mujoco

<mujoco>
  <include file="scene.xml"/>
  <option timestep="0.002"/>
  <worldbody>
    <body name="gripper" pos="0 0 0.5">
      <joint name="lift" type="slide" axis="0 0 1" damping="50"/>
      <geom type="box" size="0.2 0.05 0.02" rgba="0.5 0.5 0.5 1"/> <!-- base -->

      <body name="left_finger" pos="-0.1 0 -0.1">
        <joint name="left_slide" type="slide" axis="1 0 0" damping="10"/>
        <geom type="box" size="0.02 0.1 0.1" rgba="0.8 0.2 0.2 1"/>
      </body>

      <body name="right_finger" pos="0.1 0 -0.1">
        <joint name="right_slide" type="slide" axis="-1 0 0" damping="10"/>
        <geom type="box" size="0.02 0.1 0.1" rgba="0.8 0.2 0.2 1"/>
      </body>
    </body>

    <flexcomp name="cloth" type="grid" dim="2" count="9 9 1" spacing="0.05 0.05 0.05"
              pos="0 0 0.1" radius="0.01">
      <edge equality="true"/>
    </flexcomp>
  </worldbody>

  <equality>
    <joint joint1="right_slide" joint2="left_slide"/>
  </equality>

  <tendon>
    <fixed name="grasp">
      <joint joint="right_slide" coef="1"/>
      <joint joint="left_slide" coef="1"/>
    </fixed>
  </tendon>

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