<mujoco model="torque">
    <actuator>
		<motor ctrllimited="true" ctrlrange="-0.0087 0.0087" forcelimited="true" forcerange="-.87 0.87"
			   joint="panda_joint1"
			   name="panda_joint1_act"/>
		<motor ctrllimited="true" ctrlrange="-0.0087 0.0087" forcelimited="true" forcerange="-.87 0.87"
			   joint="panda_joint2"
			   name="panda_joint2_act"/>
		<motor ctrllimited="true" ctrlrange="-0.0087 0.0087" forcelimited="true" forcerange="-.87 0.87"
			   joint="panda_joint3"
			   name="panda_joint3_act"/>
		<motor ctrllimited="true" ctrlrange="-0.0087 0.0087" forcelimited="true" forcerange="-.87 0.87"
			   joint="panda_joint4"
			   name="panda_joint4_act"/>
		<motor ctrllimited="true" ctrlrange="-0.0012 0.0012" forcelimited="true" forcerange="-.12 0.12"
			   joint="panda_joint5"
			   name="panda_joint5_act"/>
		<motor ctrllimited="true" ctrlrange="-0.0012 0.0012" forcelimited="true" forcerange="-.12 0.12"
			   joint="panda_joint6"
			   name="panda_joint6_act"/>
		<motor ctrllimited="true" ctrlrange="-0.0012 0.0012" forcelimited="true" forcerange="-.12 0.12"
			   joint="panda_joint7"
			   name="panda_joint7_act"/>
	</actuator>
</mujoco>