refactor: update to muse.core.types; strict canonical codec enforcement

- All 71 muse.core._types imports updated to muse.core.types - b64url_encode/decode moved to muse.core.types; re-exported from crypto/keys.py - b64url_decode: strict bare-only (MSign sig= field); decode_pubkey/decode_sig for prefixed values - TestB64urlDecodeCanonicalPrefix rewritten to test strict contracts

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musehub/crypto/keys.py::b64url_decodemusehub/crypto/keys.py::b64url_encodemusehub/crypto/keys.py::import::base64

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