[Feature] Joint rotations

[matteobettini]

Fixes #109

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 87.85%. Comparing base (479db49) to head (02a986e). Report is 1 commits behind head on main.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #113 +/- ## ========================================== + Coverage 87.79% 87.85% +0.05% ========================================== Files 81 81 Lines 8359 8374 +15 ========================================== + Hits 7339 7357 +18 + Misses 1020 1017 -3 ```

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[matteobettini]

movable and rotatable agent sphere connected to a movable and rotatable box via a joint with roatate_a and rotate_b False

https://github.com/proroklab/VectorizedMultiAgentSimulator/assets/55539777/cc920e53-cb03-4bc4-99ce-0c58e27ef08e

[matteobettini]

movable and rotatable agent sphere connected to a movable and rotatable box via a joint with roatate_a False and rotate_b True

https://github.com/proroklab/VectorizedMultiAgentSimulator/assets/55539777/dce5564c-58f9-4abd-be37-4ce653acb6a8

[matteobettini]

movable and rotatable agent sphere connected to a movable and rotatable box via a joint with roatate_a True and rotate_b True

https://github.com/proroklab/VectorizedMultiAgentSimulator/assets/55539777/1695ad36-8d5a-4c0f-82c3-31f7dd87de63

[matteobettini]

movable True and rotatable True agent sphere connected to a movable False and rotatable True box via a joint with roatate_a False and rotate_b False

the box makes everything not movable

https://github.com/proroklab/VectorizedMultiAgentSimulator/assets/55539777/7b17ffe4-0628-4102-9118-6b85a50f9c89

[matteobettini]

movable True and rotatable True agent sphere connected to a movable True and rotatable False box via a joint with roatate_a False and rotate_b False

The box makes everything not rotatable

https://github.com/proroklab/VectorizedMultiAgentSimulator/assets/55539777/8a224ff8-29a5-4b56-a051-616642cad935

[matteobettini]

movable True and rotatable True agent sphere connected to a movable False and rotatable True box via a joint with roatate_a True and rotate_b False

https://github.com/proroklab/VectorizedMultiAgentSimulator/assets/55539777/5e1876b1-5308-4edc-a362-d9476009b67d