<!-- Copied from actuator0.xml -->
<!-- Added new file to the original source code at
        1) https://github.com/vikashplus/franka
    which was originally written by Vikash Kumar and licensed under the Apache License= -->

<!--Copyright 2020 Google LLC-->

<!--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-->

    <!--https://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.-->
<mujocoinclude>
	<actuator>
    <position name="r_gripper_finger_joint" joint="panda0_finger_joint1" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.08"/> <!-- velocity=".2" -->
    <position name="l_gripper_finger_joint" joint="panda0_finger_joint2" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.08"/> <!-- velocity=".2" -->
  </actuator>
</mujocoinclude>
