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Fix URDF -> MA -> JSON Pipeline

Matthias Mayer requested to merge dev/urdf2json_robot into main
  • Fix to_json_data for Module Assembly
  • Add possible URDF info to from_monolithic_robot such that geometry files can be known to the assembly

TODO:

  • Test feature e.g. by showing parity of URDF panda and module.json panda created on the fly
Edited by Matthias Mayer

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