{ "model": "Touch R1 Leader Arm V3.2", "status_zh": "七轴运动学预览草案（双 finger 联动待实物确认）", "source_assembly": "robot-description/source/r1-hd-urdf-only.FCStd", "source_assembly_sha256": "b6cac35a9807eb45ec3ebaecfee955961dbb27ddb454c4c01f6b9bc63b60346f", "source_format": "FCStd", "original_step": { "revision": "V3.2", "original_step_name": "遥操臂V3.2_1013(1).stp", "original_step_sha256": "f2654e3ba64084a5638cb16c66ebac0a958ef50be641a09abca82bdf0ccb2bc0", "original_step_solids": 115, "excluded_objects": [ { "object": "Part__Feature094", "label": "A000", "solids": 1 }, { "object": "Part__Feature097", "label": "B000", "solids": 1 } ], "snapshot_solids": 113, "snapshot_sha256": "b6cac35a9807eb45ec3ebaecfee955961dbb27ddb454c4c01f6b9bc63b60346f", "note_zh": "FCStd 由指定 STEP 导入，移除 A000、B000；原 STEP 原样保存在 hardware/step/assembly/touch-r1-leader-arm-v3.2-1013.stp。" }, "source_length_unit": "mm", "urdf_length_unit": "m", "cad_to_urdf_zh": "绕 X 轴 +90°（Y 向上改为 Z 向上），再沿 Z 平移 51.000000 mm，使基座底面为 Z=0。", 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