Add Unitree G1 robot URDF files and meshes

[UntitledNotebook]

Summary

Adds Unitree G1 humanoid robot URDF files and mesh assets for use with the RBD kinematics system.

What's Added

• 20 URDF variants covering different G1 configurations:
  • 23-DOF variants: standard, mode_10, rev_1_0
  • 29-DOF variants: standard, locked waist, with hand, modes 11-16, rev_1_0
  • Inspire hand integration variants (DFQ/FTP)
  • Dual arm and composite configurations
• 160 STL mesh files for all robot links:
  • Body links (torso, pelvis, waist, head)
  • Leg links (hip, knee, ankle for both sides)
  • Arm links (shoulder, elbow, wrist for both sides)
  • Hand links (fingers, thumb, palm, force sensors)
  • Accessories (camera mount, rubber hands, constraints)

Directory Structure

urdfs/unitree_g1/
├── *.urdf # Robot description files
├── meshes/ # Link geometry STL files
└── inspire_hand/ # Additional hand configs

Source

Files sourced from https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description

Use Case

Enables the demo/unitree_g1 demo to load G1 robot models for forward kinematics visualization and Blender rendering workflows, similar to the existing franka_fr3 assets.