<!--
 ~ Copyright 2019 The ROBEL Authors.
 ~
 ~ Licensed under the Apache License, Version 2.0 (the "License");
 ~ you may not use this file except in compliance with the License.
 ~ You may obtain a copy of the License at
 ~
 ~     http://www.apache.org/licenses/LICENSE-2.0
 ~
 ~ Unless required by applicable law or agreed to in writing, software
 ~ distributed under the License is distributed on an "AS IS" BASIS,
 ~ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 ~ See the License for the specific language governing permissions and
 ~ limitations under the License.
 -->

<?xml version="1.0"?>
<mujocoinclude>
  <actuator>
    <position name="B:FRJ10" joint="B:FRJ10" class="dkitty" ctrlrange="-3.419 0.279"/>
    <position name="B:FRJ11" joint="B:FRJ11" class="dkitty" ctrlrange="-2.14 2.14"/>
    <position name="B:FRJ12" joint="B:FRJ12" class="dkitty" ctrlrange="-1.57 1.57"/>
    <position name="B:FLJ20" joint="B:FLJ20" class="dkitty" ctrlrange="-0.279 3.419"/>
    <position name="B:FLJ21" joint="B:FLJ21" class="dkitty" ctrlrange="-2.14 2.14"/>
    <position name="B:FLJ22" joint="B:FLJ22" class="dkitty" ctrlrange="-1.57 1.57"/>
    <position name="B:BLJ30" joint="B:BLJ30" class="dkitty" ctrlrange="-0.279 3.419"/>
    <position name="B:BLJ31" joint="B:BLJ31" class="dkitty" ctrlrange="-2.14 2.14"/>
    <position name="B:BLJ32" joint="B:BLJ32" class="dkitty" ctrlrange="-1.57 1.57"/>
    <position name="B:BRJ40" joint="B:BRJ40" class="dkitty" ctrlrange="-3.419 0.279"/>
    <position name="B:BRJ41" joint="B:BRJ41" class="dkitty" ctrlrange="-2.14 2.14"/>
    <position name="B:BRJ42" joint="B:BRJ42" class="dkitty" ctrlrange="-1.57 1.57"/>
  </actuator>
  <sensor>
    <jointpos name="B:FRJ10_pos_sensor" joint="B:FRJ10"/>
    <jointpos name="B:FRJ11_pos_sensor" joint="B:FRJ11"/>
    <jointpos name="B:FRJ12_pos_sensor" joint="B:FRJ12"/>
    <jointpos name="B:FLJ20_pos_sensor" joint="B:FLJ20"/>
    <jointpos name="B:FLJ21_pos_sensor" joint="B:FLJ21"/>
    <jointpos name="B:FLJ22_pos_sensor" joint="B:FLJ22"/>
    <jointpos name="B:BLJ30_pos_sensor" joint="B:BLJ30"/>
    <jointpos name="B:BLJ31_pos_sensor" joint="B:BLJ31"/>
    <jointpos name="B:BLJ32_pos_sensor" joint="B:BLJ32"/>
    <jointpos name="B:BRJ40_pos_sensor" joint="B:BRJ40"/>
    <jointpos name="B:BRJ41_pos_sensor" joint="B:BRJ41"/>
    <jointpos name="B:BRJ42_pos_sensor" joint="B:BRJ42"/>
    <jointvel name="B:FRJ10_velocity_sensor" joint="B:FRJ10"/>
    <jointvel name="B:FRJ11_velocity_sensor" joint="B:FRJ11"/>
    <jointvel name="B:FRJ12_velocity_sensor" joint="B:FRJ12"/>
    <jointvel name="B:FLJ20_velocity_sensor" joint="B:FLJ20"/>
    <jointvel name="B:FLJ21_velocity_sensor" joint="B:FLJ21"/>
    <jointvel name="B:FLJ22_velocity_sensor" joint="B:FLJ22"/>
    <jointvel name="B:BLJ30_velocity_sensor" joint="B:BLJ30"/>
    <jointvel name="B:BLJ31_velocity_sensor" joint="B:BLJ31"/>
    <jointvel name="B:BLJ32_velocity_sensor" joint="B:BLJ32"/>
    <jointvel name="B:BRJ40_velocity_sensor" joint="B:BRJ40"/>
    <jointvel name="B:BRJ41_velocity_sensor" joint="B:BRJ41"/>
    <jointvel name="B:BRJ42_velocity_sensor" joint="B:BRJ42"/>
  </sensor>
</mujocoinclude>
