LuckyWorld/SourceFiles/mujoco_menagerie-main/umi_gripper

UMI-Gripper Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains a simplified robot description (MJCF) of the Universal Manipulation Interface (UMI) Gripper. It is derived from the publicly available gripper model.

Acknowledgments

This model was contributed by Omar Rayyan (@omarrayyann).

SOLIDWORKS -> URDF -> MJCF derivation step

1. Converted the the CAD model provided (here) to the URDF format using this SolidWorks add-in.
2. Added <mujoco> <compiler balanceinertia="true" discardvisual="false"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
4. Added materials and textures for the mirrors and ArUco markers (right_aruco_sticker.png, left_aruco_sticker.png).
5. Created a <default> section to define common properties for joints, actuators, and geoms.
6. Added two mirror geoms (left_mirror, right_mirror) with reflective materials for enhanced visual effects.
7. Added a <tendon> section with a fixed tendon named split to synchronize the movement of both fingers.
8. Added position-controlled actuators for the fingers joints (tuned impratio="10" for better non-slip interaction).
9. Added slide joints for controlling the gripper's movement along the X, Y, and Z axes.
10. Added hinge joints for controlling the rotation around the X, Y, and Z axes.
11. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under an MIT License.