diff --git a/LICENSE b/LICENSE index 5bf35d05..5a6021d6 100644 --- a/LICENSE +++ b/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/' ================================================================================ diff --git a/README.md b/README.md index 07aa47db..7321ae18 100644 --- a/README.md +++ b/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) |✖️| diff --git a/umi_gripper/LICENSE b/umi_gripper/LICENSE new file mode 100644 index 00000000..a2eb6cb6 --- /dev/null +++ b/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. diff --git a/umi_gripper/README.md b/umi_gripper/README.md new file mode 100644 index 00000000..5cc6fd14 --- /dev/null +++ b/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). + + +

+ +

+ +### 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 ` ` to the URDF's + `` 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 `` 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 `` 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). diff --git a/umi_gripper/assets/base_link.stl b/umi_gripper/assets/base_link.stl new file mode 100644 index 00000000..09d683ad Binary files /dev/null and b/umi_gripper/assets/base_link.stl differ diff --git a/umi_gripper/assets/gopro.stl b/umi_gripper/assets/gopro.stl new file mode 100644 index 00000000..6170da48 Binary files /dev/null and b/umi_gripper/assets/gopro.stl differ diff --git a/umi_gripper/assets/left_aruco_sticker.png b/umi_gripper/assets/left_aruco_sticker.png new file mode 100644 index 00000000..0a03f33f Binary files /dev/null and b/umi_gripper/assets/left_aruco_sticker.png differ diff --git a/umi_gripper/assets/left_finger.stl b/umi_gripper/assets/left_finger.stl new file mode 100644 index 00000000..b34d6eaa Binary files /dev/null and b/umi_gripper/assets/left_finger.stl differ diff --git a/umi_gripper/assets/left_finger_holder.stl b/umi_gripper/assets/left_finger_holder.stl new file mode 100644 index 00000000..99de497b Binary files /dev/null and b/umi_gripper/assets/left_finger_holder.stl differ diff --git a/umi_gripper/assets/right_aruco_sticker.png b/umi_gripper/assets/right_aruco_sticker.png new file mode 100644 index 00000000..4863d512 Binary files /dev/null and b/umi_gripper/assets/right_aruco_sticker.png differ diff --git a/umi_gripper/assets/right_finger.stl b/umi_gripper/assets/right_finger.stl new file mode 100644 index 00000000..6bec2231 Binary files /dev/null and b/umi_gripper/assets/right_finger.stl differ diff --git a/umi_gripper/assets/right_finger_holder.stl b/umi_gripper/assets/right_finger_holder.stl new file mode 100644 index 00000000..b2104b71 Binary files /dev/null and b/umi_gripper/assets/right_finger_holder.stl differ diff --git a/umi_gripper/scene.xml b/umi_gripper/scene.xml new file mode 100644 index 00000000..0c80120b --- /dev/null +++ b/umi_gripper/scene.xml @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/umi_gripper/umi_gripper.png b/umi_gripper/umi_gripper.png new file mode 100644 index 00000000..3decfd3b Binary files /dev/null and b/umi_gripper/umi_gripper.png differ diff --git a/umi_gripper/umi_gripper.xml b/umi_gripper/umi_gripper.xml new file mode 100644 index 00000000..b920055f --- /dev/null +++ b/umi_gripper/umi_gripper.xml @@ -0,0 +1,172 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +