<!-- 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
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-->

<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">
          <edge equality="true" solimp="0.95 0.99 0.001 0.5 2"/>
          <contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
          <pin id="0 2 3 4 5 6 7 9 11 13 15 17 19 41 45 46 50 53 57 58 61 176 177 179 180 184 185
                   187 188 192 193 195 196 200 201 203 204 208 209 211 212 214 215 216 217"/>
        </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">
          <edge equality="true" solimp="0.95 0.99 0.001 0.5 2"/>
          <contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
          <pin id="0 2 3 4 5 6 7 9 11 13 15 17 19 41 45 46 50 53 57 58 61 176 177 179 180 184 185
                   187 188 192 193 195 196 200 201 203 204 208 209 211 212 214 215 216 217"/>
        </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>
