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Add copy-only cross-embodiment retargeting (G1 ⇄ GR1) - #78

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Add copy-only cross-embodiment retargeting (G1 ⇄ GR1)#78
bbutin-nvidia wants to merge 16 commits into
mainfrom
bbutin/retargeting

Expose hand postures / eef offset through EmbodimentAdapter.raw_config

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