Alessio Quaglino
a54c9f1d78
PiperOrigin-RevId: 864500749 Change-Id: I52aed6e29569477a8a0b6b5eb55ad483f1077c0e
42 lines
1.3 KiB
XML
42 lines
1.3 KiB
XML
<mujoco>
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<include file="scene.xml"/>
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<option timestep="0.002"/>
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<worldbody>
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<body name="gripper" pos="0 0 0.5">
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<joint name="lift" type="slide" axis="0 0 1" damping="50"/>
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<geom type="box" size="0.2 0.05 0.02" rgba="0.5 0.5 0.5 1"/> <!-- base -->
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<body name="left_finger" pos="-0.1 0 -0.1">
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<joint name="left_slide" type="slide" axis="1 0 0" damping="10"/>
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<geom type="box" size="0.02 0.1 0.1" rgba="0.8 0.2 0.2 1"/>
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</body>
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<body name="right_finger" pos="0.1 0 -0.1">
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<joint name="right_slide" type="slide" axis="-1 0 0" damping="10"/>
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<geom type="box" size="0.02 0.1 0.1" rgba="0.8 0.2 0.2 1"/>
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</body>
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</body>
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<flexcomp name="cloth" type="grid" dim="2" count="9 9 1" spacing="0.05 0.05 0.05"
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pos="0 0 0.1" radius="0.01">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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<equality>
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<joint joint1="right_slide" joint2="left_slide"/>
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</equality>
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<tendon>
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<fixed name="grasp">
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<joint joint="right_slide" coef="1"/>
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<joint joint="left_slide" coef="1"/>
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</fixed>
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</tendon>
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<actuator>
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<position name="lift" joint="lift" kp="600" dampratio="1" ctrlrange="-1 1"/>
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<position name="grasp" tendon="grasp" kp="200" dampratio="1" ctrlrange="0 1"/>
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</actuator>
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</mujoco>
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