<mujocoinclude>
    <actuator>
        <position ctrllimited="true" forcelimited="true" ctrlrange="-2.8973 2.8973" forcerange="-87 87"
        joint="panda_joint1" kp="80.0" name="panda_joint1" />
        <position ctrllimited="true" forcelimited="true" ctrlrange="-1.7628 1.7628" forcerange="-87 87"
        joint="panda_joint2" kp="138.0" name="panda_joint2" />
        <position ctrllimited="true" forcelimited="true" ctrlrange="-2.8973 2.8973" forcerange="-87 87"
        joint="panda_joint3" kp="96.0" name="panda_joint3" />
        <position ctrllimited="true" forcelimited="true" ctrlrange="-3.0718 - 0.0698" forcerange="-87 87"
        joint="panda_joint4" kp="191.5" name="panda_joint4" />
        <position ctrllimited="true" forcelimited="true" ctrlrange="-2.8973 2.8973" forcerange="-12 12"
        joint="panda_joint5" kp="36.0" name="panda_joint5" />
        <position ctrllimited="true" forcelimited="true" ctrlrange="-0.0175 3.7525" forcerange="-12 12"
        joint="panda_joint6" kp="14.0" name="panda_joint6" />
        <position ctrllimited="true" forcelimited="true" ctrlrange="-2.8973 2.8973" forcerange="-12 12"
        joint="panda_joint7" kp="7.0" name="panda_joint7" />
    </actuator>
</mujocoinclude>