UMI-Gripper

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 +1,31 @@
+## 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>
+
+### 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).

umi_gripper/scene.xml

@@ -0,0 +1,27 @@
+<mujoco model="scene">
+
+  <include file="umi_gripper.xml" />
+
+  <statistic center="0.2 0 0.2" extent="1.0" />
+
+  <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>
+
+  <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>
+
+  <worldbody>
+    <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" />
+
+    <geom name="floor" size="1 1 0.05" type="plane" material="groundplane" />
+  </worldbody>
+</mujoco>

umi_gripper/umi_gripper.xml

@@ -0,0 +1,172 @@
+<mujoco model="umi_gripper">
+  <compiler angle="radian" meshdir="assets" texturedir="assets" />
+
+  <option integrator="implicitfast" impratio="10" cone="elliptic" noslip_iterations="2">
+    <flag multiccd="enable" />
+  </option>
+
+  <asset>
+    <mesh file="base_link.stl" />
+    <mesh file="left_finger_holder.stl" />
+    <mesh file="left_finger.stl" />
+    <mesh file="right_finger_holder.stl" />
+    <mesh file="right_finger.stl" />
+    <mesh 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="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>
+    <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>
+
+      <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" />
+      </default>
+      <default class="gripper_hinge">
+        <joint type="hinge" damping="10.1" range="-31.415 31.415" />
+        <position kp="10" dampratio="0.1" ctrlrange="-3.1415 3.1415" />
+      </default>
+      <default class="finger_slide">
+        <joint type="slide" stiffness="100" damping="10.1" range="0 0.05" />
+      </default>
+
+      <default class="finger_actuator">
+        <position ctrlrange="0 0.05" />
+      </default>
+      <default class="gripper_actuator">
+        <position kp="100" dampratio="1" ctrlrange="-1.2 1.2" />
+      </default>
+      <default class="gripper_rot_actuator">
+        <position kp="10" dampratio="0.1" ctrlrange="-3.1415 3.1415" />
+      </default>
+
+      <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" 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" material="white" />
+      </default>
+
+    </default>
+  </default>
+
+  <worldbody>
+    <body quat="-1 1 0 0">
+
+      <!-- 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" />
+      <joint name="gripper_joint_y" axis="0 0 1" class="gripper_slide" />
+      <joint name="gripper_joint_z" axis="0 -1 0" class="gripper_slide" />
+
+      <!-- Rotational Joints -->
+      <joint name="gripper_joint_rx" axis="1 0 0" class="gripper_hinge" />
+      <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" 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 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 -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="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="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="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="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="right_finger_joint" coef="0.5" />
+      <joint joint="left_finger_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+
+  <actuator>
+    <position name="fingers_actuator" tendon="split" class="finger_actuator" />
+    <position name="gripper_joint_x_act" joint="gripper_joint_x" class="gripper_actuator" />
+    <position name="gripper_joint_y_act" joint="gripper_joint_y" class="gripper_actuator" />
+    <position name="gripper_joint_z_act" joint="gripper_joint_z" class="gripper_actuator" />
+    <position name="gripper_joint_rx_act" joint="gripper_joint_rx" class="gripper_rot_actuator" />
+    <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>