go2 urdf box, and urdf box generator

[leshy]

can't release without this

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[greptile-apps]

Greptile Summary

Added simplified Go2 robot URDF representation and a utility for generating box-based URDFs. The Go2 URDF uses a basic box geometry (0.7m x 0.31m x 0.4m) with 15kg mass, replacing a more complex model for simulation or visualization purposes.

• Created dimos/utils/urdf.py with box_urdf() function that generates URDF XML with correct inertia calculations for box geometry
• Added dimos/robot/unitree/go2/go2.urdf with simplified Go2 representation using box collision/visual geometry
• Inertia tensor values correctly calculated using solid cuboid formulas

Confidence Score: 5/5

• This PR is safe to merge with no issues found
• Both files are new additions with clean, well-structured code. The URDF file has correctly calculated inertia values that match the box geometry formula, and the Python utility is straightforward with proper type hints and documentation.
• No files require special attention

Important Files Changed

Filename	Overview
dimos/utils/urdf.py	New utility function for generating box URDFs with correct inertia calculations
dimos/robot/unitree/go2/go2.urdf	New simplified Go2 robot URDF with box geometry and correct inertia properties

Sequence Diagram

sequenceDiagram
    participant User
    participant box_urdf
    participant URDF File
    
    User->>box_urdf: Call with dimensions (0.7, 0.31, 0.4)
    box_urdf->>box_urdf: Calculate inertia tensor<br/>(ixx, iyy, izz)
    box_urdf->>box_urdf: Format URDF XML with<br/>geometry, material, collision, inertia
    box_urdf-->>User: Return URDF XML string
    
    Note over URDF File: go2.urdf created with<br/>same structure and calculations

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[leshy]

merged via #887