refactor: Simplify code for clarity and maintainability

- Simplified simulation.py helper methods
  - Unified error handling with _require_sim() helper
  - Simplified conditional logic in get_* methods
  - Improved consistency in type annotations

- Refactored viewer_client.py error handling
  - Extracted _try_connect() and _cleanup_socket() helper methods
  - Removed nested function in send_command()
  - Simplified ping() retry logic
  - Improved code readability with constants

- Cleaned up MCP server helper functions
  - Removed duplicate tool definitions (lines 210-320)
  - Simplified _redact_arguments() with dictionary comprehension
  - Improved formatting consistency in helper functions

- Fixed type annotations
  - Changed 'any' to 'Any' in menagerie_loader.py
  - Added proper Optional types across files

All functionality preserved - only structural improvements made.

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-Authored-By: Claude <noreply@anthropic.com>

Author: robotlearning123

.cursorrules

@@ -142,4 +142,8 @@ Thumbs.db
 /temp/
 /data/
 /models/downloaded/
-/output/
+/output/
+
+# Generated reports
+reports/*
+!reports/README.md

.gitignore

@@ -8,7 +8,7 @@
 
 🤖 Advanced robotics simulation platform that enables AI assistants to control complex physics simulations through natural language. Built on MuJoCo physics engine and Model Context Protocol for seamless integration with Claude Desktop and other MCP clients.
 
-🚀 **[Quick Start](#quick-start)** | 📚 **[Documentation](DOCUMENTATION_INDEX.md)** | 🏗️ **[Architecture](ARCHITECTURE.md)** | 🔧 **[API Reference](API_REFERENCE.md)** | 🎯 **[Advanced Features](ADVANCED_FEATURES_GUIDE.md)**
+🚀 **[Quick Start](#quick-start)** | 📚 **[Documentation](docs/DOCUMENTATION_INDEX.md)** | 🏗️ **[Architecture](docs/ARCHITECTURE.md)** | 🔧 **[API Reference](docs/API_REFERENCE.md)** | 🎯 **[Advanced Features](docs/ADVANCED_FEATURES_GUIDE.md)**
 
 ## 🌟 Features
 
@@ -166,17 +166,17 @@ python benchmarks/physics_benchmarks.py
 
 ## 📚 Documentation
 
-- **[Documentation Index](DOCUMENTATION_INDEX.md)** - Complete guide to all docs
+- **[Documentation Index](docs/DOCUMENTATION_INDEX.md)** - Complete guide to all docs
 - **[Architecture Guide](ARCHITECTURE.md)** - System design and components
 - **[API Reference](API_REFERENCE.md)** - Complete API documentation
-- **[Advanced Features](ADVANCED_FEATURES_GUIDE.md)** - Controllers, RL, multi-robot
+- **[Advanced Features](docs/ADVANCED_FEATURES_GUIDE.md)** - Controllers, RL, multi-robot
 - **[Motion Control Examples](examples/README_MOTION_CONTROL.md)** - Robot demos
 - **[Testing Summary](TESTING_SUMMARY.md)** - Test coverage and results
 - **[Changelog](CHANGELOG.md)** - Version history
 
 ## 🤝 Contributing
 
-We welcome contributions! Please see [CONTRIBUTING.md](CONTRIBUTING.md) for guidelines.
+We welcome contributions! Please see [CONTRIBUTING.md](CONTRIBUTING.md) and [Repository Guidelines](docs/AGENTS.md) for workflow expectations.
 
 ## 🐛 Troubleshooting
 
@@ -196,7 +196,7 @@ We welcome contributions! Please see [CONTRIBUTING.md](CONTRIBUTING.md) for guid
    - Enable connection pooling
    - Check system resources
 
-For more help, see the [Documentation Index](DOCUMENTATION_INDEX.md).
+For more help, see the [Documentation Index](docs/DOCUMENTATION_INDEX.md).
 
 ## 📄 License