Why the simulated tendon finger is a switch — and three fixes tested in MuJoCo
The vision layer sends a carefully normalized, smooth 0-to-1 signal. The simulated finger turns it into two states: open and closed. This is the most important thing to understand about the twin — and every number below was measured on the model in the repository. The measurement # The same flexion was applied to all five motors, the model simulated for 3 s from rest, and the steady-state joint angles recorded — 41 flexion values from 0 to 1.
Flexion Force Index MCP / PIP / DIP Thumb CMC / MP / IP 0.000 +50.0 N −3.3° / −3.2° / −3.3° −2.9° / −2.7° / −2.7° 0.250 +25.0 N −1.7° / −1.6° / −1.7° −1.5° / −1.3° / −1.4° 0.500 0.0 N 0.0° / 0.0° / 0.0° 0.0° / 0.0° / 0.0° 0.625 −12.5 N 91.1° / 91.0° / 91.0° 90.6° / 53.9° / 45.6° 1.000 −50.0 N 94.0° / 93.8° / 93.9° 92.3° / 54.2° / 46.0° Joint limits are 90°; values just above it are MuJoCo’s soft limit being pressed.