1.0.5 Add the TM30S mesh files, Xacro simulation models and update relative joint_velocity_limit values.

Author: YH.Wang

doc/tm_humble_description.md

@@ -14,7 +14,7 @@ The user can use the tm_mod_urdf package to extract specific kinematic values fr
  >```
  > * <script_name> : Provide modify_xacro.py or modify_urdf.py two Python scripts program as options.
  > * <urdf_from>: The first argument represents the original URDF model form of the TM Robot, and the file part naming <sup>1</sup> is <urdf_from>.<br/>
- > <sup>1</sup> There will be several built-in TM Robot nominal robot model settings, available for TM5S, TM7S, TM12S, TM14S, and TM25S models.<br/>
+ > <sup>1</sup> There will be several built-in TM Robot nominal robot model settings, available for TM5S, TM7S, TM12S, TM14S, TM25S, and TM30S models, as well as the eyeless models TM5SX, and TM7SX models.<br/>
  > For example, select your real robot type as the input nominal model form. If your TM robot is TM12S, then the user can type tm12s as the <urdf_from>.<br/>
  > * <urdf_gen>: The second argument means the newly generated URDF model form of the TM Robot, and the file <sup>2</sup> name is <urdf_gen>.<br/>
  > <sup>2</sup> For example, if the user names it test and select modify_xacro.py as script program, a test.urdf.xacro robot description file will be generated.<br/>

doc/tm_humble_description_e.md

@@ -14,7 +14,7 @@ The user can use the tm_mod_urdf package to extract specific kinematic values fr
  >```
  > * <script_name> : Provide modify_xacro.py or modify_urdf.py two Python scripts program as options.
  > * <urdf_from>: The first argument represents the original URDF model form of the TM Robot, and the file part naming <sup>1</sup> is <urdf_from>.<br/>
- > <sup>1</sup> There will be several built-in TM Robot nominal robot model settings, available for TM5S, TM7S, TM12S, TM14S, and TM25S models.<br/>
+ > <sup>1</sup> There will be several built-in TM Robot nominal robot model settings, available for TM5S, TM7S, TM12S, TM14S, TM25S, and TM30S models, as well as the eyeless models TM5SX, and TM7SX models.<br/>
  > For example, select your real robot type as the input nominal model form. If your TM robot is TM12S, then the user can type tm12s as the <urdf_from>.<br/>
  > * <urdf_gen>: The second argument means the newly generated URDF model form of the TM Robot, and the file <sup>2</sup> name is <urdf_gen>.<br/>
  > <sup>2</sup> For example, if the user names it test and select modify_xacro.py as script program, a test.urdf.xacro robot description file will be generated.<br/>

tm_description/meshes/tm30s/collision/tm30s-arm1_c.stl

@@ -0,0 +1,21 @@
+newmtl DEFAULT_MTL
+Kd 0.695 0.743 0.790
+
+newmtl MTL0 
+Kd 0.220 0.230 0.280
+
+newmtl MTL1 
+Kd 0.961 0.961 0.961
+
+newmtl MTL2 
+Kd 0.408 0.400 0.400
+
+newmtl MTL3 
+Kd 0.000 0.000 0.000
+
+newmtl MTL4 
+Kd 1.000 0.000 0.000
+
+newmtl MTL5 
+Kd 0.820 0.830 0.840
+