PSYONIC Ability Hand

Built by:   PSYONIC
Licence:    MIT
Source:     https://github.com/psyonicinc/ability-hand-api/tree/89407424edfc22faceaedcd7c3ea2b7947cbbb2c/URDF
Commit:     89407424edfc22faceaedcd7c3ea2b7947cbbb2c
Collection: psyonicinc/ability-hand-api
Packaged:   2026-08-28 by urdfbase.com/models/psyonic-ability-hand/

This folder holds the model written as MJCF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - joint "thumb_q1" has a velocity limit of 40.338888721, which MJCF does not store on the joint — enforce it in the controller
  - joint "thumb_q2" has a velocity limit of 8.0677777442, which MJCF does not store on the joint — enforce it in the controller
  - joint "index_q1" has a velocity limit of 8.0677777442, which MJCF does not store on the joint — enforce it in the controller
  - joint "index_q2" mimics "index_q1"; MJCF expresses that as an equality constraint, which has to be added by hand
  - joint "index_q2" has a velocity limit of 8.0677777442, which MJCF does not store on the joint — enforce it in the controller
  - joint "middle_q1" has a velocity limit of 8.0677777442, which MJCF does not store on the joint — enforce it in the controller
  - joint "middle_q2" mimics "middle_q1"; MJCF expresses that as an equality constraint, which has to be added by hand
  - joint "middle_q2" has a velocity limit of 8.0677777442, which MJCF does not store on the joint — enforce it in the controller
  - joint "ring_q1" has a velocity limit of 8.0677777442, which MJCF does not store on the joint — enforce it in the controller
  - joint "ring_q2" mimics "ring_q1"; MJCF expresses that as an equality constraint, which has to be added by hand
  - joint "ring_q2" has a velocity limit of 8.0677777442, which MJCF does not store on the joint — enforce it in the controller
  - joint "pinky_q1" has a velocity limit of 8.0677777442, which MJCF does not store on the joint — enforce it in the controller
  - joint "pinky_q2" mimics "pinky_q1"; MJCF expresses that as an equality constraint, which has to be added by hand
  - joint "pinky_q2" has a velocity limit of 8.0677777442, which MJCF does not store on the joint — enforce it in the controller

The robot belongs to the people who built it. Credit the source, not this site.
