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.gitattributes

@@ -2097,3 +2097,13 @@ scenes/ithor/FloorPlan9_physics/Payload/GeometryLibrary.usdc filter=lfs diff=lfs
 *.npy filter=lfs diff=lfs merge=lfs -text
 textures/rust/*.JPG filter=lfs diff=lfs merge=lfs -text
 textures/rust/*.jpg filter=lfs diff=lfs merge=lfs -text
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+URDF-Zoo/xarm+ability/meshes/visual/link6.glb filter=lfs diff=lfs merge=lfs -text
+URDF-Zoo/xarm+ability/meshes/visual/link_base.glb filter=lfs diff=lfs merge=lfs -text
+URDF-Zoo/xarm+ability/meshes/visual/link1.glb filter=lfs diff=lfs merge=lfs -text
+URDF-Zoo/xarm+ability/meshes/visual/link5.glb filter=lfs diff=lfs merge=lfs -text
+URDF-Zoo/xarm+ability/meshes/visual/link7.glb filter=lfs diff=lfs merge=lfs -text
+URDF-Zoo/xarm+ability/meshes/visual/link3.glb filter=lfs diff=lfs merge=lfs -text
+URDF-Zoo/xarm+ability/meshes/visual/link4.glb filter=lfs diff=lfs merge=lfs -text
+URDF-Zoo/xarm+ability/models/FB_palm_ref.STL filter=lfs diff=lfs merge=lfs -text
+URDF-Zoo/xarm+ability/models/full_model_fused_with__wrist.stl filter=lfs diff=lfs merge=lfs -text

Robots_p/README.md

@@ -0,0 +1 @@
+# URDF-Zoo

Robots_p/ur5+schunk_hand/tactile_sensor/tactlie_d13.mtl

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+# www.blender.org
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Robots_p/ur5+schunk_hand/tactile_sensor/tactlie_d13.obj

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+# www.blender.org
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Robots_p/ur5+schunk_hand/tactile_sensor/tactlie_d13_left.mtl

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+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org
+
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Robots_p/ur5+schunk_hand/tactile_sensor/tactlie_d13_left.obj

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+# Blender 5.1.1
+# www.blender.org
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Robots_p/ur5+schunk_hand/usd/.asset_hash

@@ -0,0 +1 @@
+21f5f830d9cd09508bc9a65f6da13fea

Robots_p/ur5+schunk_hand/usd/config.yaml

@@ -0,0 +1,23 @@
+asset_path: /home/ubuntu/zdj/Robots/ur5+schunk_hand/urdf/Multi_UR5_schunk_hand_with_flange.urdf
+usd_dir: /home/ubuntu/zdj/Robots/ur5+schunk_hand/usd_sdf_linux
+usd_file_name: Multi_UR5_schunk_hand_with_flange.usd
+force_usd_conversion: true
+make_instanceable: false
+fix_base: true
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-04-14 at 22:38:57.
+##

Robots_p/xarm+ability/ability_hand_left_large.urdf

@@ -0,0 +1,550 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+	NOTES:
+	Units:
+		Distance: m
+		Angles: rad (only option)
+		Mass: kg
+		Inertia: kg*m^2
+		
+	Notes on intertia:
+		-The inertias are calculated for uniform density using meshes with weights.
+	
+	Notes on finger q2:
+		-The hand is a 4 bar linkage mechanism forming an 'X'. 4 bar linkages are not supported in the 
+		urdf format. The motion of the second finger joint is fully defined by the motion of the first 
+		finger joint. The calculation to find the index finger second joint angle given the first is provided
+		in a matlab script elsewhere in this repository.
+-->
+<robot name="ability_hand">
+   <link name="base">
+      <visual name="wrist_mesh">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/wristmesh.STL" />
+         </geometry>
+      </visual>
+      <inertial>
+         <mass value="0.37511000" />
+         <inertia ixx="3.76723021e-04" ixy="2.33895423e-06" ixz="-6.04325150e-06" iyy="4.67706269e-04" iyz="5.04572725e-05" izz="1.77650714e-04" />
+         <origin xyz="-6.54520000e-04 -5.98838000e-03 5.07726500e-02" rpy="0 0 0" />
+      </inertial>
+      <visual name="palm_mesh">
+         <origin rpy="3.14148426 0.08848813 3.14036612" xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" />
+         <geometry>
+            <mesh filename="models/FB_palm_ref.STL" />
+         </geometry>
+      </visual>
+      <collision name="palm_mesh_coll">
+         <origin rpy="3.14148426 0.08848813 3.14036612" xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" />
+         <geometry>
+            <mesh filename="models/palm_hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+
+   <link name="index_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="index_mesh_1">
+         <origin xyz="0 0 0" rpy="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="index_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="index_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="index_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg.STL" />
+         </geometry>
+      </visual>
+      <collision name="index_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="index_q1" type="revolute">
+      <parent link="base" />
+      <child link="index_L1" />
+      <origin xyz="0.028 -0.009 0.096" rpy="1.470 -1.317 -1.352" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <joint name="index_q2" type="revolute">
+      <parent link="index_L1" />
+      <child link="index_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="index_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="index_anchor" />
+   <joint name="idx_anchor" type="fixed">
+      <parent link="index_L2" />
+      <child link="index_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr0" />
+   <joint name="fsr0" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr0" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02936 -0.01697 -0.00435" />
+   </joint>
+   <link name="fsr1" />
+   <joint name="fsr1" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr1" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02961 -0.01394 0.0" />
+   </joint>
+   <link name="fsr2" />
+   <joint name="fsr2" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr2" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02936 -0.01697 0.00435" />
+   </joint>
+   <link name="fsr3" />
+   <joint name="fsr3" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr3" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01472 -0.01100 -0.00435" />
+   </joint>
+   <link name="fsr4" />
+   <joint name="fsr4" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr4" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01472 -0.01099 0.00435" />
+   </joint>
+   <link name="fsr5" />
+   <joint name="fsr5" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr5" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03704 -0.01785 0.00000" />
+   </joint>
+   <link name="middle_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="middle_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="middle_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="middle_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="middle_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg.STL" />
+         </geometry>
+      </visual>
+      <collision name="middle_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="middle_q1" type="revolute">
+      <parent link="base" />
+      <child link="middle_L1" />
+      <origin xyz="0.008 -0.012 0.099" rpy="1.629 -1.322 -1.583" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="middle_q2" type="revolute">
+      <parent link="middle_L1" />
+      <child link="middle_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="middle_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="middle_anchor" />
+   <joint name="mid_anchor" type="fixed">
+      <parent link="middle_L2" />
+      <child link="middle_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr6" />
+   <joint name="fsr6" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr6" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02936 -0.01697 -0.00435" />
+   </joint>
+   <link name="fsr7" />
+   <joint name="fsr7" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr7" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02961 -0.01394 0.0" />
+   </joint>
+   <link name="fsr8" />
+   <joint name="fsr8" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr8" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02936 -0.01697 0.00435" />
+   </joint>
+   <link name="fsr9" />
+   <joint name="fsr9" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr9" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01472 -0.01100 -0.00435" />
+   </joint>
+   <link name="fsr10" />
+   <joint name="fsr10" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr10" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01472 -0.01099 0.00435" />
+   </joint>
+   <link name="fsr11" />
+   <joint name="fsr11" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr11" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03704 -0.01785 0.00000" />
+   </joint>
+   <link name="ring_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="ring_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="ring_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="ring_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="ring_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg.STL" />
+         </geometry>
+      </visual>
+      <collision name="ring_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="ring_q1" type="revolute">
+      <parent link="base" />
+      <child link="ring_L1" />
+      <origin xyz="-0.012 -0.010 0.097" rpy="1.780 -1.315 -1.811" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="ring_q2" type="revolute">
+      <parent link="ring_L1" />
+      <child link="ring_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="ring_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="ring_anchor" />
+   <joint name="rng_anchor" type="fixed">
+      <parent link="ring_L2" />
+      <child link="ring_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr12" />
+   <joint name="fsr12" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr12" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02936 -0.01697 -0.00435" />
+   </joint>
+   <link name="fsr13" />
+   <joint name="fsr13" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr13" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02961 -0.01394 0.0" />
+   </joint>
+   <link name="fsr14" />
+   <joint name="fsr14" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr14" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02936 -0.01697 0.00435" />
+   </joint>
+   <link name="fsr15" />
+   <joint name="fsr15" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr15" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01472 -0.01100 -0.00435" />
+   </joint>
+   <link name="fsr16" />
+   <joint name="fsr16" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr16" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01472 -0.01099 0.00435" />
+   </joint>
+   <link name="fsr17" />
+   <joint name="fsr17" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr17" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03704 -0.01785 0.00000" />
+   </joint>
+   <link name="pinky_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="pinky_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="pinky_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="pinky_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="3.07970159e-07" ixy="2.80921010e-07" ixz="-2.72117073e-09" iyy="7.40775495e-07" iyz="1.08144438e-09" izz="8.93728844e-07" />
+         <origin xyz="1.33249215e-02 -8.15894775e-03 -4.07689501e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="pinky_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg.STL" />
+         </geometry>
+      </visual>
+      <collision name="pinky_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="pinky_q1" type="revolute">
+      <parent link="base" />
+      <child link="pinky_L1" />
+      <origin xyz="-0.031 -0.007 0.091" rpy="1.731 -1.315 -1.828" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="pinky_q2" type="revolute">
+      <parent link="pinky_L1" />
+      <child link="pinky_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+      <mimic joint="pinky_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="pinky_anchor" />
+   <joint name="pnky_anchor" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="pinky_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr18" />
+   <joint name="fsr18" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr18" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02556 -0.01391 -0.00435" />
+   </joint>
+   <link name="fsr19" />
+   <joint name="fsr19" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr19" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02517 -0.01110 -0.00000" />
+   </joint>
+   <link name="fsr20" />
+   <joint name="fsr20" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr20" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02556 -0.01391 0.00435" />
+   </joint>
+   <link name="fsr21" />
+   <joint name="fsr21" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr21" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01310 -0.00943 -0.00435" />
+   </joint>
+   <link name="fsr22" />
+   <joint name="fsr22" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr22" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01310 -0.00943 0.00435" />
+   </joint>
+   <link name="fsr23" />
+   <joint name="fsr23" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr23" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03142 -0.01438 0.00000" />
+   </joint>
+   <link name="thumb_L1">
+      <inertial>
+         <mass value="0.00200000" />
+         <inertia ixx="1.18180125e-07" ixy="2.01333778e-08" ixz="6.82164634e-08" iyy="2.49626759e-07" iyz="-8.51306376e-09" izz="2.02510886e-07" />
+         <origin xyz="1.43350200e-02 -1.88501000e-03 -5.04062000e-03" rpy="0 0 0" />
+      </inertial>
+      <visual name="thumb_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/thumb-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="thumb_coll_mesh_1">
+         <origin rpy="-1.83260 0 0" xyz="0.02783 0 -0.01475" />
+         <geometry>
+            <mesh filename="models/thumb-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="thumb_L2">
+      <inertial>
+         <mass value="0.06000000" />
+         <inertia ixx="8.10858595e-06" ixy="-7.50865361e-06" ixz="-6.23775212e-08" iyy="2.16060962e-05" iyz="-1.00035818e-07" izz="2.58546356e-05" />
+         <origin xyz="2.77624500e-02 5.62171000e-03 -4.10855000e-03" rpy="0 0 0" />
+      </inertial>
+      <visual name="thumb_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/thumb-F2-left.STL" />
+         </geometry>
+      </visual>
+      <collision name="thumb_hull_mesh_2">
+         <origin rpy="3.14159 0 0.34383" xyz="0.06519 0.02334 -0.00393" />
+         <geometry>
+            <mesh filename="models/thumb-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="thumb_q1" type="revolute">
+      <parent link="base" />
+      <child link="thumb_L1" />
+      <origin xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="-3.1250458 -0.08693131 -0.1883423" />
+      <axis xyz="0 0 1" />
+      <limit lower="-1.74" upper="0" effort="1.2" velocity="40.338888721" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <joint name="thumb_q2" type="revolute">
+      <parent link="thumb_L1" />
+      <child link="thumb_L2" />
+      <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <link name="thumb_anchor" />
+   <joint name="thmb_anchor" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="thumb_anchor" />
+      <origin rpy="0 0 0" xyz="52.0012259e-3  28.0086971e-3 -.884835778e-3" />
+   </joint>
+   <link name="fsr24" />
+   <joint name="fsr24" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr24" />
+      <origin rpy="-2.29074 0.00001 0.41769" xyz="0.04747 0.01988 -0.00874" />
+   </joint>
+   <link name="fsr25" />
+   <joint name="fsr25" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr25" />
+      <origin rpy="-1.30899 0.00001 0.41769" xyz="0.04721 0.02124 -0.00106" />
+   </joint>
+   <link name="fsr26" />
+   <joint name="fsr26" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr26" />
+      <origin rpy="-0.32726 0.00001 0.41769" xyz="0.04896 0.01654 0.00491" />
+   </joint>
+   <link name="fsr27" />
+   <joint name="fsr27" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr27" />
+      <origin rpy="-2.29074 0.00001 0.41769" xyz="0.03739 0.01536 -0.00879" />
+   </joint>
+   <link name="fsr28" />
+   <joint name="fsr28" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr28" />
+      <origin rpy="-0.32726 0.00001 0.41769" xyz="0.03888 0.01200 0.00494" />
+   </joint>
+   <link name="fsr29" />
+   <joint name="fsr29" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr29" />
+      <origin rpy="-1.39339 0.19354 -0.40280" xyz="0.05591 0.02160 -0.00192" />
+   </joint>
+</robot>

Robots_p/xarm+ability/ability_hand_left_small.urdf

@@ -0,0 +1,549 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+	NOTES:
+	Units:
+		Distance: m
+		Angles: rad (only option)
+		Mass: kg
+		Inertia: kg*m^2
+		
+	Notes on intertia:
+		-The inertias are calculated for uniform density using meshes with weights.
+	
+	Notes on finger q2:
+		-The hand is a 4 bar linkage mechanism forming an 'X'. 4 bar linkages are not supported in the 
+		urdf format. The motion of the second finger joint is fully defined by the motion of the first 
+		finger joint. The calculation to find the index finger second joint angle given the first is provided
+		in a matlab script elsewhere in this repository.
+-->
+<robot name="ability_hand">
+   <link name="base">
+      <visual name="wrist_mesh">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/wristmesh.STL" />
+         </geometry>
+      </visual>
+      <inertial>
+         <mass value="0.37511000" />
+         <inertia ixx="3.76723021e-04" ixy="2.33895423e-06" ixz="-6.04325150e-06" iyy="4.67706269e-04" iyz="5.04572725e-05" izz="1.77650714e-04" />
+         <origin xyz="-6.54520000e-04 -5.98838000e-03 5.07726500e-02" rpy="0 0 0" />
+      </inertial>
+      <visual name="palm_mesh">
+         <origin rpy="3.14148426 0.08848813 3.14036612" xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" />
+         <geometry>
+            <mesh filename="models/FB_palm_ref.STL" />
+         </geometry>
+      </visual>
+      <collision name="palm_mesh_coll">
+         <origin rpy="3.14148426 0.08848813 3.14036612" xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" />
+         <geometry>
+            <mesh filename="models/palm_hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="index_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="index_mesh_1">
+         <origin xyz="0 0 0" rpy="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="index_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="index_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="index_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2.STL" />
+         </geometry>
+      </visual>
+      <collision name="index_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="index_q1" type="revolute">
+      <parent link="base" />
+      <child link="index_L1" />
+      <origin xyz="0.028 -0.009 0.096" rpy="1.470 -1.317 -1.352" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <joint name="index_q2" type="revolute">
+      <parent link="index_L1" />
+      <child link="index_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="index_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="index_anchor" />
+   <joint name="idx_anchor" type="fixed">
+      <parent link="index_L2" />
+      <child link="index_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr0" />
+   <joint name="fsr0" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr0" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02556 -0.01391 -0.00435" />
+   </joint>
+   <link name="fsr1" />
+   <joint name="fsr1" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr1" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02517 -0.01110 -0.00000" />
+   </joint>
+   <link name="fsr2" />
+   <joint name="fsr2" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr2" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02556 -0.01391 0.00435" />
+   </joint>
+   <link name="fsr3" />
+   <joint name="fsr3" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr3" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01310 -0.00943 -0.00435" />
+   </joint>
+   <link name="fsr4" />
+   <joint name="fsr4" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr4" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01310 -0.00943 0.00435" />
+   </joint>
+   <link name="fsr5" />
+   <joint name="fsr5" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr5" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03142 -0.01438 0.00000" />
+   </joint>
+   <link name="middle_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="middle_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="middle_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="middle_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="middle_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2.STL" />
+         </geometry>
+      </visual>
+      <collision name="middle_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="middle_q1" type="revolute">
+      <parent link="base" />
+      <child link="middle_L1" />
+      <origin xyz="0.008 -0.012 0.099" rpy="1.629 -1.322 -1.583" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="middle_q2" type="revolute">
+      <parent link="middle_L1" />
+      <child link="middle_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="middle_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="middle_anchor" />
+   <joint name="mid_anchor" type="fixed">
+      <parent link="middle_L2" />
+      <child link="middle_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr6" />
+   <joint name="fsr6" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr6" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02556 -0.01391 -0.00435" />
+   </joint>
+   <link name="fsr7" />
+   <joint name="fsr7" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr7" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02517 -0.01110 -0.00000" />
+   </joint>
+   <link name="fsr8" />
+   <joint name="fsr8" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr8" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02556 -0.01391 0.00435" />
+   </joint>
+   <link name="fsr9" />
+   <joint name="fsr9" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr9" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01310 -0.00943 -0.00435" />
+   </joint>
+   <link name="fsr10" />
+   <joint name="fsr10" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr10" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01310 -0.00943 0.00435" />
+   </joint>
+   <link name="fsr11" />
+   <joint name="fsr11" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr11" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03142 -0.01438 0.00000" />
+   </joint>
+   <link name="ring_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="ring_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="ring_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="ring_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="ring_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2.STL" />
+         </geometry>
+      </visual>
+      <collision name="ring_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="ring_q1" type="revolute">
+      <parent link="base" />
+      <child link="ring_L1" />
+      <origin xyz="-0.012 -0.010 0.097" rpy="1.780 -1.315 -1.811" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="ring_q2" type="revolute">
+      <parent link="ring_L1" />
+      <child link="ring_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="ring_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="ring_anchor" />
+   <joint name="rng_anchor" type="fixed">
+      <parent link="ring_L2" />
+      <child link="ring_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr12" />
+   <joint name="fsr12" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr12" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02556 -0.01391 -0.00435" />
+   </joint>
+   <link name="fsr13" />
+   <joint name="fsr13" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr13" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02517 -0.01110 -0.00000" />
+   </joint>
+   <link name="fsr14" />
+   <joint name="fsr14" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr14" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02556 -0.01391 0.00435" />
+   </joint>
+   <link name="fsr15" />
+   <joint name="fsr15" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr15" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01310 -0.00943 -0.00435" />
+   </joint>
+   <link name="fsr16" />
+   <joint name="fsr16" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr16" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01310 -0.00943 0.00435" />
+   </joint>
+   <link name="fsr17" />
+   <joint name="fsr17" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr17" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03142 -0.01438 0.00000" />
+   </joint>
+   <link name="pinky_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="pinky_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="pinky_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="pinky_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="3.07970159e-07" ixy="2.80921010e-07" ixz="-2.72117073e-09" iyy="7.40775495e-07" iyz="1.08144438e-09" izz="8.93728844e-07" />
+         <origin xyz="1.33249215e-02 -8.15894775e-03 -4.07689501e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="pinky_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2.STL" />
+         </geometry>
+      </visual>
+      <collision name="pinky_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="pinky_q1" type="revolute">
+      <parent link="base" />
+      <child link="pinky_L1" />
+      <origin xyz="-0.031 -0.007 0.091" rpy="1.731 -1.315 -1.828" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="pinky_q2" type="revolute">
+      <parent link="pinky_L1" />
+      <child link="pinky_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+      <mimic joint="pinky_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="pinky_anchor" />
+   <joint name="pnky_anchor" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="pinky_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr18" />
+   <joint name="fsr18" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr18" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02556 -0.01391 -0.00435" />
+   </joint>
+   <link name="fsr19" />
+   <joint name="fsr19" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr19" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02517 -0.01110 -0.00000" />
+   </joint>
+   <link name="fsr20" />
+   <joint name="fsr20" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr20" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02556 -0.01391 0.00435" />
+   </joint>
+   <link name="fsr21" />
+   <joint name="fsr21" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr21" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01310 -0.00943 -0.00435" />
+   </joint>
+   <link name="fsr22" />
+   <joint name="fsr22" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr22" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01310 -0.00943 0.00435" />
+   </joint>
+   <link name="fsr23" />
+   <joint name="fsr23" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr23" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03142 -0.01438 0.00000" />
+   </joint>
+   <link name="thumb_L1">
+      <inertial>
+         <mass value="0.00200000" />
+         <inertia ixx="1.18180125e-07" ixy="2.01333778e-08" ixz="6.82164634e-08" iyy="2.49626759e-07" iyz="-8.51306376e-09" izz="2.02510886e-07" />
+         <origin xyz="1.43350200e-02 -1.88501000e-03 -5.04062000e-03" rpy="0 0 0" />
+      </inertial>
+      <visual name="thumb_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/thumb-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="thumb_coll_mesh_1">
+         <origin rpy="-1.83260 0 0" xyz="0.02783 0 -0.01475" />
+         <geometry>
+            <mesh filename="models/thumb-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="thumb_L2">
+      <inertial>
+         <mass value="0.06000000" />
+         <inertia ixx="8.10858595e-06" ixy="-7.50865361e-06" ixz="-6.23775212e-08" iyy="2.16060962e-05" iyz="-1.00035818e-07" izz="2.58546356e-05" />
+         <origin xyz="2.77624500e-02 5.62171000e-03 -4.10855000e-03" rpy="0 0 0" />
+      </inertial>
+      <visual name="thumb_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/thumb-F2-left.STL" />
+         </geometry>
+      </visual>
+      <collision name="thumb_hull_mesh_2">
+         <origin rpy="3.14159 0 0.34383" xyz="0.06519 0.02334 -0.00393" />
+         <geometry>
+            <mesh filename="models/thumb-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="thumb_q1" type="revolute">
+      <parent link="base" />
+      <child link="thumb_L1" />
+      <origin xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="-3.1250458 -0.08693131 -0.1883423" />
+      <axis xyz="0 0 1" />
+      <limit lower="-1.74" upper="0" effort="1.2" velocity="40.338888721" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <joint name="thumb_q2" type="revolute">
+      <parent link="thumb_L1" />
+      <child link="thumb_L2" />
+      <origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <link name="thumb_anchor" />
+   <joint name="thmb_anchor" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="thumb_anchor" />
+      <origin rpy="0 0 0" xyz="52.0012259e-3  28.0086971e-3 -.884835778e-3" />
+   </joint>
+   <link name="fsr24" />
+   <joint name="fsr24" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr24" />
+      <origin rpy="-2.29074 0.00001 0.41769" xyz="0.04747 0.01988 -0.00874" />
+   </joint>
+   <link name="fsr25" />
+   <joint name="fsr25" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr25" />
+      <origin rpy="-1.30899 0.00001 0.41769" xyz="0.04721 0.02124 -0.00106" />
+   </joint>
+   <link name="fsr26" />
+   <joint name="fsr26" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr26" />
+      <origin rpy="-0.32726 0.00001 0.41769" xyz="0.04896 0.01654 0.00491" />
+   </joint>
+   <link name="fsr27" />
+   <joint name="fsr27" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr27" />
+      <origin rpy="-2.29074 0.00001 0.41769" xyz="0.03739 0.01536 -0.00879" />
+   </joint>
+   <link name="fsr28" />
+   <joint name="fsr28" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr28" />
+      <origin rpy="-0.32726 0.00001 0.41769" xyz="0.03888 0.01200 0.00494" />
+   </joint>
+   <link name="fsr29" />
+   <joint name="fsr29" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr29" />
+      <origin rrpy="-1.39339 0.19354 -0.40280" xyz="0.05591 0.02160 -0.00192" />
+   </joint>
+</robot>

Robots_p/xarm+ability/ability_hand_right_large.urdf

@@ -0,0 +1,541 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+	NOTES:
+	Units:
+		Distance: m
+		Angles: rad (only option)
+		Mass: kg
+		Inertia: kg*m^2
+		
+	Notes on intertia:
+		-The inertias are calculated for uniform density using meshes with weights.
+	
+	Notes on finger q2:
+		-The hand is a 4 bar linkage mechanism forming an 'X'. 4 bar linkages are not supported in the 
+		urdf format. The motion of the second finger joint is fully defined by the motion of the first 
+		finger joint. The calculation to find the index finger second joint angle given the first is provided
+		in a matlab script elsewhere in this repository.
+-->
+<robot name="ability_hand">
+   <link name="base">
+      <visual name="wrist_mesh">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/wristmesh.STL" />
+         </geometry>
+      </visual>
+      <inertial>
+         <mass value="0.37511000" />
+         <inertia ixx="3.76723021e-04" ixy="-2.33895460e-06" ixz="6.04325119e-06" iyy="4.67706269e-04" iyz="5.04572726e-05" izz="1.77650714e-04" />
+         <origin xyz="6.54520000e-04 -5.98838000e-03 5.07726500e-02" rpy="0 0 0" />
+      </inertial>
+      <visual name="palm_mesh">
+         <origin rpy="3.14148426 -0.08848813 -3.14036612" xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" />
+         <geometry>
+            <mesh filename="models/FB_palm_ref_MIR.STL" />
+         </geometry>
+      </visual>
+      <collision name="palm_mesh_coll">
+         <origin rpy="3.14148426 -0.08848813 -3.14036612" xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" />
+         <geometry>
+            <mesh filename="models/palm_hull_mir.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="index_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="index_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="index_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="index_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="index_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg.STL" />
+         </geometry>
+      </visual>
+      <collision name="index_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="index_q1" type="revolute">
+      <parent link="base" />
+      <child link="index_L1" />
+      <origin xyz="-2.8e-2 -9e-3 9.6e-2" rpy=" 1.672 -1.317 -1.790 " />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+   </joint>
+   <joint name="index_q2" type="revolute">
+      <parent link="index_L1" />
+      <child link="index_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="index_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="index_anchor" />
+   <joint name="idx_anchor" type="fixed">
+      <parent link="index_L2" />
+      <child link="index_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr0" />
+   <joint name="fsr0" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr0" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02936 -0.01697 -0.00435" />
+   </joint>
+   <link name="fsr1" />
+   <joint name="fsr1" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr1" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02961 -0.01394 0.0" />
+   </joint>
+   <link name="fsr2" />
+   <joint name="fsr2" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr2" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02936 -0.01697 0.00435" />
+   </joint>
+   <link name="fsr3" />
+   <joint name="fsr3" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr3" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01472 -0.01100 -0.00435" />
+   </joint>
+   <link name="fsr4" />
+   <joint name="fsr4" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr4" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01472 -0.01099 0.00435" />
+   </joint>
+   <link name="fsr5" />
+   <joint name="fsr5" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr5" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03704 -0.01785 0.00000" />
+   </joint>
+   <link name="middle_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="middle_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="middle_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="middle_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="middle_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg.STL" />
+         </geometry>
+      </visual>
+      <collision name="middle_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="middle_q1" type="revolute">
+      <parent link="base" />
+      <child link="middle_L1" />
+      <origin xyz=" -0.008 -0.012 0.099 " rpy=" 1.513 -1.322 -1.558 " />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="middle_q2" type="revolute">
+      <parent link="middle_L1" />
+      <child link="middle_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="middle_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="middle_anchor" />
+   <joint name="mid_anchor" type="fixed">
+      <parent link="middle_L2" />
+      <child link="middle_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr6" />
+   <joint name="fsr6" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr6" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02936 -0.01697 -0.00435" />
+   </joint>
+   <link name="fsr7" />
+   <joint name="fsr7" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr7" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02961 -0.01394 0.0" />
+   </joint>
+   <link name="fsr8" />
+   <joint name="fsr8" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr8" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02936 -0.01697 0.00435" />
+   </joint>
+   <link name="fsr9" />
+   <joint name="fsr9" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr9" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01472 -0.01100 -0.00435" />
+   </joint>
+   <link name="fsr10" />
+   <joint name="fsr10" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr10" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01472 -0.01099 0.00435" />
+   </joint>
+   <link name="fsr11" />
+   <joint name="fsr11" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr11" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03704 -0.01785 0.00000" />
+   </joint>
+   <link name="ring_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="ring_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="ring_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="ring_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="ring_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg.STL" />
+         </geometry>
+      </visual>
+      <collision name="ring_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="ring_q1" type="revolute">
+      <parent link="base" />
+      <child link="ring_L1" />
+      <origin xyz=" 0.012 -0.010 0.097 " rpy=" 1.361 -1.315 -1.330 " />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="ring_q2" type="revolute">
+      <parent link="ring_L1" />
+      <child link="ring_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="ring_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="ring_anchor" />
+   <joint name="rng_anchor" type="fixed">
+      <parent link="ring_L2" />
+      <child link="ring_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr12" />
+   <joint name="fsr12" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr12" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02936 -0.01697 -0.00435" />
+   </joint>
+   <link name="fsr13" />
+   <joint name="fsr13" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr13" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02961 -0.01394 0.0" />
+   </joint>
+   <link name="fsr14" />
+   <joint name="fsr14" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr14" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02936 -0.01697 0.00435" />
+   </joint>
+   <link name="fsr15" />
+   <joint name="fsr15" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr15" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01472 -0.01100 -0.00435" />
+   </joint>
+   <link name="fsr16" />
+   <joint name="fsr16" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr16" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01472 -0.01099 0.00435" />
+   </joint>
+   <link name="fsr17" />
+   <joint name="fsr17" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr17" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03704 -0.01785 0.00000" />
+   </joint>
+   <link name="pinky_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="pinky_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="pinky_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="pinky_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="3.07970159e-07" ixy="2.80921010e-07" ixz="-2.72117073e-09" iyy="7.40775495e-07" iyz="1.08144438e-09" izz="8.93728844e-07" />
+         <origin xyz="1.33249215e-02 -8.15894775e-03 -4.07689501e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="pinky_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2.STL" />
+         </geometry>
+      </visual>
+      <collision name="pinky_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="pinky_q1" type="revolute">
+      <parent link="base" />
+      <child link="pinky_L1" />
+      <origin xyz=" 0.031 -0.007 0.091 " rpy=" 1.410 -1.315 -1.313 " />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="pinky_q2" type="revolute">
+      <parent link="pinky_L1" />
+      <child link="pinky_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+      <mimic joint="pinky_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="pinky_anchor" />
+   <joint name="pnky_anchor" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="pinky_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr18" />
+   <joint name="fsr18" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr18" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02556 -0.01391 -0.00435" />
+   </joint>
+   <link name="fsr19" />
+   <joint name="fsr19" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr19" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02517 -0.01110 -0.00000" />
+   </joint>
+   <link name="fsr20" />
+   <joint name="fsr20" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr20" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02556 -0.01391 0.00435" />
+   </joint>
+   <link name="fsr21" />
+   <joint name="fsr21" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr21" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01310 -0.00943 -0.00435" />
+   </joint>
+   <link name="fsr22" />
+   <joint name="fsr22" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr22" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01310 -0.00943 0.00435" />
+   </joint>
+   <link name="fsr23" />
+   <joint name="fsr23" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr23" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03142 -0.01438 0.00000" />
+   </joint>
+   <link name="thumb_L1">
+      <inertial>
+         <mass value="0.00200000" />
+         <inertia ixx="1.19399127e-07" ixy="1.99799715e-08" ixz="-6.88490629e-08" iyy="2.50792788e-07" iyz="8.36717975e-09" izz="2.02280286e-07" />
+         <origin xyz="1.42940200e-02 -1.88850000e-03 4.96979000e-03" rpy="0 0 0" />
+      </inertial>
+      <visual name="thumb_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/thumb-F1-MIR.STL" />
+         </geometry>
+      </visual>
+      <collision name="thumb_coll_mesh_1">
+         <origin rpy="1.832596 0 0" xyz="0.0278284 0 0.0147507" />
+         <geometry>
+            <mesh filename="models/thumb-F1-MIR-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="thumb_L2">
+      <inertial>
+         <mass value="0.06000000" />
+         <inertia ixx="8.10858569e-06" ixy="-7.50865328e-06" ixz="-6.23786727e-08" iyy="2.16060955e-05" iyz="-1.00037755e-07" izz="2.58546348e-05" />
+         <origin xyz="2.77624500e-02 5.62171000e-03 3.76111000e-03" rpy="0 0 0" />
+      </inertial>
+      <visual name="thumb_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/thumb-F2-right.STL" />
+         </geometry>
+      </visual>
+      <collision name="thumb_hull_mesh_2">
+         <origin rpy="-3.141592 0 0.3438291" xyz="0.0651867 0.0233402 0.00393483" />
+         <geometry>
+            <mesh filename="models/thumb-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="thumb_q1" type="revolute">
+      <parent link="base" />
+      <child link="thumb_L1" />
+      <origin xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="-0.01675973 -0.08689062 -2.95079797" />
+      <axis xyz="0 0 1" />
+      <limit lower="-1.74" upper="0" effort="1.2" velocity="40.338888721" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <joint name="thumb_q2" type="revolute">
+      <parent link="thumb_L1" />
+      <child link="thumb_L2" />
+      <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 " />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <link name="thumb_anchor" />
+   <joint name="thmb_anchor" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="thumb_anchor" />
+      <origin rpy="0 0 0" xyz="52.00122724e-3 28.00869333e-3 6.98483578e-3" />
+   </joint>
+   <link name="fsr24" />
+   <joint name="fsr24" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr24" />
+      <origin rpy="-2.29074 0.00001 0.41769" xyz="0.04747 0.01988 -0.001239" />
+   </joint>
+   <link name="fsr25" />
+   <joint name="fsr25" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr25" />
+      <origin rpy="-1.30899 0.00001 0.41769" xyz="0.04721 0.02124 0.006439" />
+   </joint>
+   <link name="fsr26" />
+   <joint name="fsr26" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr26" />
+      <origin rpy="-0.32726 0.00001 0.41769" xyz="0.04896 0.01654 0.01241" />
+   </joint>
+   <link name="fsr27" />
+   <joint name="fsr27" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr27" />
+      <origin rpy="-2.29074 0.00001 0.41769" xyz="0.03739 0.01536 -0.001289" />
+   </joint>
+   <link name="fsr28" />
+   <joint name="fsr28" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr28" />
+      <origin rpy="-0.32726 0.00001 0.41769" xyz="0.03888 0.01200 0.01244" />
+   </joint>
+   <link name="fsr29" />
+   <joint name="fsr29" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr29" />
+      <origin rrpy="-1.39339 0.19354 -0.40280" xyz="0.05591 0.02160 0.00558" />
+   </joint>
+</robot>

Robots_p/xarm+ability/ability_hand_right_large_no_fsr.urdf

@@ -0,0 +1,366 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+	NOTES:
+	Units:
+		Distance: m
+		Angles: rad (only option)
+		Mass: kg
+		Inertia: kg*m^2
+		
+	Notes on intertia:
+		-The inertias are calculated for uniform density using meshes with weights.
+	
+	Notes on finger q2:
+		-The hand is a 4 bar linkage mechanism forming an 'X'. 4 bar linkages are not supported in the 
+		urdf format. The motion of the second finger joint is fully defined by the motion of the first 
+		finger joint. The calculation to find the index finger second joint angle given the first is provided
+		in a matlab script elsewhere in this repository.
+-->
+<robot name="ability_hand">
+   <link name="base">
+      <visual name="wrist_mesh">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/wristmesh.STL" />
+         </geometry>
+      </visual>
+      <inertial>
+         <mass value="0.37511000" />
+         <inertia ixx="3.76723021e-04" ixy="-2.33895460e-06" ixz="6.04325119e-06" iyy="4.67706269e-04" iyz="5.04572726e-05" izz="1.77650714e-04" />
+         <origin xyz="6.54520000e-04 -5.98838000e-03 5.07726500e-02" rpy="0 0 0" />
+      </inertial>
+      <visual name="palm_mesh">
+         <origin rpy="3.14148426 -0.08848813 -3.14036612" xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" />
+         <geometry>
+            <mesh filename="models/FB_palm_ref_MIR.STL" />
+         </geometry>
+      </visual>
+      <collision name="palm_mesh_coll">
+         <origin rpy="3.14148426 -0.08848813 -3.14036612" xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" />
+         <geometry>
+            <mesh filename="models/palm_hull_mir.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="index_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="index_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="index_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="index_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="index_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg.STL" />
+         </geometry>
+      </visual>
+      <collision name="index_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="index_q1" type="revolute">
+      <parent link="base" />
+      <child link="index_L1" />
+      <origin xyz="-2.8e-2 -9e-3 9.6e-2" rpy=" 1.672 -1.317 -1.790 " />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+   </joint>
+   <joint name="index_q2" type="revolute">
+      <parent link="index_L1" />
+      <child link="index_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="index_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="index_anchor" />
+   <joint name="idx_anchor" type="fixed">
+      <parent link="index_L2" />
+      <child link="index_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+
+   <link name="middle_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="middle_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="middle_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="middle_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="middle_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg.STL" />
+         </geometry>
+      </visual>
+      <collision name="middle_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="middle_q1" type="revolute">
+      <parent link="base" />
+      <child link="middle_L1" />
+      <origin xyz=" -0.008 -0.012 0.099 " rpy=" 1.513 -1.322 -1.558 " />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="middle_q2" type="revolute">
+      <parent link="middle_L1" />
+      <child link="middle_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="middle_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="middle_anchor" />
+   <joint name="mid_anchor" type="fixed">
+      <parent link="middle_L2" />
+      <child link="middle_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+
+   <link name="ring_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="ring_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="ring_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="ring_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="ring_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg.STL" />
+         </geometry>
+      </visual>
+      <collision name="ring_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-Lg-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="ring_q1" type="revolute">
+      <parent link="base" />
+      <child link="ring_L1" />
+      <origin xyz=" 0.012 -0.010 0.097 " rpy=" 1.361 -1.315 -1.330 " />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="ring_q2" type="revolute">
+      <parent link="ring_L1" />
+      <child link="ring_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="ring_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="ring_anchor" />
+   <joint name="rng_anchor" type="fixed">
+      <parent link="ring_L2" />
+      <child link="ring_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+
+   <link name="pinky_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="pinky_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="pinky_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="pinky_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="3.07970159e-07" ixy="2.80921010e-07" ixz="-2.72117073e-09" iyy="7.40775495e-07" iyz="1.08144438e-09" izz="8.93728844e-07" />
+         <origin xyz="1.33249215e-02 -8.15894775e-03 -4.07689501e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="pinky_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2.STL" />
+         </geometry>
+      </visual>
+      <collision name="pinky_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="pinky_q1" type="revolute">
+      <parent link="base" />
+      <child link="pinky_L1" />
+      <origin xyz=" 0.031 -0.007 0.091 " rpy=" 1.410 -1.315 -1.313 " />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="pinky_q2" type="revolute">
+      <parent link="pinky_L1" />
+      <child link="pinky_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+      <mimic joint="pinky_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="pinky_anchor" />
+   <joint name="pnky_anchor" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="pinky_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+
+   <link name="thumb_L1">
+      <inertial>
+         <mass value="0.00200000" />
+         <inertia ixx="1.19399127e-07" ixy="1.99799715e-08" ixz="-6.88490629e-08" iyy="2.50792788e-07" iyz="8.36717975e-09" izz="2.02280286e-07" />
+         <origin xyz="1.42940200e-02 -1.88850000e-03 4.96979000e-03" rpy="0 0 0" />
+      </inertial>
+      <visual name="thumb_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/thumb-F1-MIR.STL" />
+         </geometry>
+      </visual>
+      <collision name="thumb_coll_mesh_1">
+         <origin rpy="1.832596 0 0" xyz="0.0278284 0 0.0147507" />
+         <geometry>
+            <mesh filename="models/thumb-F1-MIR-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="thumb_L2">
+      <inertial>
+         <mass value="0.06000000" />
+         <inertia ixx="8.10858569e-06" ixy="-7.50865328e-06" ixz="-6.23786727e-08" iyy="2.16060955e-05" iyz="-1.00037755e-07" izz="2.58546348e-05" />
+         <origin xyz="2.77624500e-02 5.62171000e-03 3.76111000e-03" rpy="0 0 0" />
+      </inertial>
+      <visual name="thumb_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/thumb-F2-right.STL" />
+         </geometry>
+      </visual>
+      <collision name="thumb_hull_mesh_2">
+         <origin rpy="-3.141592 0 0.3438291" xyz="0.0651867 0.0233402 0.00393483" />
+         <geometry>
+            <mesh filename="models/thumb-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="thumb_q1" type="revolute">
+      <parent link="base" />
+      <child link="thumb_L1" />
+      <origin xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="-0.01675973 -0.08689062 -2.95079797" />
+      <axis xyz="0 0 1" />
+      <limit lower="-1.74" upper="0" effort="1.2" velocity="40.338888721" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <joint name="thumb_q2" type="revolute">
+      <parent link="thumb_L1" />
+      <child link="thumb_L2" />
+      <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 " />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <link name="thumb_anchor" />
+   <joint name="thmb_anchor" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="thumb_anchor" />
+      <origin rpy="0 0 0" xyz="52.00122724e-3 28.00869333e-3 6.98483578e-3" />
+   </joint>
+
+</robot>

Robots_p/xarm+ability/ability_hand_right_small.urdf

@@ -0,0 +1,541 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+	NOTES:
+	Units:
+		Distance: m
+		Angles: rad (only option)
+		Mass: kg
+		Inertia: kg*m^2
+		
+	Notes on intertia:
+		-The inertias are calculated for uniform density using meshes with weights.
+	
+	Notes on finger q2:
+		-The hand is a 4 bar linkage mechanism forming an 'X'. 4 bar linkages are not supported in the 
+		urdf format. The motion of the second finger joint is fully defined by the motion of the first 
+		finger joint. The calculation to find the index finger second joint angle given the first is provided
+		in a matlab script elsewhere in this repository.
+-->
+<robot name="ability_hand">
+   <link name="base">
+      <visual name="wrist_mesh">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/wristmesh.STL" />
+         </geometry>
+      </visual>
+      <inertial>
+         <mass value="0.37511000" />
+         <inertia ixx="3.76723021e-04" ixy="-2.33895460e-06" ixz="6.04325119e-06" iyy="4.67706269e-04" iyz="5.04572726e-05" izz="1.77650714e-04" />
+         <origin xyz="6.54520000e-04 -5.98838000e-03 5.07726500e-02" rpy="0 0 0" />
+      </inertial>
+            <visual name="palm_mesh">
+         <origin rpy="3.14148426 -0.08848813 -3.14036612" xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" />
+         <geometry>
+            <mesh filename="models/FB_palm_ref_MIR.STL" />
+         </geometry>
+      </visual>
+      <collision name="palm_mesh_coll">
+         <origin rpy="3.14148426 -0.08848813 -3.14036612" xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" />
+         <geometry>
+            <mesh filename="models/palm_hull_mir.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="index_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="index_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="index_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="index_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="index_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2.STL" />
+         </geometry>
+      </visual>
+      <collision name="index_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="index_q1" type="revolute">
+      <parent link="base" />
+      <child link="index_L1" />
+      <origin xyz="-2.8e-2 -9e-3 9.6e-2" rpy=" 1.672 -1.317 -1.790 " />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+   </joint>
+   <joint name="index_q2" type="revolute">
+      <parent link="index_L1" />
+      <child link="index_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="index_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="index_anchor" />
+   <joint name="idx_anchor" type="fixed">
+      <parent link="index_L2" />
+      <child link="index_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr0" />
+   <joint name="fsr0" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr0" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02556 -0.01391 -0.00435" />
+   </joint>
+   <link name="fsr1" />
+   <joint name="fsr1" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr1" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02517 -0.01110 -0.00000" />
+   </joint>
+   <link name="fsr2" />
+   <joint name="fsr2" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr2" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02556 -0.01391 0.00435" />
+   </joint>
+   <link name="fsr3" />
+   <joint name="fsr3" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr3" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01310 -0.00943 -0.00435" />
+   </joint>
+   <link name="fsr4" />
+   <joint name="fsr4" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr4" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01310 -0.00943 0.00435" />
+   </joint>
+   <link name="fsr5" />
+   <joint name="fsr5" type="fixed">
+      <parent link="index_L2" />
+      <child link="fsr5" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03142 -0.01438 0.00000" />
+   </joint>
+   <link name="middle_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="middle_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="middle_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="middle_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="middle_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2.STL" />
+         </geometry>
+      </visual>
+      <collision name="middle_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="middle_q1" type="revolute">
+      <parent link="base" />
+      <child link="middle_L1" />
+      <origin xyz=" -0.008 -0.012 0.099 " rpy=" 1.513 -1.322 -1.558 " />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="middle_q2" type="revolute">
+      <parent link="middle_L1" />
+      <child link="middle_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="middle_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="middle_anchor" />
+   <joint name="mid_anchor" type="fixed">
+      <parent link="middle_L2" />
+      <child link="middle_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr6" />
+   <joint name="fsr6" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr6" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02556 -0.01391 -0.00435" />
+   </joint>
+   <link name="fsr7" />
+   <joint name="fsr7" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr7" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02517 -0.01110 -0.00000" />
+   </joint>
+   <link name="fsr8" />
+   <joint name="fsr8" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr8" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02556 -0.01391 0.00435" />
+   </joint>
+   <link name="fsr9" />
+   <joint name="fsr9" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr9" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01310 -0.00943 -0.00435" />
+   </joint>
+   <link name="fsr10" />
+   <joint name="fsr10" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr10" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01310 -0.00943 0.00435" />
+   </joint>
+   <link name="fsr11" />
+   <joint name="fsr11" type="fixed">
+      <parent link="middle_L2" />
+      <child link="fsr11" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03142 -0.01438 0.00000" />
+   </joint>
+   <link name="ring_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="ring_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="ring_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="ring_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="4.06340451e-07" ixy="3.99862338e-07" ixz="-1.91966414e-09" iyy="9.13745257e-07" iyz="8.96846813e-10" izz="1.13382499e-06" />
+         <origin xyz="1.52723400e-02 -1.00039197e-02 -3.11063902e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="ring_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2.STL" />
+         </geometry>
+      </visual>
+      <collision name="ring_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="ring_q1" type="revolute">
+      <parent link="base" />
+      <child link="ring_L1" />
+      <origin xyz=" 0.012 -0.010 0.097 " rpy=" 1.361 -1.315 -1.330 " />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="ring_q2" type="revolute">
+      <parent link="ring_L1" />
+      <child link="ring_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <mimic joint="ring_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="ring_anchor" />
+   <joint name="rng_anchor" type="fixed">
+      <parent link="ring_L2" />
+      <child link="ring_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr12" />
+   <joint name="fsr12" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr12" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02556 -0.01391 -0.00435" />
+   </joint>
+   <link name="fsr13" />
+   <joint name="fsr13" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr13" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02517 -0.01110 -0.00000" />
+   </joint>
+   <link name="fsr14" />
+   <joint name="fsr14" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr14" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02556 -0.01391 0.00435" />
+   </joint>
+   <link name="fsr15" />
+   <joint name="fsr15" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr15" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01310 -0.00943 -0.00435" />
+   </joint>
+   <link name="fsr16" />
+   <joint name="fsr16" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr16" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01310 -0.00943 0.00435" />
+   </joint>
+   <link name="fsr17" />
+   <joint name="fsr17" type="fixed">
+      <parent link="ring_L2" />
+      <child link="fsr17" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03142 -0.01438 0.00000" />
+   </joint>
+   <link name="pinky_L1">
+      <inertial>
+         <mass value="0.00636000" />
+         <inertia ixx="2.85169621e-07" ixy="1.21454801e-08" ixz="2.02098452e-09" iyy="9.77683041e-07" iyz="-2.87547802e-10" izz="1.05411544e-06" />
+         <origin xyz="1.77549969e-02 -2.13867669e-04 -2.02851433e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="pinky_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F1.STL" />
+         </geometry>
+      </visual>
+      <collision name="pinky_mesh_coll_1">
+         <origin rpy="0 0 0.0844739" xyz="0.0384727 0.0032577 0" />
+         <geometry>
+            <mesh filename="models/idx-F1-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="pinky_L2">
+      <inertial>
+         <mass value="0.00600000" />
+         <inertia ixx="3.07970159e-07" ixy="2.80921010e-07" ixz="-2.72117073e-09" iyy="7.40775495e-07" iyz="1.08144438e-09" izz="8.93728844e-07" />
+         <origin xyz="1.33249215e-02 -8.15894775e-03 -4.07689501e-05" rpy="0 0 0" />
+      </inertial>
+      <visual name="pinky_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2.STL" />
+         </geometry>
+      </visual>
+      <collision name="pinky_mesh_coll_2">
+         <origin rpy="0 0 0" xyz="0.0091241 0 0" />
+         <geometry>
+            <mesh filename="models/idx-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="pinky_q1" type="revolute">
+      <parent link="base" />
+      <child link="pinky_L1" />
+      <origin xyz=" 0.031 -0.007 0.091 " rpy=" 1.410 -1.315 -1.313 " />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <dynamics damping="0.001" friction="0.001" />
+      <axis xyz="0 0 1" />
+   </joint>
+   <joint name="pinky_q2" type="revolute">
+      <parent link="pinky_L1" />
+      <child link="pinky_L2" />
+      <origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.766" />
+      <limit lower="0.00" upper="1.844" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+      <axis xyz="0 0 1" />
+      <mimic joint="pinky_q1" multiplier="1.05851325" />
+   </joint>
+   <link name="pinky_anchor" />
+   <joint name="pnky_anchor" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="pinky_anchor" />
+      <origin rpy="0 0 0" xyz="31.5541e-3  -10.44e-3 0.14e-3" />
+   </joint>
+   <link name="fsr18" />
+   <joint name="fsr18" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr18" />
+      <origin rpy="3.14 0 -0.1848" xyz="0.02556 -0.01391 -0.00435" />
+   </joint>
+   <link name="fsr19" />
+   <joint name="fsr19" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr19" />
+      <origin rpy="-1.5708 0.0 -0.2316" xyz="0.02517 -0.01110 -0.00000" />
+   </joint>
+   <link name="fsr20" />
+   <joint name="fsr20" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr20" />
+      <origin rpy="0.0 0.0 -0.1848036056311012" xyz="0.02556 -0.01391 0.00435" />
+   </joint>
+   <link name="fsr21" />
+   <joint name="fsr21" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr21" />
+      <origin rpy="3.14159 0.00000 -0.57092" xyz="0.01310 -0.00943 -0.00435" />
+   </joint>
+   <link name="fsr22" />
+   <joint name="fsr22" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr22" />
+      <origin rpy="0.00000 0.00000 -0.57199" xyz="0.01310 -0.00943 0.00435" />
+   </joint>
+   <link name="fsr23" />
+   <joint name="fsr23" type="fixed">
+      <parent link="pinky_L2" />
+      <child link="fsr23" />
+      <origin rpy="-2.66907 -1.57080 0.00000" xyz="0.03142 -0.01438 0.00000" />
+   </joint>
+   <link name="thumb_L1">
+      <inertial>
+         <mass value="0.00200000" />
+         <inertia ixx="1.19399127e-07" ixy="1.99799715e-08" ixz="-6.88490629e-08" iyy="2.50792788e-07" iyz="8.36717975e-09" izz="2.02280286e-07" />
+         <origin xyz="1.42940200e-02 -1.88850000e-03 4.96979000e-03" rpy="0 0 0" />
+      </inertial>
+      <visual name="thumb_mesh_1">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/thumb-F1-MIR.STL" />
+         </geometry>
+      </visual>
+      <collision name="thumb_coll_mesh_1">
+         <origin rpy="1.832596 0 0" xyz="0.0278284 0 0.0147507" />
+         <geometry>
+            <mesh filename="models/thumb-F1-MIR-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <link name="thumb_L2">
+      <inertial>
+         <mass value="0.06000000" />
+         <inertia ixx="8.10858569e-06" ixy="-7.50865328e-06" ixz="-6.23786727e-08" iyy="2.16060955e-05" iyz="-1.00037755e-07" izz="2.58546348e-05" />
+         <origin xyz="2.77624500e-02 5.62171000e-03 3.76111000e-03" rpy="0 0 0" />
+      </inertial>
+      <visual name="thumb_mesh_2">
+         <origin rpy="0 0 0" xyz="0 0 0" />
+         <geometry>
+            <mesh filename="models/thumb-F2-right.STL" />
+         </geometry>
+      </visual>
+      <collision name="thumb_hull_mesh_2">
+         <origin rpy="-3.141592 0 0.3438291" xyz="0.0651867 0.0233402 0.00393483" />
+         <geometry>
+            <mesh filename="models/thumb-F2-hull.STL" />
+         </geometry>
+      </collision>
+   </link>
+   <joint name="thumb_q1" type="revolute">
+      <parent link="base" />
+      <child link="thumb_L1" />
+      <origin xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="-0.01675973 -0.08689062 -2.95079797" />
+      <axis xyz="0 0 1" />
+      <limit lower="-1.74" upper="0" effort="1.2" velocity="40.338888721" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <joint name="thumb_q2" type="revolute">
+      <parent link="thumb_L1" />
+      <child link="thumb_L2" />
+      <origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 " />
+      <axis xyz="0 0 1" />
+      <limit lower="0.00" upper="1.74" effort="6.0" velocity="8.0677777442" />
+      <!-- angles in rad, efforts in N-m, velocity in rad/s -->
+      <dynamics damping="0.001" friction="0.001" />
+      <!-- Friction coefficient is not from quantitative measurement -->
+   </joint>
+   <link name="thumb_anchor" />
+   <joint name="thmb_anchor" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="thumb_anchor" />
+      <origin rpy="0 0 0" xyz="52.00122724e-3 28.00869333e-3 6.98483578e-3" />
+   </joint>
+   <link name="fsr24" />
+   <joint name="fsr24" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr24" />
+      <origin rpy="-2.29074 0.00001 0.41769" xyz="0.04747 0.01988 -0.001239" />
+   </joint>
+   <link name="fsr25" />
+   <joint name="fsr25" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr25" />
+      <origin rpy="-1.30899 0.00001 0.41769" xyz="0.04721 0.02124 0.006439" />
+   </joint>
+   <link name="fsr26" />
+   <joint name="fsr26" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr26" />
+      <origin rpy="-0.32726 0.00001 0.41769" xyz="0.04896 0.01654 0.01241" />
+   </joint>
+   <link name="fsr27" />
+   <joint name="fsr27" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr27" />
+      <origin rpy="-2.29074 0.00001 0.41769" xyz="0.03739 0.01536 -0.001289" />
+   </joint>
+   <link name="fsr28" />
+   <joint name="fsr28" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr28" />
+      <origin rpy="-0.32726 0.00001 0.41769" xyz="0.03888 0.01200 0.01244" />
+   </joint>
+   <link name="fsr29" />
+   <joint name="fsr29" type="fixed">
+      <parent link="thumb_L2" />
+      <child link="fsr29" />
+      <origin rrpy="-1.39339 0.19354 -0.40280" xyz="0.05591 0.02160 0.00558" />
+   </joint>
+</robot>

Robots_p/xarm+ability/meshes/collision/link7.obj

@@ -0,0 +1,573 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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Robots_p/xarm+ability/meshes/visual/link1.mtl

@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.006
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl White.005
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2

Robots_p/xarm+ability/meshes/visual/link2.mtl

@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.004
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl White.003
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2

Robots_p/xarm+ability/meshes/visual/link3.mtl

@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.005
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl White.004
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2

Robots_p/xarm+ability/meshes/visual/link4.mtl

@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.003
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl White.002
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2

Robots_p/xarm+ability/meshes/visual/link5.mtl

@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.002
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl White.001
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2

Robots_p/xarm+ability/meshes/visual/link6.mtl

@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.001
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl White
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2

Robots_p/xarm+ability/meshes/visual/link7.mtl

@@ -0,0 +1,12 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3