Addressed Comments from google-deepmind#106

- Addressed comments from google-deepmind#106
- Made the style more consistent with other models in the repo.

Author: omarrayyann

test/__pycache__/model_test.cpython-312-pytest-8.3.3.pyc

@@ -1,39 +1,27 @@
-<?xml version="1.0"?>
 <mujoco model="scene">
 
-  <!-- Include the UMI gripper -->
   <include file="umi_gripper.xml" />
 
-  <!-- Simulation Options -->
   <statistic center="0.2 0 0.2" extent="1.0" />
-  <option gravity="0 0 -9.81" cone="elliptic" impratio="10" />
 
-  <!-- Visual Settings -->
   <visual>
     <headlight diffuse="0.3 0.3 0.3" ambient="0.2 0.2 0.2" specular="0 0 0" />
     <rgba haze="0.15 0.25 0.35 1" />
     <global azimuth="-120" elevation="-20" />
     <quality shadowsize="0" />
   </visual>
 
-  <!-- Assets -->
   <asset>
     <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
     <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
       markrgb="0.8 0.8 0.8" width="300" height="300" />
     <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
   </asset>
 
-  <!-- World Body -->
   <worldbody>
-
-    <!-- Lights -->
     <light pos="0 0 4.5" dir="0 0 -1" directional="true" />
     <light pos="0 -4.5 0.6" dir="0 1 0" directional="true" />
 
-    <!-- Ground Plane -->
     <geom name="floor" size="1 1 0.05" type="plane" material="groundplane" />
-
   </worldbody>
-
 </mujoco>

umi_gripper/assets/finger_left.STL renamed to umi_gripper/assets/left_finger.stl

@@ -1,34 +1,40 @@
-<mujoco model="umi_model">
+<mujoco model="umi_gripper">
+  <compiler angle="radian" meshdir="assets" texturedir="assets" />
 
-  <compiler angle="radian" meshdir="assets/" texturedir="assets/" />
-
-  <!-- Simulation Options -->
-  <option integrator="implicitfast" impratio="1" cone="elliptic" noslip_iterations="2">
+  <option integrator="implicitfast" impratio="10" cone="elliptic" noslip_iterations="2">
     <flag multiccd="enable" />
   </option>
 
-  <!-- Assets -->
   <asset>
-    <mesh name="base_link" file="base_link.STL" />
-    <mesh name="finger_holder_left" file="finger_holder_left.STL" />
-    <mesh name="finger_left" file="finger_left.STL" />
-    <mesh name="finger_holder_right" file="finger_holder_right.STL" />
-    <mesh name="finger_right" file="finger_right.STL" />
-    <mesh name="gopro" file="gopro.STL" />
-    <material name="mirror" rgba="0 0 0 1" texrepeat="5 5" reflectance="1.0" />
+    <mesh name="base_link" file="base_link.stl" />
+    <mesh name="left_finger_holder" file="left_finger_holder.stl" />
+    <mesh name="left_finger" file="left_finger.stl" />
+    <mesh name="right_finger_holder" file="right_finger_holder.stl" />
+    <mesh name="right_finger" file="right_finger.stl" />
+    <mesh name="gopro" file="gopro.stl" />
+
     <texture name="right_aruco_sticker" type="2d" file="right_aruco_sticker.png" />
     <texture name="left_aruco_sticker" type="2d" file="left_aruco_sticker.png" />
-    <material name="Aruco_Right_Base_Sticker" texture="right_aruco_sticker" />
-    <material name="Aruco_Left_Base_Sticker" texture="left_aruco_sticker" />
+    <material name="Right_Aruco_Base_Sticker" texture="right_aruco_sticker" />
+    <material name="Left_Aruco_Base_Sticker" texture="left_aruco_sticker" />
+
+    <material name="mirror" rgba="0 0 0 1" texrepeat="5 5" reflectance="1.0" />
+    <material name="white" rgba="1 1 1 1" />
+    <material name="gray" rgba="0.15 0.15 0.15 1" />
+    <material name="light_gray" rgba="0.6 0.6 0.6 1" />
+    <material name="orange" rgba="0.92 0.68 0.24 1" />
+    <material name="black" rgba="0 0 0 1" />
   </asset>
 
-  <!-- Default settings -->
   <default>
-    <default class="umi_model">
-      <!-- Joint Defaults -->
+    <default class="umi_gripper">
       <joint frictionloss="0.1" armature="0.1" />
+      <position kp="1000" />
+
+      <default class="screw">
+        <geom type="cylinder" size="0.0035 0.0035 0.01" material="black" contype="0" conaffinity="0" />
+      </default>
 
-      <!-- Gripper Joints -->
       <default class="gripper_slide">
         <joint type="slide" damping="0.1" range="-1.2 1.2" />
         <position kp="100" dampratio="1" ctrlrange="-1.2 1.2" />
@@ -37,14 +43,10 @@
         <joint type="hinge" damping="10.1" range="-31.415 31.415" />
         <position kp="10" dampratio="0.1" ctrlrange="-3.1415 3.1415" />
       </default>
-
-      <!-- Finger Joints -->
       <default class="finger_slide">
         <joint type="slide" stiffness="100" damping="10.1" range="0 0.05" />
       </default>
 
-      <!-- Actuator Defaults -->
-      <position kp="1000" />
       <default class="finger_actuator">
         <position ctrlrange="0 0.05" />
       </default>
@@ -55,24 +57,28 @@
         <position kp="10" dampratio="0.1" ctrlrange="-3.1415 3.1415" />
       </default>
 
-      <!-- Geom Defaults -->
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" density="0" group="2" />
+      </default>
+      <default class="collision">
+        <geom type="mesh" group="3" />
+      </default>
+
       <default class="marker">
-        <geom type="box" size="0.009 0.009 0.00001" euler="0 0 0" rgba="1 1 1 1" contype="0" conaffinity="0" mass="0.0" />
+        <geom type="box" size="0.009 0.009 0.00001" material="white" contype="0" conaffinity="0" mass="0.0" />
       </default>
       <default class="finger_holder_geom">
-        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="white" />
       </default>
 
     </default>
   </default>
 
   <worldbody>
+    <body quat="-1 1 0 0">
 
-    <body pos='0 0 0' euler="-1.571 0 0">
-
-      <body name="camera" pos="0 -0.092 0.005" euler="3.14 0 0.0">
-        <camera name="top_camera" mode="fixed" fovy="145" />
-      </body>
+      <!-- Gripper Camera -->
+      <camera name="gripper_gopro" pos="0 -0.092 0.04" quat="0 1 0 0" mode="fixed" fovy="155" />
 
       <!-- Positional Joints -->
       <joint name="gripper_joint_x" axis="1 0 0" class="gripper_slide" />
@@ -84,47 +90,73 @@
       <joint name="gripper_joint_ry" axis="0 0 1" class="gripper_hinge" />
       <joint name="gripper_joint_rz" axis="0 -1 0" class="gripper_hinge" />
 
+      <!-- Linear Rail -->
+      <geom name="linear_guide_rail" type="box" pos="0 -0.002 0.062" size="0.08 0.003 0.004" material="light_gray"
+        class="visual" />
+
       <!-- Mirrors -->
-      <geom name="left_mirror" type="box" pos="-0.069 -0.057 0.04" size="0.03 0.0187 0.0001" euler="0 1.19 0"
-        rgba="0 0 0 1" material="mirror" contype="0" conaffinity="0" />
-      <geom name="right_mirror" type="box" pos="0.069 -0.057 0.04" size="0.03 0.0187 0.0001" euler="0 -1.19 0"
-        rgba="0 0 0 1" material="mirror" contype="0" conaffinity="0" />
+      <geom name="left_mirror" type="box" pos="-0.069 -0.057 0.04" size="0.03 0.0187 0.0001" quat="0.828 0 0.5605 0"
+        material="mirror" class="visual" />
+      <geom name="right_mirror" type="box" pos="0.069 -0.057 0.04" size="0.03 0.0187 0.0001" quat="0.828 0 -0.5605 0"
+        material="mirror" class="visual" />
 
       <!-- Base Link -->
-      <geom type="mesh" rgba="1 1 1 1" mesh="base_link" />
+      <geom mesh="base_link" class="visual" material="white" />
+      <geom mesh="base_link" class="collision" />
+      <geom name="left_center_base_screw" pos="-0.076 -0.018 0.036" quat="-1 1 0 0" class="screw" />
+      <geom name="right_center_base_screw" pos="0.076 -0.018 0.036" quat="-1 1 0 0" class="screw" />
+      <geom name="left_back_base_screw" pos="-0.0137 -0.018 -0.018" quat="-1 1 0 0" class="screw" />
+      <geom name="right_back_base_screw" pos="0.0137 -0.018 -0.018" quat="-1 1 0 0" class="screw" />
 
       <!-- GoPro Camera -->
-      <geom pos="0.01965 -0.07875 -0.0187" quat="0 0 -0.707108 0.707105" type="mesh" rgba="0.2 0.2 0.2 1" mesh="gopro" />
+      <geom pos="0.01965 -0.07875 -0.0187" quat="0 0 -1 1" mesh="gopro" class="visual" material="gray" />
+      <geom pos="0.01965 -0.07875 -0.0187" quat="0 0 -1 1" mesh="gopro" class="collision" />
 
       <!-- Left Finger -->
-      <body name="finger_holder_left" quat="0.707105 0.707108 0 0">
-        <geom name="left_marker" pos="-0.062 0.088 0.0164" material="Aruco_Left_Base_Sticker" class="marker" />
+      <body name="left_finger_holder" quat="1 1 0 0">
+        <geom name="left_screw_back_outside" pos="-0.0515 0.07 0.012" class="screw" />
+        <geom name="left_screw_back_inside" pos="-0.0615 0.07 0.012" class="screw" />
+        <geom name="left_screw_middle_outside" pos="-0.0768 0.0835 0.012" class="screw" />
+        <geom name="left_screw_middle_inside" pos="-0.047 0.0835 0.012" class="screw" />
+        <geom name="left_screw_front" pos="-0.0764 0.119 0.012" class="screw" />
+        <geom name="left_rail_block" type="box" pos="-0.051 0.063 0.006" size="0.009 0.012 0.004" material="gray"
+          class="visual" />
+        <geom name="left_marker" pos="-0.062 0.088 0.0164" material="Left_Aruco_Base_Sticker" class="marker" />
         <inertial pos="-0.0613355 0.104073 -0.0013157" quat="0.49913 0.411547 -0.543302 0.53509" mass="0.080081"
           diaginertia="0.000104597 0.000102992 1.90532e-05" />
-        <joint name="finger_left_joint" pos="0 0 0" axis="1 0 0" class="finger_slide" />
-        <geom mesh="finger_holder_left" class="finger_holder_geom" />
-        <geom pos="-0.041722 0.0779 -0.0159" quat="0 0 -0.707108 0.707105" type="mesh"
-          rgba="0.92156862745 0.67843137254 0.235 1" mesh="finger_left" />
+        <joint name="left_finger_joint" axis="1 0 0" class="finger_slide" />
+        <geom mesh="left_finger_holder" class="visual" material="white" />
+        <geom mesh="left_finger_holder" class="collision" />
+        <geom pos="-0.041722 0.0779 -0.0159" quat="0 0 -1 1" mesh="left_finger" class="visual" material="orange" />
+        <geom pos="-0.041722 0.0779 -0.0159" quat="0 0 -1 1" mesh="left_finger" class="collision" />
       </body>
 
       <!-- Right Finger -->
-      <body name="finger_holder_right" quat="0.707105 0.707108 0 0">
-        <geom name="right_marker" pos="0.062 0.088 0.0164" material="Aruco_Right_Base_Sticker" class="marker" />
+      <body name="right_finger_holder" quat="1 1 0 0">
+        <geom name="right_screw_back_outside" pos="0.0515 0.07 0.012" class="screw" />
+        <geom name="right_screw_back_inside" pos="0.0615 0.07 0.012" class="screw" />
+        <geom name="right_screw_middle_outside" pos="0.0764 0.0835 0.012" class="screw" />
+        <geom name="right_screw_middle_inside" pos="0.047 0.0835 0.012" class="screw" />
+        <geom name="right_screw_front" pos="0.0764 0.119 0.012" class="screw" />
+        <geom name="right_rail_block" type="box" pos="0.051 0.063 0.006" size="0.009 0.012 0.004" material="gray"
+          class="visual" />
+        <geom name="right_marker" pos="0.062 0.088 0.0164" material="Right_Aruco_Base_Sticker" class="marker" />
         <inertial pos="0.0613353 0.104073 -0.00131574" quat="0.535092 0.543308 -0.41154 0.499127" mass="0.080081"
           diaginertia="0.000104597 0.000102992 1.90532e-05" />
-        <joint name="finger_right_joint" pos="0 0 0" axis="-1 0 0" class="finger_slide" />
-        <geom mesh="finger_holder_right" class="finger_holder_geom" />
-        <geom pos="0.041722 0.0779 0.0099" quat="0.707105 0.707108 0 0" type="mesh"
-          rgba="0.92156862745 0.67843137254 0.235 1" mesh="finger_right" />
+        <joint name="right_finger_joint" axis="-1 0 0" class="finger_slide" />
+        <geom mesh="right_finger_holder" class="visual" material="white" />
+        <geom mesh="right_finger_holder" class="collision" />
+        <geom pos="0.041722 0.0779 0.0099" quat="1 1 0 0" mesh="right_finger" class="visual" material="orange" />
+        <geom pos="0.041722 0.0779 0.0099" quat="1 1 0 0" mesh="right_finger" class="collision" />
       </body>
 
     </body>
   </worldbody>
 
   <tendon>
     <fixed name="split">
-      <joint joint="finger_right_joint" coef="0.5" />
-      <joint joint="finger_left_joint" coef="0.5" />
+      <joint joint="right_finger_joint" coef="0.5" />
+      <joint joint="left_finger_joint" coef="0.5" />
     </fixed>
   </tendon>
 
@@ -137,5 +169,4 @@
     <position name="gripper_joint_ry_act" joint="gripper_joint_ry" class="gripper_rot_actuator" />
     <position name="gripper_joint_rz_act" joint="gripper_joint_rz" class="gripper_rot_actuator" />
   </actuator>
-
 </mujoco>