petercorke · gaolongsen · Feb 6, 2023 · Apr 29, 2025 · Apr 29, 2025 · Apr 29, 2025
diff --git a/notebooks/kinematics.ipynb b/notebooks/kinematics.ipynb
diff --git a/roboticstoolbox/models/URDF/WAM.py b/roboticstoolbox/models/URDF/WAM.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python
+
+import numpy as np
+from roboticstoolbox.robot.ERobot import ERobot, ERobot2
+from spatialmath import SE3
+
+
+class WAM(ERobot):
+    """
+    Class that imports a WAM URDF model
+
+    ``WAM()`` is a class which imports a Barrett WAM robot definition
+    from a URDF file.  The model describes its kinematic and graphical
+    characteristics.
+
+    .. runblock:: pycon
+
+        >>> import roboticstoolbox as rtb
+        >>> robot = rtb.models.URDF.WAM()
+        >>> print(robot)
+
+    Defined joint configurations are:
+
+    - qz, zero joint angle configuration, 'L' shaped configuration
+    - qr, vertical 'READY' configuration
+    - qs, arm is stretched out in the x-direction
+    - qn, arm is at a nominal non-singular configuration
+
+    .. codeauthor:: Longsen Gao
+    .. sectionauthor:: Peter Corke
+    """
+
+    def __init__(self):
+
+        links, name, urdf_string, urdf_filepath = self.URDF_read(
+            "wam_description/urdf/wam7.urdf.xacro"
+        )
+
+        super().__init__(
+            links,
+            name=name,
+            manufacturer="Barrett Robtoics",
+            gripper_links=links[8],
+            urdf_string=urdf_string,
+            urdf_filepath=urdf_filepath,
+        )
+
+        self.grippers[0].tool = SE3(0, 0, 0)
+
+        self.qdlim = np.array(
+            [2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0]
+        )
+
+        self.qr = np.array([0, 0, 0, 0, 0, 0, 0])
+        self.qz = np.zeros(7)
+
+        self.addconfiguration("qr", self.qr)
+        self.addconfiguration("qz", self.qz)
+
+
+if __name__ == "__main__":  # pragma nocover
+
+    r = WAM()
+
+    r.qz
+
+    for link in r.grippers[0].links:
+        print(link)
diff --git a/roboticstoolbox/models/URDF/__init__.py b/roboticstoolbox/models/URDF/__init__.py
@@ -23,6 +23,7 @@
 from roboticstoolbox.models.URDF.FetchCamera import FetchCamera
 from roboticstoolbox.models.URDF.Valkyrie import Valkyrie
 from roboticstoolbox.models.URDF.AL5D import AL5D
+from roboticstoolbox.models.URDF.WAM import WAM
 
 __all__ = [
     "Panda",
@@ -50,4 +51,5 @@
     "FetchCamera",
     "Valkyrie",
     "AL5D",
+    "WAM",
 ]
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/base_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/base_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/base_link_convex.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/base_link_convex.dae
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/base_link_convex.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/base_link_convex.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/base_link_fine.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/base_link_fine.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/base_yaw_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/base_yaw_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_dist_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_dist_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_dist_link_convex.blend b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_dist_link_convex.blend
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_dist_link_convex.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_dist_link_convex.dae
diff --git a/...ta/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_dist_link_convex.stl b/...ta/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_dist_link_convex.stl
diff --git a/...data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_dist_link_fine.stl b/...data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_dist_link_fine.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_med_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_med_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_med_link_convex.blend b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_med_link_convex.blend
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_med_link_convex.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_med_link_convex.dae
diff --git a/...ata/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_med_link_convex.stl b/...ata/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_med_link_convex.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_med_link_fine.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_med_link_fine.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_prox_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_prox_link.stl
diff --git a/...data/xacro/wam_description/meshes/bhand/bhand_finger_prox_link_convex_decomposition.blend b/...data/xacro/wam_description/meshes/bhand/bhand_finger_prox_link_convex_decomposition.blend
diff --git a/...tbdata/xacro/wam_description/meshes/bhand/bhand_finger_prox_link_convex_decomposition.dae b/...tbdata/xacro/wam_description/meshes/bhand/bhand_finger_prox_link_convex_decomposition.dae
diff --git a/...wam_description/meshes/bhand/bhand_finger_prox_link_convex_decomposition_p1.stl b/...wam_description/meshes/bhand/bhand_finger_prox_link_convex_decomposition_p1.stl
diff --git a/...wam_description/meshes/bhand/bhand_finger_prox_link_convex_decomposition_p2.stl b/...wam_description/meshes/bhand/bhand_finger_prox_link_convex_decomposition_p2.stl
diff --git a/...wam_description/meshes/bhand/bhand_finger_prox_link_convex_decomposition_p3.stl b/...wam_description/meshes/bhand/bhand_finger_prox_link_convex_decomposition_p3.stl
diff --git a/...data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_prox_link_fine.stl b/...data/rtbdata/xacro/wam_description/meshes/bhand/bhand_finger_prox_link_fine.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_palm.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_palm.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_palm_fine.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_palm_fine.stl
diff --git a/...ata/rtbdata/xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition.blend b/...ata/rtbdata/xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition.blend
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition.dae
diff --git a/.../xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition_p1.stl b/.../xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition_p1.stl
diff --git a/.../xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition_p2.stl b/.../xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition_p2.stl
diff --git a/.../xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition_p3.stl b/.../xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition_p3.stl
diff --git a/.../xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition_p4.stl b/.../xacro/wam_description/meshes/bhand/bhand_palm_link_convex_decomposition_p4.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/elbow_link.blend b/rtb-data/rtbdata/xacro/wam_description/meshes/elbow_link.blend
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/elbow_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/elbow_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/elbow_link_convex.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/elbow_link_convex.dae
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/elbow_link_convex.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/elbow_link_convex.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/elbow_link_fine.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/elbow_link_fine.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/forearm_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/forearm_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/forearm_link_convex_decomposition.blend b/rtb-data/rtbdata/xacro/wam_description/meshes/forearm_link_convex_decomposition.blend
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/forearm_link_convex_decomposition.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/forearm_link_convex_decomposition.dae
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/forearm_link_fine.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/forearm_link_fine.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/palm_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/palm_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_link_convex.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_link_convex.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_link_convex_decomposition.blend b/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_link_convex_decomposition.blend
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_link_convex_decomposition.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_link_convex_decomposition.dae
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_link_fine.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_link_fine.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_pitch_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_pitch_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_pitch_link_convex.blend b/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_pitch_link_convex.blend
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_pitch_link_convex.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_pitch_link_convex.dae
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_pitch_link_convex.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_pitch_link_convex.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_pitch_link_fine.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/shoulder_pitch_link_fine.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/upper_arm_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/upper_arm_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/upper_arm_link_convex_decomposition.blend b/rtb-data/rtbdata/xacro/wam_description/meshes/upper_arm_link_convex_decomposition.blend
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/upper_arm_link_convex_decomposition.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/upper_arm_link_convex_decomposition.dae
diff --git a/...rtbdata/xacro/wam_description/meshes/upper_arm_link_convex_decomposition_p1.stl b/...rtbdata/xacro/wam_description/meshes/upper_arm_link_convex_decomposition_p1.stl
diff --git a/...rtbdata/xacro/wam_description/meshes/upper_arm_link_convex_decomposition_p2.stl b/...rtbdata/xacro/wam_description/meshes/upper_arm_link_convex_decomposition_p2.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/upper_arm_link_fine.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/upper_arm_link_fine.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link.blend b/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link.blend
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link.dae
@@ -0,0 +1,54 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-12-11T17:55:27</created>
+    <modified>2014-12-11T17:55:27</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Wrist_Palm_Link-mesh" name="Wrist Palm Link">
+      <mesh>
+        <source id="Wrist_Palm_Link-mesh-positions">
+          <float_array id="Wrist_Palm_Link-mesh-positions-array" count="0"/>
+          <technique_common>
+            <accessor source="#Wrist_Palm_Link-mesh-positions-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Wrist_Palm_Link-mesh-normals">
+          <float_array id="Wrist_Palm_Link-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#Wrist_Palm_Link-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Wrist_Palm_Link-mesh-vertices">
+          <input semantic="POSITION" source="#Wrist_Palm_Link-mesh-positions"/>
+        </vertices>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Wrist_Palm_Link" name="Wrist_Palm_Link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Wrist_Palm_Link-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link_convex.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link_convex.dae
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+    </contributor>
+    <created>2014-12-11T17:59:15</created>
+    <modified>2014-12-11T17:59:15</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Wrist_Palm_Link_Convex-mesh" name="Wrist Palm Link Convex">
+      <mesh>
+        <source id="Wrist_Palm_Link_Convex-mesh-positions">
+          <float_array id="Wrist_Palm_Link_Convex-mesh-positions-array" count="234">-0.04446387 -0.001791834 0.06490999 -0.0441755 0.005363881 0.04794996 -0.04446387 -0.001791834 0.04794996 -0.0441755 0.005363881 0.06490999 -0.02068012 0.03940278 0.06490999 -0.01409173 0.04220986 0.04794996 -0.02068012 0.03940278 0.04794996 -0.01409173 0.04220986 0.06490999 -0.04274302 0.01238065 0.06490999 -0.04274302 0.01238065 0.04794996 -0.04020351 0.01907682 0.04794996 -0.04020351 0.01907682 0.06490999 -0.03662276 0.02527886 0.06490999 -0.03209346 0.03082621 0.04794996 -0.03662276 0.02527886 0.04794996 -0.03209346 0.03082621 0.06490999 -0.03853809 -0.02224999 0.06490999 -0.04160821 -0.01577991 0.04794996 -0.03853809 -0.02224999 0.04794996 -0.04160821 -0.01577991 0.06490999 -0.02673298 0.03557515 0.06490999 -0.02673298 0.03557515 0.04794996 0.02950894 -0.03330868 0.06490999 0.02378368 -0.03761094 0.04794996 0.02950894 -0.03330868 0.04794996 0.02378368 -0.03761094 0.06490999 -0.04360067 -0.008901119 0.06490999 -0.04360067 -0.008901119 0.04794996 -0.0344699 -0.02814382 0.06490999 -0.0344699 -0.02814382 0.04794996 -0.02950894 -0.03330868 0.04794996 -0.02950894 -0.03330868 0.06490999 -0.02378368 -0.03761094 0.06490999 -0.02378368 -0.03761094 0.04794996 0.04274302 0.01238065 0.06490999 0.0441755 0.005363881 0.04794996 0.04274302 0.01238065 0.04794996 0.0441755 0.005363881 0.06490999 0.04020351 0.01907682 0.04794996 0.04020351 0.01907682 0.06490999 0.03662276 0.02527886 0.06490999 0.03662276 0.02527886 0.04794996 0.03209346 0.03082621 0.04794996 0.03209346 0.03082621 0.06490999 0.04446387 -0.001791834 0.06490999 0.04446387 -0.001791834 0.04794996 0.04360067 -0.008901119 0.04794996 0.04360067 -0.008901119 0.06490999 0.04160821 -0.01577991 0.06490999 0.03853809 -0.02224999 0.04794996 0.04160821 -0.01577991 0.04794996 0.03853809 -0.02224999 0.06490999 -0.007138252 0.04392373 0.04794996 -0.007138252 0.04392373 0.06490999 0 0.04449999 0.06490999 0 0.04449999 0.04794996 0.02673298 0.03557515 0.06490999 0.02673298 0.03557515 0.04794996 0.02068012 0.03940278 0.04794996 0.02068012 0.03940278 0.06490999 0.01409173 0.04220986 0.06490999 0.01409173 0.04220986 0.04794996 0.0344699 -0.02814382 0.06490999 0.0344699 -0.02814382 0.04794996 0.003580749 -0.04435569 0.06490999 -0.003580749 -0.04435569 0.04794996 0.003580749 -0.04435569 0.04794996 -0.003580749 -0.04435569 0.06490999 0.0106495 -0.04320687 0.04794996 0.0106495 -0.04320687 0.06490999 -0.01744246 -0.04093903 0.04794996 0.007138252 0.04392373 0.04794996 0.01744246 -0.04093903 0.04794996 -0.0106495 -0.04320687 0.04794996 -0.01744246 -0.04093903 0.06490999 -0.0106495 -0.04320687 0.06490999 0.007138252 0.04392373 0.06490999 0.01744246 -0.04093903 0.06490999</float_array>
+          <technique_common>
+            <accessor source="#Wrist_Palm_Link_Convex-mesh-positions-array" count="78" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Wrist_Palm_Link_Convex-mesh-normals">
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+            <accessor source="#Wrist_Palm_Link_Convex-mesh-normals-array" count="78" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Wrist_Palm_Link_Convex-mesh-vertices">
+          <input semantic="POSITION" source="#Wrist_Palm_Link_Convex-mesh-positions"/>
+        </vertices>
+        <polylist count="152">
+          <input semantic="VERTEX" source="#Wrist_Palm_Link_Convex-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Wrist_Palm_Link_Convex-mesh-normals" offset="1"/>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Wrist_Palm_Link_Convex" name="Wrist_Palm_Link_Convex" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Wrist_Palm_Link_Convex-mesh"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link_convex.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link_convex.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link_fine.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_palm_link_fine.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_pitch_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_pitch_link.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_pitch_link_convex.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_pitch_link_convex.stl
diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_pitch_link_convex_decomposition.blend b/rtb-data/rtbdata/xacro/wam_description/meshes/wrist_pitch_link_convex_decomposition.blend