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mujoco / data /model /flex /gripper_trilinear.xml

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	<!-- Copyright 2024 DeepMind Technologies Limited

	Licensed under the Apache License, Version 2.0 (the "License");
	you may not use this file except in compliance with the License.
	You may obtain a copy of the License at

	http://www.apache.org/licenses/LICENSE-2.0

	Unless required by applicable law or agreed to in writing, software
	distributed under the License is distributed on an "AS IS" BASIS,
	WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	See the License for the specific language governing permissions and
	limitations under the License.
	-->

	<mujoco model="Gripper">
	<include file="scene.xml"/>

	<option cone="elliptic" impratio="10" integrator="implicitfast"/>

	<worldbody>
	<body name="hand" pos="0 0 .37">
	<joint name="lift" type="slide" range="0 1"/>
	<geom type="box" size=".2 .1 .05" rgba=".2 .2 .2 1"/>
	<body name="right_gripper">
	<joint name="right" type="slide" axis="-1 0 0"/>
	<geom type="box" size=".02 .1 .15" pos=".18 0 -.2" rgba=".2 .2 .2 1"/>
	<flexcomp type="mesh" file="cap.obj" pos=".16 0 -.25" dim="3" euler="0 -90 0"
	origin="0 0 0" radius=".001" rgba="0 .7 .7 1" mass=".5" name="left"
	dof="trilinear">
	<elasticity young="1e4" poisson="0.1" damping=".05"/>
	<contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
	<pin id="4 5 6 7"/>
	</flexcomp>
	</body>
	<body name="left_gripper">
	<joint name="left" type="slide" axis="1 0 0"/>
	<geom type="box" size=".02 .1 .15" pos="-.18 0 -.2" rgba=".2 .2 .2 1"/>
	<flexcomp type="mesh" file="cap.obj" pos="-.16 0 -.25" dim="3" euler="0 90 0"
	origin="0 0 0" radius=".001" rgba="0 .7 .7 1" mass=".5" name="right"
	dof="trilinear">
	<elasticity young="1e4" poisson="0.1" damping=".05"/>
	<contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
	<pin id="0 1 2 3"/>
	</flexcomp>
	</body>
	</body>
	<body>
	<freejoint/>
	<geom type="box" size=".05 .1 .1" pos="0 0 .1" rgba=".5 .5 0 1" priority="1"
	contype="2" condim="6"/>
	</body>
	</worldbody>

	<equality>
	<joint joint1="right" joint2="left"/>
	</equality>

	<tendon>
	<fixed name="grasp">
	<joint joint="right" coef="1"/>
	<joint joint="left" coef="1"/>
	</fixed>
	</tendon>

	<actuator>
	<position name="lift" joint="lift" kp="600" dampratio="1" ctrlrange="0 1"/>
	<position name="grasp" tendon="grasp" kp="200" dampratio="1" ctrlrange="0 1"/>
	</actuator>

	</mujoco>