diff --git a/RML63/urdf/RML63III/rm_63_6fb_description/meshes/Link_5.STL b/RML63/urdf/RML63III/rm_63_6fb_description/meshes/Link_5.STL
index 863b09e..350cd8a 100644
Binary files a/RML63/urdf/RML63III/rm_63_6fb_description/meshes/Link_5.STL and b/RML63/urdf/RML63III/rm_63_6fb_description/meshes/Link_5.STL differ
diff --git a/RML63/urdf/RML63III/rm_63_6fb_description/urdf/RML-63.urdf b/RML63/urdf/RML63III/rm_63_6fb_description/urdf/RML-63.urdf
index 3d017d9..b4db173 100644
--- a/RML63/urdf/RML63III/rm_63_6fb_description/urdf/RML-63.urdf
+++ b/RML63/urdf/RML63III/rm_63_6fb_description/urdf/RML-63.urdf
@@ -95,10 +95,10 @@
+ xyz="0 0 1" />
@@ -155,8 +155,8 @@
@@ -213,8 +213,8 @@
@@ -269,10 +269,10 @@
+ xyz="0 0 1" />
@@ -321,16 +321,16 @@
type="revolute">
+ rpy="1.5708 0 -3.1416" />
+ xyz="0 0 1" />
@@ -378,18 +378,18 @@
name="joint_6"
type="revolute">
+ xyz="0 0.132199355735491 0"
+ rpy="1.5708 0 -3.1416" />
+ xyz="0 0 1" />
-
\ No newline at end of file
+
diff --git a/RML63/urdf/RML63III/rm_63_b_description/urdf/RML-63.csv b/RML63/urdf/RML63III/rm_63_b_description/urdf/RML-63.csv
new file mode 100644
index 0000000..25dc9fa
--- /dev/null
+++ b/RML63/urdf/RML63III/rm_63_b_description/urdf/RML-63.csv
@@ -0,0 +1,8 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,0.0002051,-8.259E-05,0.043092,0,0,0,1.6314,0.0022252,7.9005E-06,-7.7558E-05,0.0022156,5.9846E-06,0.0018513,0,0,0,0,0,0,package://RML-63/meshes/base_link.STL,0.86667,0.86667,0.8902,1,0,0,0,0,0,0,package://RML-63/meshes/base_link.STL,,连杆1-1,baselink,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+Link_1,-0.030909,-0.0013023,-0.0053121,0,0,0,1.7668,0.0014534,-0.00017578,0.0002802,0.0043772,1.7209E-05,0.0040911,0,0,0,0,0,0,package://RML-63/meshes/Link_1.STL,1,1,1,1,0,0,0,0,0,0,package://RML-63/meshes/Link_1.STL,,连杆2-1,link1,axis1,joint_1,revolute,0,0,0.1625,0,0,0,base_link,0,0,-1,100,1,3.107,-3.107,,,,,,,,
+Link_2,0.16852,9.8217E-07,-0.077258,0,0,0,4.3415,0.0028306,3.3846E-07,4.0484E-06,0.075435,-3.3974E-08,0.075923,0,0,0,0,0,0,package://RML-63/meshes/Link_2.STL,0.86667,0.86667,0.8902,1,0,0,0,0,0,0,package://RML-63/meshes/Link_2.STL,,连杆3-1,link2,axis2,joint_2,revolute,-0.086,0,0,1.5708,-1.5708,0,Link_1,0,0,1,100,1,3.107,-3.107,,,,,,,,
+Link_3,0.034488,-0.010948,-0.0056239,0,0,0,1.7286,0.0014154,0.00068025,-0.00043307,0.0026049,0.00017201,0.0028551,0,0,0,0,0,0,package://RML-63/meshes/Link_3.STL,0.86667,0.86667,0.8902,1,0,0,0,0,0,0,package://RML-63/meshes/Link_3.STL,,连杆4-1,link3,axis3,joint_3,revolute,0.38,0,0,0,0,1.5708,Link_2,0,0,1,100,1,2.531,-3.107,,,,,,,,
+Link_4,4.1778E-07,-0.030483,-0.19739,0,0,0,2.4734,0.02602,-1.1659E-07,3.1323E-07,0.024375,0.0061661,0.002958,0,0,0,0,0,0,package://RML-63/meshes/Link_4.STL,0.86667,0.86667,0.8902,1,0,0,0,0,0,0,package://RML-63/meshes/Link_4.STL,,连杆5-1,link4,axis4,joint_4,revolute,0.069,-0.405,0,1.5708,0,0,Link_3,0,0,-1,100,1,3.107,-3.107,,,,,,,,
+Link_5,5.2596E-06,0.025125,-0.0072574,0,0,0,0.93162,0.0012563,-1.8115E-08,-2.4669E-09,0.0005379,-0.00017339,0.0011134,0,0,0,0,0,0,package://RML-63/meshes/Link_5.STL,0.86667,0.86667,0.8902,1,0,0,0,0,0,0,package://RML-63/meshes/Link_5.STL,,连杆6-1,link5,axis5,joint_5,revolute,0,0,0,1.5708,0,3.1416,Link_4,0,0,-1,100,1,3.107,-3.107,,,,,,,,
+Link_6,-0.00092265,9.4391E-05,-0.012705,0,0,0,0.065037,2.1144E-05,-2.2803E-08,2.5415E-08,1.8109E-05,1.0256E-08,3.19E-05,0,0,0,0,0,0,package://RML-63/meshes/Link_6.STL,1,1,1,1,0,0,0,0,0,0,package://RML-63/meshes/Link_6.STL,,末端法兰件 方案一-2,link6,axis6,joint_6,revolute,-0.00010308,0.115,-0.00010734,1.5708,0,3.1416,Link_5,0,0,-1,100,1,3.14,-3.14,,,,,,,,
diff --git a/RML63/urdf/RML63III/rm_63_b_description/urdf/RML-63.urdf b/RML63/urdf/RML63III/rm_63_b_description/urdf/RML-63.urdf
new file mode 100644
index 0000000..b7b1252
--- /dev/null
+++ b/RML63/urdf/RML63III/rm_63_b_description/urdf/RML-63.urdf
@@ -0,0 +1,395 @@
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