<mujocoinclude>
    <actuator>
        <!-- ======= Position Actuators for Arm ======= -->
        <!-- With user="1", cascaded PI controller is enabled. gainprm = kp ki ki_clamp kvp kvi kvi_clamp filter , see mjpid.pyx in mujoco_py for more details -->
        <general gaintype="user" biastype="user" name="ur_actuator_1" joint="robot0:J1" ctrlrange="-6.1959 6.1959"  forcerange="-330 330"    gainprm="12 0 0   0 0   70 .05 1.0 .97 2.094" user="1"/>   <!-- +/-355 degrees (360 RoM) -->
        <general gaintype="user" biastype="user" name="ur_actuator_2" joint="robot0:J2" ctrlrange="-6.1959 6.1959"  forcerange="-330 330"    gainprm="12 0 0   0 0   70 .05 1.0 .97 2.094" user="1"/>   <!-- +/-355 degrees (360 RoM) -->
        <general gaintype="user" biastype="user" name="ur_actuator_3" joint="robot0:J3" ctrlrange="-2.8 2.8"        forcerange="-150 150"    gainprm="12 0 0   0 0    70 .05 1.0 .97 3.142" user="1"/>   <!-- +/-160 degrees (to avoid self collision) -->
        <general gaintype="user" biastype="user" name="ur_actuator_4" joint="robot0:J4" ctrlrange="-6.1959 6.1959"  forcerange="-56 56"      gainprm="12 0 0   0 0    10 .10 1.5 .97 3.142" user="1"/>   <!-- +/-355 degrees (360 RoM) -->
        <general gaintype="user" biastype="user" name="ur_actuator_5" joint="robot0:J5" ctrlrange="-6.1959 6.1959"  forcerange="-56 56"      gainprm="12 0 0   0 0    20 0 0 .97 3.142" user="1"/>  <!-- +/-355 degrees (360 RoM) -->
        <general gaintype="user" biastype="user" name="ur_actuator_6" joint="robot0:J6" ctrlrange="0.872665 5.49778714"  forcerange="-56 56"      gainprm="12 0 0   0 0    1 .00 0 .97 3.142" user="1"/>   <!-- +/-355 degrees (360 RoM) -->
    </actuator>
</mujocoinclude>
