feat: add physical-use-case validation for robot hands

[w1ne]

Summary

• add joint topology, simultaneous reachability, pose-bound statics, reaction, capacity, and clevis structural validation
• expose physical certificates through review_cad/design_loop and preserve live interference summaries
• keep failed hand prototypes as explicit rejected fixtures while retaining requirements, comparison artifacts, and regression coverage

Test plan

• npm run qc:lint
• npm run qc:build
• focused physics/review suite: 245 passed, 3 skipped
• rejected hand fixture suites and live review endpoint
• isolated five-finger rejection suite