My model has grippers that I would like to default to the open position. What is the most "mujoco-esque" way to do this? I have read through the docs on joints and actuators but some of the kinematics terminology is a little over my head. Thanks!
Joints have a springref parameter, which specifies the resting position of the joint spring. You should also set the joint stiffness, as well as some damping to make it more stable. Alternatively, the attribute springramper can be used to specify critical damping (which is gives you the best trade-off of speed and stability) see here: http://www.mujoco.org/book/modeling.html#joint