<!--<mujocoinclude>-->
<!--    <actuator>-->
<!--        <velocity ctrllimited="true" ctrlrange="-2.1750 2.1750" forcerange="-87 87" forcelimited="true"-->
<!--                  joint="panda_joint1" kv="7.5" name="panda_joint1" />-->
<!--        <velocity ctrllimited="true" ctrlrange="-2.1750 2.1750" forcerange="-87 87" forcelimited="true"-->
<!--                  joint="panda_joint2" kv="13" name="panda_joint2" />-->
<!--        <velocity ctrllimited="true" ctrlrange="-2.1750 2.1750" forcerange="-87 87" forcelimited="true"-->
<!--                  joint="panda_joint3" kv="18" name="panda_joint3" />-->
<!--        <velocity ctrllimited="true" ctrlrange="-2.1750 2.1750" forcerange="-87 87" forcelimited="true"-->
<!--                  joint="panda_joint4" kv="14" name="panda_joint4" />-->
<!--        <velocity ctrllimited="true" ctrlrange="-2.6100 2.6100" forcerange="-12 12" forcelimited="true"-->
<!--                  joint="panda_joint5" kv="5" name="panda_joint5" />-->
<!--        <velocity ctrllimited="true" ctrlrange="-2.6100 2.6100" forcerange="-12 12" forcelimited="true"-->
<!--                  joint="panda_joint6" kv="5" name="panda_joint6" />-->
<!--        <velocity ctrllimited="true" ctrlrange="-2.6100 2.6100" forcerange="-12 12" forcelimited="true"-->
<!--                  joint="panda_joint7" kv="5" name="panda_joint7" />-->
<!--    </actuator>-->
<!--</mujocoinclude>-->
<mujocoinclude>
    <actuator>
        <velocity ctrllimited="true" ctrlrange="-2.1750 2.1750" forcerange="-87 87" forcelimited="true"
                  joint="panda_joint1" kv="7" name="panda_joint1" />
        <velocity ctrllimited="true" ctrlrange="-2.1750 2.1750" forcerange="-87 87" forcelimited="true"
                  joint="panda_joint2" kv="1" name="panda_joint2" />
        <velocity ctrllimited="true" ctrlrange="-2.1750 2.1750" forcerange="-87 87" forcelimited="true"
                  joint="panda_joint3" kv="15" name="panda_joint3" />
        <velocity ctrllimited="true" ctrlrange="-2.1750 2.1750" forcerange="-87 87" forcelimited="true"
                  joint="panda_joint4" kv="1" name="panda_joint4" />
        <velocity ctrllimited="true" ctrlrange="-2.6100 2.6100" forcerange="-12 12" forcelimited="true"
                  joint="panda_joint5" kv="3" name="panda_joint5" />
        <velocity ctrllimited="true" ctrlrange="-2.6100 2.6100" forcerange="-12 12" forcelimited="true"
                  joint="panda_joint6" kv="3" name="panda_joint6" />
        <velocity ctrllimited="true" ctrlrange="-2.6100 2.6100" forcerange="-12 12" forcelimited="true"
                  joint="panda_joint7" kv="3" name="panda_joint7" />
    </actuator>
</mujocoinclude>