Fix: Support recursive/nested <include> tags in MJCF parser (#529) #532
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Resolves #529. This PR modifies the MJCF parser to support tags at any level of the XML hierarchy, not just the root. Previously, _parse only searched for include tags in xml_root, causing schema validation errors for nested includes (e.g., inside ). The fix uses xml_root.iter('include') to locate all occurrences and correctly removes them from their respective parents.