WAM Add

[gaolongsen]

Hello, I add WAM 7 DOF robot in the package. The model test was without any problem. I look forward to being a contributor to the package!

[petercorke]

Hi @gaolongsen thanks for submitting the model, and I apologise for the very long time in responding.

All toolbox models are distributed via PyPI which has quite serious limits on the size of a package, rtb-data is already using "special permission" from the administrators due to is size, and I do need do be conscious of this.

I do not think that the SolidWorks models need to be included here, perhaps include a link to your own repo in a README.md file, that also references the two visualisations you include.

There are inertial parameters in this model, and I think they would be important to people who use a model of a robot like the WAM. Could you add that data?

I hope you can be a contributor to the toolbox.

[gaolongsen]

Hi Prof. Peter, I have made changes based on all your valuable suggestions. The new version keeps the same structure as other robot models that contains two folders: meshes + urdf. The inertia information for each link of the WAM robot with 7 DoF is included in the file "components.urdf.xacro"; also, for the Barrett hand, the inertia information for all links is in "hand.urdf.xacro". I tested the version in my local environment, and nothing went wrong. I'm looking forward to hearing your feedback and double-checking. Thanks for your time! It's my honor to contribute this pretty powerful tool library!

[gaolongsen]

@petercorke Hi Prof. Peter, would you mind taking the time to have a look at the PR? Thanks for your time!