Add standardized Dexforce W1 v030 bare-body assets

Publish the complete 20-DOF bare body, synchronized component URDFs, original meshes, a per-file checksum manifest and a simulator preview. Detachable grippers remain separate assets.

dexforce_w1/v030/README.md

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+# Dexforce W1 v030 — standard bare body
+
+The standard simulation asset contains the complete 20-DOF body: chassis, torso,
+head and two seven-joint arms. Detachable grippers and other tools are assembled
+separately at `left_ee` / `right_ee`; they are excluded from this release.
+
+![Standard W1 v030 bare body](preview.png)
+
+## Download and layout
+
+Download [w1.zip](w1.zip) and extract it without flattening the `w1/` directory:
+
+```text
+w1/
+  robot.urdf
+  robot_with_ee.urdf
+  chassis.urdf
+  torso.urdf
+  head.urdf
+  left_arm.urdf
+  right_arm.urdf
+  visual_recoloured/
+  collision/
+```
+
+`robot.urdf` is the complete standard body (30 links, 29 joints: 20 revolute and
+9 fixed). `robot_with_ee.urdf` is an identical compatibility alias and also
+contains the bare body. The five component URDFs match the complete body's
+frames, joint definitions, inertias and meshes. All mesh references resolve
+inside the archive; source visual and collision mesh contents are preserved.
+Unreferenced duplicate and waist-backup meshes have been removed.
+
+The archive is **26,819,486 bytes (25.58 MiB)**. The 49 extracted files total
+40,475,238 bytes (38.60 MiB).
+
+- MD5: `45fd6e516997d85cbac01f3d955acb4f`
+- SHA256: `c19a290cb2a899ce2d75aab005014c708d4d9f0bb4a369a80d2d3b663b2156ee`
+- [manifest.json](manifest.json) records entry points and every file's size and SHA256.
+
+## EmbodiChain integration
+
+With the matching W1 v030 support in EmbodiChain:
+
+```python
+from embodichain.robot_registry import resolve_robot_cfg
+
+cfg = resolve_robot_cfg("DexforceW1", variant="v030/bare")
+```
+
+The dataset key is `DexforceW1V030`; the complete-body path is
+`DexforceW1V030/w1/robot.urdf`. An empty cache downloads and validates `w1.zip`
+before extracting it. Earlier W1 revisions retain their existing defaults.
+
+V030 uses the calibrated FEP solver. URDF joint coordinates and limits are
+preserved. Reference postures are `[0, 0, -pi/2, 0, 0, -pi/2, 0]` for the left
+arm and `[0, 0, -pi/2, 0, 0, pi/2, 0]` for the right arm. The standard TCP is the
+identity transform at each flange. An assembled tool must supply its own TCP.
+Uncalibrated wrist-camera frames are not added to the standard body.
+
+Kinematic validation covered 9,216 CPU/CUDA IK samples with all samples
+successful and within joint limits (maximum position error 8.42 micrometres,
+maximum orientation error 0.00159 degrees). Native link-pose, home-pose and IK
+checks passed with both default and Newton backends. These checks validate
+URDF/simulator kinematics, rather than hardware or dynamic calibration.

dexforce_w1/v030/manifest.json

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+{
+  "robot": "DexforceW1",
+  "version": "v030",
+  "variant": "bare",
+  "units": {
+    "length": "metre",
+    "angle": "radian",
+    "mass": "kilogram"
+  },
+  "archive": {
+    "filename": "w1.zip",
+    "bytes": 26819486,
+    "md5": "45fd6e516997d85cbac01f3d955acb4f",
+    "sha256": "c19a290cb2a899ce2d75aab005014c708d4d9f0bb4a369a80d2d3b663b2156ee",
+    "root": "w1/",
+    "extracted_files": 49,
+    "extracted_bytes": 40475238
+  },
+  "body": {
+    "links": 30,
+    "joints": 29,
+    "independent_dof": 20,
+    "joint_types": {
+      "revolute": 20,
+      "fixed": 9
+    },
+    "detachable_end_effectors_included": false
+  },
+  "entry_points": {
+    "full_body": "w1/robot.urdf",
+    "compatibility_alias": "w1/robot_with_ee.urdf",
+    "components": {
+      "chassis": "w1/chassis.urdf",
+      "torso": "w1/torso.urdf",
+      "head": "w1/head.urdf",
+      "left_arm": "w1/left_arm.urdf",
+      "right_arm": "w1/right_arm.urdf"
+    }
+  },
+  "flange_frames": {
+    "left": "left_ee",
+    "right": "right_ee"
+  },
+  "normalization": [
+    "Exclude detachable grippers and unreferenced backup/duplicate meshes.",
+    "Resolve every visual/collision path within the archive.",
+    "Match component frame, inertia and mesh definitions to the corrected full body.",
+    "Keep source joint limits and original visual/collision mesh contents.",
+    "robot_with_ee.urdf is a compatibility alias of the bare robot.urdf."
+  ],
+  "files": [
+    {
+      "path": "w1/chassis.urdf",
+      "bytes": 745,
+      "sha256": "aa4174f58154075eef5b102493ecb920e322fa37ec333ec2aa11a5cec18936f1"
+    },
+    {
+      "path": "w1/collision/chassis/base_link.obj",
+      "bytes": 5048,
+      "sha256": "06b425daa3c87dd1437a8d9af0c6d38df5459c5cd4e2623e6de58eefb9144629"
+    },
+    {
+      "path": "w1/collision/head/head_pitch_j2_link.obj",
+      "bytes": 6151,
+      "sha256": "f4fea8be793f1d816b8ed892de7903200eb69eb9ebffa17814e439d30a805288"
+    },
+    {
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+      "bytes": 3036,
+      "sha256": "20d6803ee6e8df23c1cff298c761d3c7da4ec03de3721ba14a4087b663c7139b"
+    },
+    {
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+      "sha256": "360261087e1baaee2129bd49fb717989c2d952cf180d1a50b2f9de8f09890196"
+    },
+    {
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+      "sha256": "d245168a9c99b8b0abf6a21d8780b5b09f27cd9b869335f3d345da76da26995a"
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+  ]
+}

dexforce_w1/v030/w1.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c19a290cb2a899ce2d75aab005014c708d4d9f0bb4a369a80d2d3b663b2156ee
+size 26819486