36 lines
1.9 KiB
Markdown
36 lines
1.9 KiB
Markdown
## UMI-Gripper Description (MJCF)
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> Requires MuJoCo 2.2.2 or later.
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### Overview
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This package contains a simplified robot description (MJCF) of the [Universal Manipulation Interface (UMI) Gripper](http://umi-gripper.github.io/). It is derived from the publicly available gripper [model](https://docs.google.com/document/d/1TPYwV9sNVPAi0ZlAupDMkXZ4CA1hsZx7YDMSmcEy6EU/edit?tab=t.0).
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<p float="left">
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<img src="umi_gripper.png" width="600px">
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</p>
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### Acknowledgments
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This model was contributed by Omar Rayyan (@omarrayyann).
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### SOLIDWORKS -> URDF -> MJCF derivation step
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1. Converted the the CAD model provided [(here)](https://docs.google.com/document/d/1TPYwV9sNVPAi0ZlAupDMkXZ4CA1hsZx7YDMSmcEy6EU/edit?tab=t.0) to the URDF format using [this](http://wiki.ros.org/sw_urdf_exporter) SolidWorks add-in.
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2. Added `<mujoco> <compiler balanceinertia="true" discardvisual="false"/> </mujoco>` to the URDF's
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`<robot>` clause in order to preserve visual geometries.
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3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
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4. Added materials and textures for the mirrors and ArUco markers (`right_aruco_sticker.png`, `left_aruco_sticker.png`).
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5. Created a `<default>` section to define common properties for joints, actuators, and geoms.
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6. Added two mirror geoms (`left_mirror`, `right_mirror`) with reflective materials for enhanced visual effects.
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7. Added a `<tendon>` section with a fixed tendon named split to synchronize the movement of both fingers.
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8. Added position-controlled actuators for the fingers joints (tuned `impratio="10"` for better non-slip interaction).
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9. Added slide joints for controlling the gripper's movement along the X, Y, and Z axes.
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10. Added hinge joints for controlling the rotation around the X, Y, and Z axes.
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11. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
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## License
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This model is released under an [MIT License](LICENSE).
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