<mujoco model="torque">
 <actuator>
  <motor forcelimited="true" forcerange="-87 87" joint="panda_joint1" name="panda_joint1_act"/>
  <motor forcelimited="true" forcerange="-87 87" joint="panda_joint2" name="panda_joint2_act"/>
  <motor forcelimited="true" forcerange="-87 87" joint="panda_joint3" name="panda_joint3_act"/>
  <motor forcelimited="true" forcerange="-87 87" joint="panda_joint4" name="panda_joint4_act"/>
  <motor forcelimited="true" forcerange="-12 12" joint="panda_joint5" name="panda_joint5_act"/>
  <motor forcelimited="true" forcerange="-12 12" joint="panda_joint6" name="panda_joint6_act"/>
  <motor forcelimited="true" forcerange="-12 12" joint="panda_joint7" name="panda_joint7_act"/>
 </actuator>
</mujoco>