refactor(sim): mujoco ids into config #183
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mujoco xml attribute naming in robot and gripper configuration instead of hard coded
- added attachment site to config - pushed robot id up the stack: names must match in the config when they arrive at the cpp level, thus the python program needs to manage ids etc to differentiate certain types of robots in the sim
- added base id to config struct and added it to init_ids - fixed order of constructor args in pybind - added id to default config factory - updated bindings - updated sim robot creation code to include ids
- added ids to gripper - added add id methods in cpp and created bindings - usage of the above mentioned method
juelg
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May 23, 2025
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mujoco xml attribute naming in robot and gripper configuration instead of hard coded