob
    add_rigid_body(
        sim_id=sim_id,
        body_id="bob",
        body_type="dynamic",
        shape="sphere",
        size=[0.1],
        mass=1.0,
        position=[0.0, 3.0, 0.0],
    )

    # Connect with revolute joint (hinge)
    add_joint(
        sim_id=sim_id,
        joint=JointDefinition(
            id="pendulum_joint",
            joint_type="revolute",
            body_a="anchor",
            body_b="bob",
            anchor_a=[0.0, 0.0, 0.0],  # Center of anchor
            anchor_b=[0.0, 0.1, 0.0],   # Top of bob
            axis=[0.0, 0.0, 1.0],        # Rotate around Z-axis
        ),
    )