Refactor robot models to use RobotModel with urdf parameter #3810

Job	Run time
Build Sphinx Documentation	3m 8s
Check Formatting	16s
Check Requirements Formatting	3s
Typos	8s
Run Unit Tests (Python 3.x) (3.8.16, ubuntu-latest, latest, 1.6.3, false)	4m 58s
Run Unit Tests (Python 3.x) (3.8.16, ubuntu-latest, 1.21.0, latest, false)	4m 39s
Run Unit Tests (Python 3.x) (3.10.10, ubuntu-latest, 1.23.5, 1.8.0, false)	5m 9s
Run Unit Tests (Python 3.x) (3.8.16, ubuntu-latest, latest, latest, false)	4m 47s
Run Unit Tests (Python 3.x) (3.12.3, ubuntu-latest, 1.26.4, latest, false)	8m 1s
Run Unit Tests (Python 3.x) (3.12.3, ubuntu-latest, latest, latest, false)	7m 55s
Run Unit Tests (Python 3.x) (3.10.10, ubuntu-latest, latest, latest, false)	5m 1s
Run Unit Tests (Python 3.x) (3.8.16, ubuntu-latest, 1.21.0, 1.6.3, false)	4m 27s
Run Unit Tests (Python 3.x) (3.10.10, ubuntu-latest, latest, 1.8.0, false)	5m 6s
Run Unit Tests (Python 3.x) (3.12.3, ubuntu-latest, latest, latest, true)	7m 31s
Run Unit Tests (Python 3.x) (3.13, ubuntu-latest, latest, latest, false)	7m 13s
Run Unit Tests (Python 3.x) (3.12.3, ubuntu-latest, latest, 1.11.4, false)	7m 36s
Run Unit Tests (Python 3.x) (3.13, ubuntu-latest, latest, latest, true)	7m 4s
Run Unit Tests (Python 3.x) (3.10.10, ubuntu-latest, 1.21.5, latest, false)	5m 17s
Run Unit Tests (Python 3.x) (3.12.3, ubuntu-latest, 1.26.4, 1.11.4, false)	8m 3s
	1h 36m 22s

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