config: add robot description options to TrossenMCAP backend

[abhichothani42]

Summary

Adds the configuration surface for robot description recording. Nothing consumes these fields yet; the next PR wires them into the TrossenMCAP backend.

Changes

• Add four fields to TrossenMCAPBackendConfig: include_robot_description (default off), include_meshes, robot_description_ref (git branch/tag, default main), and urdf_variant (explicit repo path, empty = auto-resolve from robot_name).
• Parse the new fields in from_json and forward them through SdkConfig::populate_global_config, so they work from JSON config and --set overrides alike.

Test Plan

• Builds cleanly (make build)
• Tests pass (make test)
• Lint passes (pre-commit run --all-files)
• Tested on hardware

Breaking Changes

None. All fields default to the previous behavior (no robot description written).

Related Issues

None.

[abhichothani42]

Warning

This pull request is not mergeable via GitHub because a downstack PR is open. Once all requirements are satisfied, merge this PR as a stack on Graphite.
Learn more

• scripts: add Foxglove user scripts for robot and EEF visualization #277
• scripts: add URDF extraction tool for TrossenMCAP recordings #276
• examples: enable robot description recording in solo demo #275
• backend: write robot description to TrossenMCAP files #274
• config: add robot description options to TrossenMCAP backend #273 👈 (View in Graphite)
• utils: add RobotDescriptionCache for URDF download and mesh embedding #272
• examples: update sanity check for end-effector pose #270
• arm: emit end-effector pose from TrossenArmProducer #269
• backend: add end-effector pose write support to TrossenMCAP #268
• arm: add EndEffectorPoseRecord and proto schema #267
• examples: add trossen_vr_mobile demo #266
• examples: add trossen_vr_stationary demo #265
• examples: add trossen_vr_solo demo #264
• vr: add VrSessionControlComponent button-to-session bridge #263
• vr: add VrBaseComponent base-velocity teleop leader #262
• vr: add VrArmComponent cartesian teleop leader #261
• vr: add shared VrSession connection owner #260
• feat: post_event/attach_control queue for thread-safe session control #271
• session-control: add SessionControlCapable interface #259
• hw: make SlateBaseComponent a base-velocity teleop follower #258
• teleop: add base-velocity (Base) space to teleop interface #257
• main

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[Copilot]

Pull request overview

Adds new configuration fields to the TrossenMCAP backend config so robot description recording behavior can be specified via JSON and --set overrides, in preparation for later backend wiring.

Changes:

• Extends TrossenMCAPBackendConfig with include_robot_description, include_meshes, robot_description_ref, and urdf_variant (with defaults).
• Parses the new fields in TrossenMCAPBackendConfig::from_json.
• Forwards the new fields through SdkConfig::populate_global_config into GlobalConfig.

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 3 comments.

File	Description
src/configuration/sdk_config.cpp	Adds the new backend config fields to the JSON emitted into GlobalConfig.
include/trossen_sdk/configuration/types/backends/trossen_mcap_backend_config.hpp	Adds the new config surface and JSON parsing for robot description recording options.

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