<mujocoinclude>
    <actuator>
        <position joint="WJLR" name="WALR" kp="100" ctrllimited="true" ctrlrange="-0.52 0.52"/>
        <position joint="WJUD" name="WAUD" kp="100" ctrllimited="true" ctrlrange="-0.785 0.785"/>
    </actuator>
    <sensor>
        <jointpos name="WJLR" joint="WJLR"/>
        <jointpos name="WJUD" joint="WJUD"/>
    </sensor>
</mujocoinclude>