Yuval Tassa
2830a4071f
PiperOrigin-RevId: 639745135 Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
85 lines
2.1 KiB
XML
85 lines
2.1 KiB
XML
<mujoco>
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<visual>
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<global elevation="-20"/>
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</visual>
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<default>
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<joint axis="0 1 0" armature="0.01"/>
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<geom type="capsule" size="0.02"/>
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</default>
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<option integrator="implicitfast">
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<flag gravity="disable"/>
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</option>
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<worldbody>
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<light pos="0 0 2"/>
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<body>
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<joint name="a0"/>
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<geom fromto="0 0 0 .1 0 0"/>
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<body pos=".1 0 0">
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<joint name="b0"/>
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<geom fromto="0 0 0 .1 0 0"/>
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<body pos=".1 0 0">
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<joint name="c0"/>
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<geom fromto="0 0 0 .1 0 0"/>
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<body pos=".1 0 0">
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<joint name="d0"/>
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<geom fromto="0 0 0 .1 0 0"/>
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</body>
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</body>
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</body>
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</body>
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<body pos="0 -0.05 0">
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<joint name="a1"/>
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<geom fromto="0 0 0 .1 0 0"/>
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<body pos=".1 0 0">
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<joint name="b1"/>
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<geom fromto="0 0 0 .1 0 0"/>
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<body pos=".1 0 0">
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<joint name="c1"/>
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<geom fromto="0 0 0 .1 0 0"/>
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<body pos=".1 0 0">
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<joint name="d1"/>
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<geom fromto="0 0 0 .1 0 0"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<equality>
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<joint joint1="a0" joint2="b0" polycoef="0 .5"/>
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<joint joint1="b0" joint2="c0" polycoef="0 .5"/>
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<joint joint1="c0" joint2="d0" polycoef="0 .5"/>
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<joint joint1="a1" joint2="b1" polycoef="0 .5"/>
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<joint joint1="b1" joint2="c1" polycoef="0 .5"/>
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<joint joint1="c1" joint2="d1" polycoef="0 .5"/>
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</equality>
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<tendon>
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<fixed name="finger0">
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<joint joint="a0" coef="1"/>
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<joint joint="b0" coef=".5"/>
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<joint joint="c0" coef=".25"/>
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<joint joint="d0" coef=".125"/>
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</fixed>
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<fixed name="finger1">
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<joint joint="a1" coef="4"/>
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<joint joint="b1" coef="2"/>
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<joint joint="c1" coef="1"/>
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<joint joint="d1" coef="0.5"/>
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</fixed>
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</tendon>
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<actuator>
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<position name="finger0" tendon="finger0" dampratio="1" kp="128" ctrlrange="-1 1"/>
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<!-- transmission increased by 4: reduce kp by 16 -->
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<position name="finger1" tendon="finger1" dampratio="1" kp="8" ctrlrange="-4 4"/>
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</actuator>
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</mujoco>
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