evol(archi): applied standard urdf package structure

[charlesmadjeri]

Sentience-Robotics/lucy_ros2#78

[charlesmadjeri]

Old:

thais_urdf/
├── CMakeLists.txt / package.xml / README ...
├── launch/
├── config/
├── test/
└── inmoov/
    ├── 3dmodel/
    │   └── robot_description.urdf.xacro     ← Phobos export
    ├── ros2_control/
    │   ├── inmoov_ros2_control.xacro
    │   └── inmoov_gazebo.xacro
    ├── urdf/
    │   └── inmoov.urdf.xacro                ← top-level assembly xacro
    └── meshes/
        └── dae/
            └── [295 .dae files]

New:

 thais_urdf/
├── CMakeLists.txt
├── package.xml
├── README.md
├── CONTRIBUTING.md
├── doc/
│   └── DEVELOPER.md
├── .github/
│   └── workflows/ci.yml
├── launch/
│   ├── gazebo.launch.py
│   ├── rviz.launch.py
│   └── rviz_standalone.launch.py
├── config/
│   └── inmoov_rviz.rviz
├── test/
│   └── test_xacro_smoke.py
│
├── hardware_config/                         ← TBD (actuator/sensor YAML configs)
│
└── description/                             ← renamed from inmoov/
    │
    ├── robot_description/                   ← renamed from 3dmodel/
    │   ├── meshes/                          ← moved from inmoov/meshes/
    │   │   └── dae/
    │   │       └── [295 .dae files]
    │   └── urdf/
    │       └── robot_description.urdf.xacro ← Phobos-exported URDF (unchanged)
    │
    ├── ros2_control/                        ← moved from inmoov/ros2_control/
    │   ├── inmoov_ros2_control.xacro
    │   └── inmoov_gazebo.xacro
    │
    └── urdf/                                ← moved from inmoov/urdf/
        └── inmoov.urdf.xacro               ← top-level assembly: includes both above