
Hi,
I'd like to propose id value for joint or sensor devices
In idea is to add id tag as follows
joint  attributes: enable (true, false), type (hinge, slider, universal, hinge2, spherical), circular(true, false), mimic_pos (math equation), mimic_vel (math equation), mimic_accel (math equation)
anchor  3 floats [hinge, hinge2, universal, spherical]
+ id  1 integers
SensorBase 
+ id  1 integers
and others is to add id attributes to joint and sensor.
how do you think?
