<mujocoinclude>
    <default>
        <default class="ur_jntrange_full">
            <include file="../../jointrange_defaults.xml"/>
            <default class="jointbase">
                <joint damping="0.01" armature=".01" frictionloss=".01"/>
                <default class="ur16e_J1"/>
                <default class="ur16e_J2"/>
                <default class="ur16e_J3"/>
                <default class="ur16e_J4"/>
                <default class="ur16e_J5"/>
            </default>
        </default>

        <default class="ur_jntrange_wrist">
            <include file="../../jointrange_wrist.xml"/>
            <default class="ur16e_J6">
                <joint damping=".01" armature=".01" frictionloss=".01"/>
            </default>
        </default>
    </default>
</mujocoinclude>
