feat: 优化ROS关节状态发布逻辑，支持多自由度关节#3209
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This reverts commit c57a219.
…Merge branch 'mujoco' of https://github.com/Vortex444/nn into mujoco
donghaiwang
approved these changes
Dec 15, 2025
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修改概述:
新增 joint_ids/joint_qpos_idxs/joint_qvel_idxs 三个列表 遍历每个非自由关节，根据关节类型（球关节 / 铰链 / 滑动关节）分别处理修改的详细描述
经过了什么样的测试?
运行效果
动图、视频、截图等