From 884e0e1983c7c80db91740af56a648fdeb3989dd Mon Sep 17 00:00:00 2001 From: Omar Date: Tue, 29 Oct 2024 03:43:11 +0400 Subject: [PATCH 01/12] Added UMI-Gripper --- .DS_Store | Bin 0 -> 6148 bytes umi_gripper/README.md | 36 ++++++ umi_gripper/assets/.DS_Store | Bin 0 -> 6148 bytes umi_gripper/assets/base_link.STL | Bin 0 -> 557234 bytes umi_gripper/assets/finger_holder_left.STL | Bin 0 -> 120384 bytes umi_gripper/assets/finger_holder_right.STL | Bin 0 -> 119384 bytes umi_gripper/assets/finger_left.STL | Bin 0 -> 56884 bytes umi_gripper/assets/finger_right.STL | Bin 0 -> 56884 bytes umi_gripper/assets/gopro.STL | Bin 0 -> 407584 bytes umi_gripper/assets/left_aruco_sticker.png | Bin 0 -> 207100 bytes umi_gripper/assets/right_aruco_sticker.png | Bin 0 -> 153477 bytes umi_gripper/main.py | 14 ++ umi_gripper/scene.xml | 39 ++++++ umi_gripper/umi_gripper.png | Bin 0 -> 557586 bytes umi_gripper/umi_gripper.xml | 141 +++++++++++++++++++++ 15 files changed, 230 insertions(+) create mode 100644 .DS_Store create mode 100644 umi_gripper/README.md create mode 100644 umi_gripper/assets/.DS_Store create mode 100644 umi_gripper/assets/base_link.STL create mode 100644 umi_gripper/assets/finger_holder_left.STL create mode 100644 umi_gripper/assets/finger_holder_right.STL create mode 100644 umi_gripper/assets/finger_left.STL create mode 100644 umi_gripper/assets/finger_right.STL create mode 100644 umi_gripper/assets/gopro.STL create mode 100644 umi_gripper/assets/left_aruco_sticker.png create mode 100644 umi_gripper/assets/right_aruco_sticker.png create mode 100644 umi_gripper/main.py create mode 100644 umi_gripper/scene.xml create mode 100644 umi_gripper/umi_gripper.png create mode 100644 umi_gripper/umi_gripper.xml diff --git a/.DS_Store b/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..0a2fcb50c08e10099642534643aaafcec70df0ef GIT binary patch literal 6148 zcmeHK!AiqG5Z$d+6N=b_qQ?cV1*;ZOyo6d0UXAEMr8c%`FlI~I+CwSisz2nP_&fS$ zcPmQmRa9om?Ay-HOEz!AZbk?p>x1@|5M?2R2PZ7}XudHTC!ex{i_8I~xyG%?L@c`a zb*8d8@EaANwJV8%c)+?f#pm_QjuU+oB|1U|y&lWtZ_Z}3qG7M=ST9jGiF^HO^;H(; zit`JLp68XktME<_!+xtj=+#@<1^qkKI*BIzR&*A3hRyQIp-%g)IPGMH5Vt!>xjc{4 zwjS2?AZ_;yH?#wu@B7X2+GteUsi>XZy>Ug2_P47QRoktN$G*3^v3YRPyiXod{e;QG zBwkr#OAaUSjLr;69>Xk6bb5=7346j~WCd6OR^SgQ;I=TY^oQomQ)LBMfuB);_6G$g z3>@Yb&DMd&lmNgY!p6|2k454rhk?V~B1T}+Qh}B#U5Ozr9dYII0*ARpOBd1=AJW}f zx(Y>_yW{%Gqzf5XdkwI8fZ=l{{{`rjmR!wRqh|5E{3Y=n(Ep3R-DQ%^}} tt%6^}$tW+k_(4I(9L30`qj()|3~@yrVBj#fhzN{71dI&aumV4-z&i>?UX%a; literal 0 HcmV?d00001 diff --git a/umi_gripper/README.md b/umi_gripper/README.md new file mode 100644 index 00000000..87f33009 --- /dev/null +++ b/umi_gripper/README.md @@ -0,0 +1,36 @@ +## 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 [CAD model](https://docs.google.com/document/d/1TPYwV9sNVPAi0ZlAupDMkXZ4CA1hsZx7YDMSmcEy6EU/edit?tab=t.0). + +[URDF description](https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description). + +

+ +

+ + +### -> URDF derivation step + +1. + +### URDF -> MJCF derivation step + +1. Added ` ` to the URDF's ``clause in order to preserve visual geometries. +2. Loaded the URDF into MuJoCo and saved a corresponding MJCF. +3. Updated the `` tag in the MJCF to specify `meshdir="assets/"` and `texturedir="assets/"` for correct asset loading. +4. Added materials and textures for the mirrors and ArUco markers (`right_aruco_sticker.png`, `left_aruco_sticker.png`). +5. Created a `` 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. Defined left and right finger holders with appropriate inertial properties and joints (`finger_left_joint`, `finger_right_joint`). +8. Introduced a `` section with a fixed tendon named split to synchronize the movement of both fingers. +9. Added position-controlled actuators for the fingers and gripper joints. +10. Tuned contact parameters by setting `impratio="10"` for better non-slip interaction. +11. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze. + +### License + +This model is released under an [Apache-2.0 License](LICENSE). diff --git a/umi_gripper/assets/.DS_Store b/umi_gripper/assets/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..5008ddfcf53c02e82d7eee2e57c38e5672ef89f6 GIT binary patch literal 6148 zcmeH~Jr2S!425mzP>H1@V-^m;4Wg<&0T*E43hX&L&p$$qDprKhvt+--jT7}7np#A3 zem<@ulZcFPQ@L2!n>{z**++&mCkOWA81W14cNZlEfg7;MkzE(HCqgga^y>{tEnwC%0;vJ&^%eQ zLs35+`xjp>T0AG*PTsSr5SyCKBK7 zt%>@@%6W)-%NuFQsLM4%hu?0j%Rk?!5!!g>5nXQo`28M&B}|-}`Jg85O09Vtg0+ej zY@&(%BWigFt`*zsbD)7HKDyIOu!M>1?b~T$QMald8%(g)!t(7kv2be@55ZUP_cQ&q zR?f<$LU(;JOqY+eDeNIw!bHK}256#t$U91yV6D)>fttAEkeB%9n+LR{{0p^0JGPjb zoO$rBP^ju~{rArwDdefu`>)p5lH|7=hDM$><&2gMLQ}t~rT@OQanM7sgoy?njqP(K z6K_MXR*QQLF{MKt55et7`lO<+$sgPA487gJ5Ybk(Jp@ab$n{QTO^22ixDCNt@oU8r zCZ0T5McY{Vb`g&aCRmI6(0ylU&}E|jtr5-61?N4Itjq887$0nOe1a~ox%X$!-G?Pi 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