<!-- Modified from the original source code at
        1) https://github.com/vikashplus/franka
    which was originally written by Vikash Kumar and licensed under the Apache License= -->

<mujocoinclude>
	<actuator>
<!--        <position name="panda0_joint1" joint="panda0_joint1" class="panda" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> &lt;!&ndash; velocity="2.1750" &ndash;&gt;-->
<!--        <position name="panda0_joint2" joint="panda0_joint2" class="panda" kp="870" forcerange="-87 87" ctrlrange="-1.8326 1.8326"/> &lt;!&ndash; velocity="2.1750" &ndash;&gt;-->
<!--        <position name="panda0_joint3" joint="panda0_joint3" class="panda" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> &lt;!&ndash; velocity="2.1750" &ndash;&gt;-->
<!--        <position name="panda0_joint4" joint="panda0_joint4" class="panda" kp="870" forcerange="-87 87" ctrlrange="-3.1416 0.0"/> &lt;!&ndash; velocity="2.1750" &ndash;&gt;-->
<!--        <position name="panda0_joint5" joint="panda0_joint5" class="panda" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> &lt;!&ndash; velocity="2.6100" &ndash;&gt;-->
<!--        <position name="panda0_joint6" joint="panda0_joint6" class="panda" kp="120" forcerange="-12 12" ctrlrange="-3.7525 2.1817"/> &lt;!&ndash; velocity="2.6100" &ndash;&gt;-->
<!--        <position name="panda0_joint7" joint="panda0_joint7" class="panda" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> &lt;!&ndash; velocity="2.9671" &ndash;&gt;-->
        <!-- <position name="r_gripper_finger_joint" joint="panda0_finger_joint1" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.04"/>
        <position name="l_gripper_finger_joint" joint="panda0_finger_joint2" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.04"/> -->
        <!-- <position name="r_gripper_finger_joint" joint="panda0_finger_joint1" class="panda_finger" kp="500" forcelimited="false" ctrlrange="0 0.04"/>
        <position name="l_gripper_finger_joint" joint="panda0_finger_joint2" class="panda_finger" kp="500" forcelimited="false" ctrlrange="0 0.04"/> -->
        <position name="l_gripper_finger_joint" ctrllimited="true" ctrlrange="-1 1" joint="panda0_finger_joint2" kp="400" user="1"/>
        <position name="r_gripper_finger_joint" ctrllimited="true" ctrlrange="-1 1" joint="panda0_finger_joint1" kp="400" user="1"/>
    </actuator>
</mujocoinclude>