<mujoco model="blue_descriptions_right">
    <include file="../../robot/blue_right_v2.xml"/>
    <actuator>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="20.0" joint="right_base_roll_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="20.0" joint="right_shoulder_lift_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="20.0" joint="right_shoulder_roll_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="20.0" joint="right_elbow_lift_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="20.0" joint="right_elbow_roll_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="10.0" joint="right_wrist_lift_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="10.0" joint="right_wrist_roll_joint" />
        <!-- <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="20.0" joint="right_base_roll_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="20.0" joint="right_shoulder_lift_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="20.0" joint="right_shoulder_roll_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="20.0" joint="right_elbow_lift_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="20.0" joint="right_elbow_roll_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="10.0" joint="right_wrist_lift_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="10.0" joint="right_wrist_roll_joint" /> -->
        <position ctrllimited="true" kp="1.0" ctrlrange="0 1.05" joint="right_gripper_joint" />
        <position ctrllimited="true" kp="1.0" ctrlrange="0 1.05" joint="right_r_finger_joint" />
        <position ctrllimited="true" kp="1.0" ctrlrange="-1.05 0" joint="right_r_finger_tip_joint" />
        <position ctrllimited="true" kp="1.0" ctrlrange="0 1.05" joint="right_l_finger_joint" />
        <position ctrllimited="true" kp="1.0" ctrlrange="-1.05 0" joint="right_l_finger_tip_joint" />
    </actuator>

</mujoco>
