Question about tendon/fixed

[hooyahliu]

Intro

Hi!

I am a researcher at BIT, I use MuJoCo for my research on dexterous grasp.

My setup

MuJoCo 3.2.6
Ubuntu 20.04

My question

I hope to use the Shadow Hand in MuJoCo to perform grasping tasks.
However, in GitHub project robohive, I did not understand the content about creating finger tendons.
How are the range of the tendons and the coef of the joints determined here?

I did not find an explanation in the reference manual for the MJCF.
I hope to get an answer. Thank you.

Minimal model and/or code that explain my question

......
<tendon>
        <fixed name="T_FFJ1c" range="-0.001 0.001">
            <joint joint="FFJ0" coef="0.00705" />
            <joint joint="FFJ1" coef="-0.00805" />
        </fixed>

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

This may be a question for robohive.

Is there anything that is unclear in the documentation?