<!-- ======================================================
# Copyright 2019 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
====================================================== -->


<mujocoinclude>
    <actuator>
    <!-- ================ EQUIVALENT JOINT POSITION MOTORS ====================== -->
        <position name="A_WRJ1" class="Adroit" user="2038" joint="WRJ1" ctrlrange="-0.52   0.17" kp="5"/>
        <position name="A_WRJ0" class="Adroit" user="2036" joint="WRJ0" ctrlrange="-0.79   0.61" kp="5"/>
        <position name="A_FFJ3" class="Adroit" user="2004" joint="FFJ3" ctrlrange="-0.44   0.44" kp="1"/>
        <position name="A_FFJ2" class="Adroit" user="2002" joint="FFJ2" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_FFJ1" class="Adroit" user="2000" joint="FFJ1" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_FFJ0" class="Adroit" user="2000" joint="FFJ0" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_MFJ3" class="Adroit" user="2010" joint="MFJ3" ctrlrange="-0.44   0.44" kp="1"/>
        <position name="A_MFJ2" class="Adroit" user="2008" joint="MFJ2" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_MFJ1" class="Adroit" user="2006" joint="MFJ1" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_MFJ0" class="Adroit" user="2006" joint="MFJ0" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_RFJ3" class="Adroit" user="2016" joint="RFJ3" ctrlrange="-0.44   0.44" kp="1"/>
        <position name="A_RFJ2" class="Adroit" user="2014" joint="RFJ2" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_RFJ1" class="Adroit" user="2012" joint="RFJ1" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_RFJ0" class="Adroit" user="2012" joint="RFJ0" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_LFJ4" class="Adroit" user="2024" joint="LFJ4" ctrlrange="0.      0.7 " kp="1"/>
        <position name="A_LFJ3" class="Adroit" user="2022" joint="LFJ3" ctrlrange="-0.44   0.44" kp="1"/>
        <position name="A_LFJ2" class="Adroit" user="2020" joint="LFJ2" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_LFJ1" class="Adroit" user="2018" joint="LFJ1" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_LFJ0" class="Adroit" user="2018" joint="LFJ0" ctrlrange="0       1.6 " kp="1"/>
        <position name="A_THJ4" class="Adroit" user="2034" joint="THJ4" ctrlrange="-1      1   " kp="1"/>
        <position name="A_THJ3" class="Adroit" user="2032" joint="THJ3" ctrlrange="0       1.3 " kp="1"/>
        <position name="A_THJ2" class="Adroit" user="2030" joint="THJ2" ctrlrange="-0.26   0.26" kp="1"/>
        <position name="A_THJ1" class="Adroit" user="2028" joint="THJ1" ctrlrange="-0.52   0.52" kp="1"/>
        <position name="A_THJ0" class="Adroit" user="2026" joint="THJ0" ctrlrange="-1.571  0   " kp="1"/>
    </actuator>
</mujocoinclude>
