<mujoco model="baxter(v1.31)">  
<include file="../../robot/baxter.xml"/>
    <actuator>
        <motor ctrlrange=" -50.0  50.0" gear="1.0" joint="right_s0" />
        <motor ctrlrange="-100.0 100.0" gear="1.0" joint="right_s1" />
        <motor ctrlrange=" -50.0  50.0" gear="1.0" joint="right_e0" />
        <motor ctrlrange=" -50.0 -50.0" gear="1.0" joint="right_e1" />
        <motor ctrlrange=" -15.0  15.0" gear="1.0" joint="right_w0" />
        <motor ctrlrange=" -15.0  15.0" gear="1.0" joint="right_w1" />
        <motor ctrlrange=" -15.0  15.0" gear="1.0" joint="right_w2" />
        <!-- <velocity ctrlrange="-1.5 1.5" gear="1.0" joint="right_s0" />
        <velocity ctrlrange="-1.5 1.5" gear="1.0" joint="right_s1" />
        <velocity ctrlrange="-1.5 1.5" gear="1.0" joint="right_e0" />
        <velocity ctrlrange="-1.5 1.5" gear="1.0" joint="right_e1" />
        <velocity ctrlrange="-4.0 4.0" gear="1.0" joint="right_w0" />
        <velocity ctrlrange="-4.0 4.0" gear="1.0" joint="right_w1" />
        <velocity ctrlrange="-4.0 4.0" gear="1.0" joint="right_w2" /> -->
        <position ctrlrange="0 0.02" gear="1.0" joint="robotfinger_actuator_joint_r"/>

        <motor ctrlrange=" -50.0  50.0" gear="1.0" joint="left_s0" />
        <motor ctrlrange="-100.0 100.0" gear="1.0" joint="left_s1" />
        <motor ctrlrange=" -50.0  50.0" gear="1.0" joint="left_e0" />
        <motor ctrlrange=" -50.0 -50.0" gear="1.0" joint="left_e1" />
        <motor ctrlrange=" -15.0  15.0" gear="1.0" joint="left_w0" />
        <motor ctrlrange=" -15.0  15.0" gear="1.0" joint="left_w1" />
        <motor ctrlrange=" -15.0  15.0" gear="1.0" joint="left_w2" />
        <!-- <velocity ctrlrange="-1.5 1.5" gear="1.0" joint="left_s0" />
        <velocity ctrlrange="-1.5 1.5" gear="1.0" joint="left_s1" />
        <velocity ctrlrange="-1.5 1.5" gear="1.0" joint="left_e0" />
        <velocity ctrlrange="-1.5 1.5" gear="1.0" joint="left_e1" />
        <velocity ctrlrange="-4.0 4.0" gear="1.0" joint="left_w0" />
        <velocity ctrlrange="-4.0 4.0" gear="1.0" joint="left_w1" />
        <velocity ctrlrange="-4.0 4.0" gear="1.0" joint="left_w2" /> -->
        <position ctrlrange="0 0.02" gear="1.0" joint="robotfinger_actuator_joint_l"/>

        <position ctrlrange="-0.02 0.0" gear="-1.0" joint="r_gripper_l_finger_joint" />
        <position ctrlrange="-0.0 0.02" gear="1.0" joint="r_gripper_r_finger_joint" />
        <position ctrlrange="-0.02 0.0" gear="1.0" joint="l_gripper_l_finger_joint" />
        <position ctrlrange="-0.0 0.02" gear="1.0" joint="l_gripper_r_finger_joint" />
    </actuator>
</mujoco>