Simplify redundant explicit ids to implicit conversions in tests

Drop 8 explicit JointId(...) wrappers where the target type is already
fixed by context; test TUs enable implicit string->id conversion.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01XnQ84NASLsf6oQ2kGqXdnk

Author: rjoomen

command_language/test/command_language_utils_unit.cpp

@@ -272,8 +272,8 @@ TEST(TesseractCommandLanguageUtilsUnit, getJointPositionFormatedTests)  // NOLIN
 TEST(TesseractCommandLanguageUtilsUnit, formatJointPositionByIdTests)  // NOLINT
 {
   using tesseract::common::JointId;
-  std::vector<JointId> joint_ids = { JointId("joint_1"), JointId("joint_2") };
-  std::vector<JointId> format_joint_ids = { JointId("joint_2"), JointId("joint_1") };
+  std::vector<JointId> joint_ids = { "joint_1", "joint_2" };
+  std::vector<JointId> format_joint_ids = { "joint_2", "joint_1" };
   Eigen::VectorXd position0 = Eigen::Vector2d(1, 2);
   Eigen::VectorXd position00 = Eigen::Vector2d(3, 4);
   Eigen::VectorXd format_position0 = Eigen::Vector2d(2, 1);
@@ -315,9 +315,9 @@ TEST(TesseractCommandLanguageUtilsUnit, formatJointPositionByIdTests)  // NOLINT
   WaypointPoly wp2_poly{ wp2 };
   EXPECT_FALSE(formatJointPosition(format_joint_ids, wp2_poly));  // NOLINT
 
-  EXPECT_ANY_THROW(formatJointPosition(std::vector<JointId>{ JointId("joint_1") }, wp0_poly));  // NOLINT
+  EXPECT_ANY_THROW(formatJointPosition(std::vector<JointId>{ "joint_1" }, wp0_poly));  // NOLINT
   EXPECT_ANY_THROW(
-      formatJointPosition(std::vector<JointId>{ JointId("joint_3"), JointId("joint_1") }, wp0_poly));  // NOLINT
+      formatJointPosition(std::vector<JointId>{ "joint_3", "joint_1" }, wp0_poly));  // NOLINT
 
   WaypointPoly error_poly;
   EXPECT_ANY_THROW(formatJointPosition(format_joint_ids, error_poly));  // NOLINT

motion_planners/core/test/planner_unit.cpp

@@ -33,7 +33,7 @@ Eigen::VectorXd values()
 
 TEST(TesseractMotionPlannersCoreUnit, AssignSolutionIdsCreatesStateWaypoint)  // NOLINT
 {
-  const std::vector<JointId> joint_ids{ JointId("j1"), JointId("j2") };
+  const std::vector<JointId> joint_ids{ "j1", "j2" };
   MoveInstructionPoly mi(
       MoveInstruction(CartesianWaypoint(Eigen::Isometry3d::Identity()), MoveInstructionType::FREESPACE));
 
@@ -47,7 +47,7 @@ TEST(TesseractMotionPlannersCoreUnit, AssignSolutionIdsCreatesStateWaypoint)  //
 
 TEST(TesseractMotionPlannersCoreUnit, AssignSolutionIdsSeedsCartesianWaypoint)  // NOLINT
 {
-  const std::vector<JointId> joint_ids{ JointId("j1"), JointId("j2") };
+  const std::vector<JointId> joint_ids{ "j1", "j2" };
   MoveInstructionPoly mi(
       MoveInstruction(CartesianWaypoint(Eigen::Isometry3d::Identity()), MoveInstructionType::FREESPACE));
 

motion_planners/simple/test/interpolation_unit.cpp

@@ -35,7 +35,7 @@ MoveInstruction baseInstruction(const std::vector<JointId>& joint_ids)
 
 TEST(TesseractMotionPlannersSimpleInterpolationUnit, GetInterpolatedInstructionsIds)  // NOLINT
 {
-  const std::vector<JointId> joint_ids{ JointId("j1"), JointId("j2") };
+  const std::vector<JointId> joint_ids{ "j1", "j2" };
 
   const auto mis = getInterpolatedInstructions(joint_ids, states(), baseInstruction(joint_ids));
 

motion_planners/trajopt/test/trajopt_utils_unit.cpp

@@ -14,7 +14,7 @@ TEST(TesseractMotionPlannersTrajoptUtilsUnit, CreateNearJointStateTermInfoIds)
 {
   Eigen::VectorXd target(2);
   target << 0.1, 0.2;
-  const std::vector<JointId> joint_ids{ JointId("j1"), JointId("j2") };
+  const std::vector<JointId> joint_ids{ "j1", "j2" };
   const Eigen::VectorXd coeffs = Eigen::VectorXd::Constant(1, 5.0);
 
   const auto term = createNearJointStateTermInfo(target, joint_ids, 3, coeffs, trajopt::TermType::TT_COST);