diff --git a/umi_gripper/README.md b/umi_gripper/README.md
index 87f3300..43267b2 100644
--- a/umi_gripper/README.md
+++ b/umi_gripper/README.md
@@ -4,33 +4,24 @@
 
 ### 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).
+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).
 
-[URDF description](https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description).
 
 <p float="left">
   <img src="umi_gripper.png" width="600px">
 </p>
 
+### SOLIDWORKS -> URDF -> MJCF derivation step
 
-###  -> URDF derivation step
-
-1. 
-
-### URDF -> MJCF derivation step
-
-1. Added `<mujoco> <compiler balanceinertia="true" discardvisual="false"/> </mujoco>` to the URDF's `<robot>`clause in order to preserve visual geometries.
-2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
-3. Updated the `<compiler>` tag in the MJCF to specify `meshdir="assets/"` and `texturedir="assets/"` for correct asset loading.
+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. Defined left and right finger holders with appropriate inertial properties and joints (`finger_left_joint`, `finger_right_joint`).
-8. Introduced a `<tendon>` 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.
+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 [Apache-2.0 License](LICENSE).