<mujocoinclude>
<!-- =================================================
    Model   :: Franka (MuJoCoV2.0)
    Original:: See https://github.com/vikashplus/franka_sim
====================================================== -->

    <actuator>
        <position name="panda0_joint1" joint="panda0_joint1" class="panda" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.1750" -->
        <position name="panda0_joint2" joint="panda0_joint2" class="panda" kp="870" forcerange="-87 87" ctrlrange="-1.8326 1.8326"/> <!-- velocity="2.1750" -->
        <position name="panda0_joint3" joint="panda0_joint3" class="panda" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.1750" -->
        <position name="panda0_joint4" joint="panda0_joint4" class="panda" kp="870" forcerange="-87 87" ctrlrange="-3.1416 0.0"/> <!-- velocity="2.1750" -->
        <position name="panda0_joint5" joint="panda0_joint5" class="panda" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.6100" -->
        <position name="panda0_joint6" joint="panda0_joint6" class="panda" kp="120" forcerange="-12 12" ctrlrange="-1.66 2.1817"/> <!-- velocity="2.6100" -->
        <position name="panda0_joint7" joint="panda0_joint7" class="panda" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.9671" -->
        <position name="r_gripper_finger_joint" joint="panda0_finger_joint1" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.04"/> <!-- velocity=".2" -->
        <position name="l_gripper_finger_joint" joint="panda0_finger_joint2" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.04"/> <!-- velocity=".2" -->
    </actuator>
</mujocoinclude>