refactor(core): address API design findings for ergonomics and stability#268
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…ility - Renamed DEFAULT_GRAVITY to GRAVITY_ENABLED everywhere. - Updated InertiaTensor with optional off-diagonals (reordered) and removed .zero() in favor of .stability_floor(). - Added SensorType.RAY as an alias for Gazebo Classic compatibility. - Updated SemanticBuilder methods to return self and introduced .done(). - Fixed cycle detection returning NO_ROOT instead of HAS_CYCLE in robot_builder.py. - Updated tests to reflect all API changes and validated clean suite. Signed-off-by: arounamounchili <patouossa.mounchili@gmail.com>
Signed-off-by: arounamounchili <patouossa.mounchili@gmail.com>
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📝 Description
Address API design findings for ergonomics and stability
🛠️ Type of change
✅ Checklist
just test-corepasses (Core unit + integration)just test-unit-blenderpasses (Blender unit tests)just pre-commitpasses (format, lint, type checks)