Refactor robot models to use RobotModel with urdf parameter #3811

Job	Run time
Build Sphinx Documentation	3m 34s
Check Requirements Formatting	3s
Typos	6s
Check Formatting	16s
Run Unit Tests (Python 3.x) (3.10.10, ubuntu-latest, 1.23.5, 1.8.0, false)	5m 13s
Run Unit Tests (Python 3.x) (3.12.3, ubuntu-latest, latest, latest, true)	7m 45s
Run Unit Tests (Python 3.x) (3.12.3, ubuntu-latest, 1.26.4, 1.11.4, false)	7m 48s
Run Unit Tests (Python 3.x) (3.12.3, ubuntu-latest, 1.26.4, latest, false)	7m 49s
Run Unit Tests (Python 3.x) (3.10.10, ubuntu-latest, latest, latest, false)	4m 50s
Run Unit Tests (Python 3.x) (3.13, ubuntu-latest, latest, latest, false)	6m 57s
Run Unit Tests (Python 3.x) (3.12.3, ubuntu-latest, latest, 1.11.4, false)	8m 8s
Run Unit Tests (Python 3.x) (3.8.16, ubuntu-latest, 1.21.0, 1.6.3, false)	4m 31s
Run Unit Tests (Python 3.x) (3.8.16, ubuntu-latest, 1.21.0, latest, false)	4m 45s
Run Unit Tests (Python 3.x) (3.13, ubuntu-latest, latest, latest, true)	6m 45s
Run Unit Tests (Python 3.x) (3.10.10, ubuntu-latest, latest, 1.8.0, false)	4m 54s
Run Unit Tests (Python 3.x) (3.10.10, ubuntu-latest, 1.21.5, latest, false)	9m 42s
Run Unit Tests (Python 3.x) (3.8.16, ubuntu-latest, latest, latest, false)	5m 34s
Run Unit Tests (Python 3.x) (3.12.3, ubuntu-latest, latest, latest, false)	7m 43s
Run Unit Tests (Python 3.x) (3.8.16, ubuntu-latest, latest, 1.6.3, false)	4m 38s
	1h 41m 1s

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