Merge pull request #106 from omarrayyann:main

PiperOrigin-RevId: 718942123
Change-Id: I2191492cc620938c7f48d8c6909f0c94454f8c16

Author: copybara-github

LICENSE

@@ -4224,6 +4224,33 @@ NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
+================================================================================
+License for contents in the directory 'umi_gripper/'
+================================================================================
+
+MIT License
+
+Copyright (c) 2023 Columbia Artificial Intelligence and Robotics Lab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
 ================================================================================
 License for contents in the directory 'unitree_a1/'
 ================================================================================

README.md

@@ -208,6 +208,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | Name | Maker | DoFs    | License | MJX |
 |------|-------|---------|---------|-----|
 | Allegro Hand V3 | Wonik Robotics | 16 | [BSD-2-Clause](wonik_allegro/LICENSE) |✖️|
+| UMI Gripper | Stanford University | 1 | [MIT](umi_gripper/LICENSE) |✖️|
 | LEAP Hand | Carnegie Mellon University | 16 | [MIT](leap_hand/LICENSE) |✖️|
 | Robotiq 2F-85 | Robotiq | 8 | [BSD-2-Clause](robotiq_2f85/LICENSE) |✖️|
 | Shadow Hand EM35 | Shadow Robot Company | 24 | [Apache-2.0](shadow_hand/LICENSE) |✖️|

umi_gripper/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Columbia Artificial Intelligence and Robotics Lab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

umi_gripper/README.md

@@ -0,0 +1,35 @@
+## 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](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).
+
+
+<p float="left">
+  <img src="umi_gripper.png" width="600px">
+</p>
+
+### Acknowledgments
+
+This model was contributed by Omar Rayyan (@omarrayyann).
+
+### SOLIDWORKS -> URDF -> MJCF derivation step
+
+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.
+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](LICENSE).