Organise robot model attributes
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- Dominant language
- Python
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- 26
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Description
Currently the robot model stores the information about the frame names e.g. foot sole, ft sensors. anyhow this can be related to the simulator as it is the case for jaxsim, we should find a more proper way to store such information.
We would like also to be less dependent on a humanoid robot morphology
C.C. @xela-95
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