Validates that the units provided in a joint's limit block are compatible with the joint's type.

The DSL schema permits both angular and linear units in limit fields so that the same entity definition serves rotational and translational joints. This transformer rejects the wrong-axis combinations before the BB.Dsl.RobotTransformer attempts unit conversion:

• Rotational joints (:revolute, :continuous) require angular units (degree, degree_per_second, newton_meter, degree_per_square_second).
• Linear joints (:prismatic) require linear units (meter, meter_per_second, newton, meter_per_square_second).

Joints without degrees of freedom (:fixed, :floating, :planar) are not checked — they typically have no limit block at all.