Datasets:

introvoyz041
/

mujoco

	<mujoco>
	<visual>
	<global elevation="-20"/>
	</visual>

	<default>
	<joint axis="0 1 0" armature="0.01"/>
	<geom type="capsule" size="0.02"/>
	</default>

	<option integrator="implicitfast">
	<flag gravity="disable"/>
	</option>

	<worldbody>
	<light pos="0 0 2"/>

	<body>
	<joint name="a0"/>
	<geom fromto="0 0 0 .1 0 0"/>
	<body pos=".1 0 0">
	<joint name="b0"/>
	<geom fromto="0 0 0 .1 0 0"/>
	<body pos=".1 0 0">
	<joint name="c0"/>
	<geom fromto="0 0 0 .1 0 0"/>
	<body pos=".1 0 0">
	<joint name="d0"/>
	<geom fromto="0 0 0 .1 0 0"/>
	</body>
	</body>
	</body>
	</body>

	<body pos="0 -0.05 0">
	<joint name="a1"/>
	<geom fromto="0 0 0 .1 0 0"/>
	<body pos=".1 0 0">
	<joint name="b1"/>
	<geom fromto="0 0 0 .1 0 0"/>
	<body pos=".1 0 0">
	<joint name="c1"/>
	<geom fromto="0 0 0 .1 0 0"/>
	<body pos=".1 0 0">
	<joint name="d1"/>
	<geom fromto="0 0 0 .1 0 0"/>
	</body>
	</body>
	</body>
	</body>
	</worldbody>

	<equality>
	<joint joint1="a0" joint2="b0" polycoef="0 .5"/>
	<joint joint1="b0" joint2="c0" polycoef="0 .5"/>
	<joint joint1="c0" joint2="d0" polycoef="0 .5"/>

	<joint joint1="a1" joint2="b1" polycoef="0 .5"/>
	<joint joint1="b1" joint2="c1" polycoef="0 .5"/>
	<joint joint1="c1" joint2="d1" polycoef="0 .5"/>
	</equality>

	<tendon>
	<fixed name="finger0">
	<joint joint="a0" coef="1"/>
	<joint joint="b0" coef=".5"/>
	<joint joint="c0" coef=".25"/>
	<joint joint="d0" coef=".125"/>
	</fixed>

	<fixed name="finger1">
	<joint joint="a1" coef="4"/>
	<joint joint="b1" coef="2"/>
	<joint joint="c1" coef="1"/>
	<joint joint="d1" coef="0.5"/>
	</fixed>
	</tendon>

	<actuator>
	<position name="finger0" tendon="finger0" dampratio="1" kp="128" ctrlrange="-1 1"/>
	<!-- transmission increased by 4: reduce kp by 16 -->
	<position name="finger1" tendon="finger1" dampratio="1" kp="8" ctrlrange="-4 4"/>
	</actuator>
	</mujoco>