<mujocoinclude>
    
    <!-- torque control -->
    <!-- <actuator>
        <motor name="j0" joint="right_j0" ctrlrange="-10 10"/>
        <motor name="j1" joint="right_j1" ctrlrange="-10 10"/>
        <motor name="j2" joint="right_j2" ctrlrange="-10 10"/>
        <motor name="j3" joint="right_j3" ctrlrange="-10 10"/>
        <motor name="j4" joint="right_j4" ctrlrange="-10 10"/>
        <motor name="j5" joint="right_j5" ctrlrange="-10 10"/>
        <motor name="j6" joint="right_j6" ctrlrange="-10 10"/>
    </actuator> -->

    <!-- position control -->
    <actuator>
        <position name="j0" joint="right_j0" forcerange="-10 10" ctrlrange="-3 3" kp="50"/>  
        <position name="j1" joint="right_j1" forcerange="-10 10" ctrlrange="-3.5 2" kp="50"/>
        <position name="j2" joint="right_j2" forcerange="-10 10" ctrlrange="-3 3" kp="50"/>
        <position name="j3" joint="right_j3" forcerange="-10 10" ctrlrange="-3 3" kp="50"/>
        <position name="j4" joint="right_j4" forcerange="-10 10" ctrlrange="-2.9 2.9" kp="50"/>
        <position name="j5" joint="right_j5" forcerange="-10 10" ctrlrange="-2.9 2.9" kp="50"/>
        <position name="j6" joint="right_j6" forcerange="-10 10" ctrlrange="-4.7 4.7" kp="50"/>
    </actuator>

</mujocoinclude>
