Merge pull request #3 from jyomu/copilot/improve-quality-of-model

Add switchable physics modes to compare torque application methods

Remove angular velocity damping to fix rotation center issue

Improve code quality: use named constants and add clarifying comments

Improve joint stability and training quality

Initial plan

Merge pull request #2 from jyomu/copilot/initialize-repository-from-index

Fix worker initialization race condition and improve CDN error messages

Add comprehensive developer documentation and contribution guidelines

Add type safety with JSDoc and comprehensive error handling

Fix: restore modular index.html (accidentally committed monolithic version)

Fix temporal dead zone bug - move worker declaration before slider setup

Fix operator precedence bug and add documentation for magic constant

Address code review feedback - document code duplication and fix worker initialization

Add documentation and LICENSE file