feat: support G1 23dof (U1version) robot type

[chenlockyer]

Overview

This PR adds full support for G1 23dof (U1 version) robot, including training configuration, motion dataset processing, and deployment code.

Closes #27

Features Added

Training & Simulation (IsaacLab)

• G1 23dof robot configuration with proper actuator specs
• Mimic motion tracking environments:
  • Unitree-G1-23dof-Mimic-Dance-102
  • Unitree-G1-23dof-Mimic-Gangnanm-Style
• Velocity tracking environment: Unitree-G1-23dof-Velocity
• Motion dataset processing with automatic 29dof→23dof joint adaptation

Deployment

• Real robot controller in C++ (deploy/robots/g1_23dof/)
• Add FSM-based state machine for mimic and velocity control
• Add Pre-trained ONNX policies for dance and gangnam motions for 23dof

Utils & Scripts

• Motion data conversion: 29dof CSV → 23dof format
• Motion export: CSV → NPZ with robot model selection
• Motion replay with joint dimension adaptation
• Policy export and deployment sync scripts

Changes

• Training:

  • source/unitree_rl_lab/unitree_rl_lab/tasks/mimic/robots/g1_23dof/
  • source/unitree_rl_lab/unitree_rl_lab/tasks/locomotion/robots/g1/23dof/
  • source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree.py

• Deployment:

  • deploy/robots/g1_23dof/ (new)

• Utilities:

  • scripts/mimic/csv_to_npz.py (added robot model selection)
  • scripts/mimic/replay_npz.py (added robot model selection)
  • scripts/convert_csv_29dof_to_23dof.py (new)

Backward Compatibility

• All existing 29dof configurations remain unchanged
• Motion export/replay defaults to 23dof but supports all variants via --robot_model option

Testing

• Trained mimic policies exported to ONNX
• Tested on real G1 23dof robot for both motion tracking and velocity control
• Motion data conversion verified for format accuracy