fix(cuda): align prismatic joint limit distance coordinate

[Ligo04]

Summary

• Align prismatic joint limit evaluation with the base joint's raw distance coordinate so user-facing lower/upper bounds match the reported distance semantics.
• Add generated distance derivative/Hessian helpers used by the absolute-distance limit path.
• Update prismatic joint limit documentation and simulation cases for the new coordinate behavior.

Test plan

• XMAKE_ROOT=y xmake build sim_case
• XMAKE_ROOT=y xmake run sim_case 51_abd_prismatic_joint_limit
• XMAKE_ROOT=y xmake run sim_case 52_abd_revolute_joint_limit

[gemini-code-assist]

Code Review

This pull request refactors the affine body prismatic joint limit implementation to utilize absolute distance calculations and their derivatives, replacing the previous incremental method. The updates span the CUDA backend, symbol calculation scripts, and documentation. Test cases for prismatic and revolute joint limits were also updated to include logging for distances and angles. A review comment identifies unused variables lb and rb in the CUDA implementation that should be removed to clean up the code.

[gemini-code-assist]

The variables lb and rb are constructed by repacking C_bar and t_bar, but they are no longer used in this function after the refactoring to use compute_absolute_distance and its derivatives. These lines, along with the following empty line, should be removed to clean up the code and avoid unnecessary operations.