[Feature] Joint rotation offset and more dynamics

[matteobettini]

Now you can specify the fixed angle of the joint when the joint is not allowed to rotate

The PR also introduces the following dynamics:

• Static: no movement actions
• Forward: just froward and backwards force in the direction of the orientation
• Rotation: just rotation action

[codecov]

Codecov Report

Attention: Patch coverage is 42.85714% with 28 lines in your changes missing coverage. Please review.

Project coverage is 87.99%. Comparing base (cd7c14a) to head (2c5d5d9).

Files	Patch %	Lines
vmas/simulator/dynamics/forward.py	0.00%	11 Missing ⚠️
vmas/simulator/dynamics/roatation.py	0.00%	7 Missing ⚠️
vmas/simulator/dynamics/static.py	0.00%	7 Missing ⚠️
vmas/simulator/joints.py	85.71%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #125      +/-   ##
==========================================
- Coverage   88.22%   87.99%   -0.23%     
==========================================
  Files          83       86       +3     
  Lines        9688     9736      +48     
==========================================
+ Hits         8547     8567      +20     
- Misses       1141     1169      +28     

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