diff --git a/resources/robots/h1_2/h1_2.urdf b/resources/robots/h1_2/h1_2.urdf
index 1b5a418..ca39f03 100644
--- a/resources/robots/h1_2/h1_2.urdf
+++ b/resources/robots/h1_2/h1_2.urdf
@@ -503,7 +503,7 @@
     <parent link="left_shoulder_roll_link"/>
     <child link="left_shoulder_yaw_link"/>
     <axis xyz="0 0 1"/>
-    <limit lower="-3.01" upper="2.66" effort="18" velocity="20"/>
+    <limit lower="-2.66" upper="3.01" effort="18" velocity="20"/>
   </joint>
   <link name="left_elbow_pitch_link">
     <inertial>
@@ -532,7 +532,7 @@
     <parent link="left_shoulder_yaw_link"/>
     <child link="left_elbow_pitch_link"/>
     <axis xyz="0 1 0"/>
-    <limit lower="-2.53" upper="1.6" effort="18" velocity="20"/>
+    <limit lower="-0.95" upper="3.18" effort="18" velocity="20"/>
   </joint>
 
   <link name="left_elbow_roll_link">
@@ -561,7 +561,7 @@
     <parent link="left_elbow_pitch_link"/>
     <child link="left_elbow_roll_link"/>
     <axis xyz="1 0 0"/>
-    <limit lower="-2.967" upper="2.967" effort="19" velocity="31.4"/>
+    <limit lower="-3.01" upper="2.75" effort="19" velocity="31.4"/>
   </joint>
 
   <link name="left_wrist_pitch_link">
@@ -590,7 +590,7 @@
     <parent link="left_elbow_roll_link"/>
     <child link="left_wrist_pitch_link"/>
     <axis xyz="0 1 0"/>
-    <limit lower="-0.471" upper="0.349" effort="19" velocity="31.4"/>
+    <limit lower="-0.47" upper="0.47" effort="19" velocity="31.4"/>
   </joint>
   <link name="left_wrist_yaw_link">
     <inertial>
@@ -619,7 +619,7 @@
     <parent link="left_wrist_pitch_link"/>
     <child link="left_wrist_yaw_link"/>
     <axis xyz="0 0 1"/>
-    <limit lower="-1.012" upper="1.012" effort="19" velocity="31.4"/>
+    <limit lower="-1.27" upper="1.27" effort="19" velocity="31.4"/>
   </joint>
 
   <!-- R arm -->
@@ -650,7 +650,7 @@
     <parent link="torso_link"/>
     <child link="right_shoulder_pitch_link"/>
     <axis xyz="0 1 0"/>
-    <limit lower="-1.57" upper="3.14" effort="40" velocity="9"/>
+    <limit lower="-3.14" upper="1.57" effort="40" velocity="9"/>
   </joint>
   <link name="right_shoulder_roll_link">
     <inertial>
@@ -709,7 +709,7 @@
     <parent link="right_shoulder_roll_link"/>
     <child link="right_shoulder_yaw_link"/>
     <axis xyz="0 0 1"/>
-    <limit lower="-2.66" upper="3.01" effort="18" velocity="20"/>
+    <limit lower="-3.01" upper="2.66" effort="18" velocity="20"/>
   </joint>
   <link name="right_elbow_pitch_link">
     <inertial>
@@ -738,7 +738,7 @@
     <parent link="right_shoulder_yaw_link"/>
     <child link="right_elbow_pitch_link"/>
     <axis xyz="0 1 0"/>
-    <limit lower="-1.6" upper="2.53" effort="18" velocity="20"/>
+    <limit lower="-0.95" upper="3.18" effort="18" velocity="20"/>
   </joint>
 
   <link name="right_elbow_roll_link">
@@ -767,7 +767,7 @@
     <parent link="right_elbow_pitch_link"/>
     <child link="right_elbow_roll_link"/>
     <axis xyz="1 0 0"/>
-    <limit lower="-2.967" upper="2.967" effort="19" velocity="31.4"/>
+    <limit lower="-2.75" upper="3.01" effort="19" velocity="31.4"/>
   </joint>
 
   <link name="right_wrist_pitch_link">
@@ -796,7 +796,7 @@
     <parent link="right_elbow_roll_link"/>
     <child link="right_wrist_pitch_link"/>
     <axis xyz="0 1 0"/>
-    <limit lower="-0.471" upper="0.349" effort="19" velocity="31.4"/>
+    <limit lower="-0.47" upper="0.47" effort="19" velocity="31.4"/>
   </joint>
   <link name="right_wrist_yaw_link">
     <inertial>
@@ -825,7 +825,7 @@
     <parent link="right_wrist_pitch_link"/>
     <child link="right_wrist_yaw_link"/>
     <axis xyz="0 0 1"/>
-    <limit lower="-1.012" upper="1.012" effort="19" velocity="31.4"/>
+    <limit lower="-1.27" upper="1.27" effort="19" velocity="31.4"/>
   </joint>
 
   <!-- LOGO -->
diff --git a/resources/robots/h1_2/h1_2.xml b/resources/robots/h1_2/h1_2.xml
index d946402..dbb0f63 100644
--- a/resources/robots/h1_2/h1_2.xml
+++ b/resources/robots/h1_2/h1_2.xml
@@ -60,37 +60,37 @@
   <worldbody>
     <body name="pelvis" pos="0 0 1.03">
       <inertial pos="-0.0004 3.7e-05 -0.046864" quat="0.497097 0.496809 -0.503132 0.502925" mass="5.983" diaginertia="0.0531565 0.0491678 0.00902583"/>
-      <joint name="floating_base_joint" type="free"/>
+      <joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="pelvis"/>
       <geom size="0.05" rgba="0.1 0.1 0.1 1"/>
       <body name="left_hip_yaw_link" pos="0 0.0875 -0.1632">
         <inertial pos="0 -0.026197 0.006647" quat="0.704899 -0.0553755 0.0548434 0.705013" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
-        <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
+        <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43" actuatorfrcrange="-200 200"/>
         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_yaw_link"/>
         <geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
         <body name="left_hip_pitch_link" pos="0 0.0755 0">
           <inertial pos="-0.00781 -0.004724 -6.3e-05" quat="0.701575 0.711394 0.0330266 0.0249149" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
-          <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
+          <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5" actuatorfrcrange="-200 200"/>
           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_pitch_link"/>
           <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
           <body name="left_hip_roll_link">
             <inertial pos="0.004171 -0.008576 -0.194509" quat="0.634842 0.0146079 0.0074063 0.772469" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
-            <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14"/>
+            <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14" actuatorfrcrange="-200 200"/>
             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_roll_link"/>
             <geom size="0.02 0.005" pos="0 0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
             <body name="left_knee_link" pos="0 0 -0.4">
               <inertial pos="0.000179 0.000121 -0.168936" quat="0.416585 0.0104983 0.00514003 0.909021" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
-              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
+              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05" actuatorfrcrange="-300 300"/>
               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_knee_link"/>
               <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
               <body name="left_ankle_pitch_link" pos="0 0 -0.4">
                 <inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
-                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
+                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598" actuatorfrcrange="-60 60"/>
                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
                 <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
                 <body name="left_ankle_roll_link" pos="0 0 -0.02">
                   <inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
-                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
+                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-40 40"/>
                   <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
                   <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
                 </body>
@@ -101,32 +101,32 @@
       </body>
       <body name="right_hip_yaw_link" pos="0 -0.0875 -0.1632">
         <inertial pos="0 0.026197 0.006647" quat="0.705013 0.0548434 -0.0553755 0.704899" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
-        <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
+        <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43" actuatorfrcrange="-200 200"/>
         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_yaw_link"/>
         <geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
         <body name="right_hip_pitch_link" pos="0 -0.0755 0">
           <inertial pos="-0.00781 0.004724 -6.3e-05" quat="0.711394 0.701575 -0.0249149 -0.0330266" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
-          <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
+          <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5" actuatorfrcrange="-200 200"/>
           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_pitch_link"/>
           <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
           <body name="right_hip_roll_link">
             <inertial pos="0.004171 0.008576 -0.194509" quat="0.772469 0.0074063 0.0146079 0.634842" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
-            <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43"/>
+            <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43" actuatorfrcrange="-200 200"/>
             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_roll_link"/>
             <geom size="0.02 0.005" pos="0 -0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
             <body name="right_knee_link" pos="0 0 -0.4">
               <inertial pos="0.000179 -0.000121 -0.168936" quat="0.909021 0.00514003 0.0104983 0.416585" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
-              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
+              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05" actuatorfrcrange="-300 300"/>
               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_knee_link"/>
               <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
               <body name="right_ankle_pitch_link" pos="0 0 -0.4">
                 <inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
-                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
+                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598" actuatorfrcrange="-60 60"/>
                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
                 <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
                 <body name="right_ankle_roll_link" pos="0 0 -0.02">
                   <inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
-                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
+                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-40 40"/>
                   <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
                   <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
                 </body>
@@ -137,65 +137,65 @@
       </body>
       <body name="torso_link">
         <inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" diaginertia="0.487315 0.409628 0.127837"/>
-        <joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35"/>
+        <joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35" actuatorfrcrange="-200 200"/>
         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="torso_link"/>
         <geom size="0.04 0.08 0.05" pos="0 0 0.15" type="box" rgba="0.1 0.1 0.1 1"/>
         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="logo_link"/>
         <site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
         <body name="left_shoulder_pitch_link" pos="0 0.14806 0.42333" quat="0.991445 0.130526 0 0">
           <inertial pos="0.003053 0.06042 -0.0059" quat="0.761799 0.645681 -0.0378496 -0.0363943" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
-          <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57"/>
+          <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57" actuatorfrcrange="-40 40"/>
           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
           <body name="left_shoulder_roll_link" pos="0.0342 0.061999 -0.0060011" quat="0.991445 -0.130526 0 0">
             <inertial pos="-0.030932 -1e-06 -0.10609" quat="0.986055 0.000456937 0.166408 0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
-            <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.38 3.4"/>
+            <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.38 3.4" actuatorfrcrange="-40 40"/>
             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
             <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
             <body name="left_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
               <inertial pos="0.004583 0.001128 -0.001128" quat="0.663644 -0.0108866 -0.0267235 0.747492" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
-              <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66"/>
+              <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.66 3.01" actuatorfrcrange="-18 18"/>
               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
               <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
               <body name="left_elbow_pitch_link" pos="0.006 0.0329 -0.182">
                 <inertial pos="0.077092 -0.028751 -0.009714" quat="0.544921 0.610781 0.423352 0.388305" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
-                <joint name="left_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.53 1.6"/>
+                <joint name="left_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.95 3.18" actuatorfrcrange="-18 18"/>
                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/>
                 <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/>
                 <body name="left_elbow_roll_link" pos="0.121 -0.0329 -0.011">
                   <inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
-                  <joint name="left_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
+                  <joint name="left_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.01 2.75" actuatorfrcrange="-19 19"/>
                   <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/>
                   <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/>
                   <body name="left_wrist_pitch_link" pos="0.085 0 0">
                     <inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
-                    <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
+                    <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.47 0.47" actuatorfrcrange="-19 19"/>
                     <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
                     <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
                     <body name="left_wrist_yaw_link" pos="0.02 0 0">
                       <inertial pos="0.0770303 -0.00131441 -0.00068617" quat="0.499919 0.510625 0.506813 0.482165" mass="0.26543" diaginertia="0.000854397 0.000723298 0.00022115"/>
-                      <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
+                      <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.27 1.27" actuatorfrcrange="-19 19"/>
                       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
                       <geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
                       <geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
                       <body name="L_thumb_proximal_base" pos="0.1231 -0.01696 0.02045" quat="-2.59735e-06 0.707107 0 0.707107">
                         <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/>
-                        <joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
+                        <joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" actuatorfrcrange="-1 1"/>
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
                         <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
                         <body name="L_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
                           <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/>
-                          <joint name="L_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 0.6"/>
+                          <joint name="L_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 0.6" actuatorfrcrange="-1 1"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
                           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
                           <body name="L_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
                             <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/>
-                            <joint name="L_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
+                            <joint name="L_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" actuatorfrcrange="-1 1"/>
                             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
                             <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
                             <body name="L_thumb_distal" pos="0.020248 -0.010156 -0.0012">
                               <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/>
-                              <joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
+                              <joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" actuatorfrcrange="-1 1"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
                               <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
                             </body>
@@ -204,48 +204,48 @@
                       </body>
                       <body name="L_index_proximal" pos="0.19053 0.00028533 0.032268" quat="0.706999 -0.0123409 -0.0123409 0.706999">
                         <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
-                        <joint name="L_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <joint name="L_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
                         <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
                         <body name="L_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
                           <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/>
-                          <joint name="L_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <joint name="L_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
                           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
                         </body>
                       </body>
                       <body name="L_middle_proximal" pos="0.1911 0.00028533 0.01295" quat="0.707107 0 0 0.707107">
                         <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
-                        <joint name="L_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <joint name="L_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
                         <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
                         <body name="L_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
                           <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
-                          <joint name="L_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <joint name="L_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
                           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
                         </body>
                       </body>
                       <body name="L_ring_proximal" pos="0.19091 0.00028533 -0.0062872" quat="0.706864 0.0185099 0.0185099 0.706864">
                         <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
-                        <joint name="L_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <joint name="L_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
                         <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
                         <body name="L_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
                           <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
-                          <joint name="L_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <joint name="L_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
                           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
                         </body>
                       </body>
                       <body name="L_pinky_proximal" pos="0.18971 0.00028533 -0.025488" quat="0.706138 0.0370072 0.0370072 0.706138">
                         <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
-                        <joint name="L_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                        <joint name="L_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
                         <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
                         <body name="L_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
                           <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
-                          <joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
+                          <joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
                           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
                         </body>
@@ -259,58 +259,58 @@
         </body>
         <body name="right_shoulder_pitch_link" pos="0 -0.14806 0.42333" quat="0.991445 -0.130526 0 0">
           <inertial pos="0.003053 -0.06042 -0.0059" quat="0.645681 0.761799 0.0363943 0.0378496" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
-          <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.57 3.14"/>
+          <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57" actuatorfrcrange="-40 40"/>
           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
           <body name="right_shoulder_roll_link" pos="0.0342 -0.061999 -0.0060011" quat="0.991445 0.130526 0 0">
             <inertial pos="-0.030932 1e-06 -0.10609" quat="0.986055 -0.000456937 0.166408 -0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
-            <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38"/>
+            <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38" actuatorfrcrange="-40 40"/>
             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
             <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
             <body name="right_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
               <inertial pos="0.004583 -0.001128 -0.001128" quat="0.747492 -0.0267235 -0.0108866 0.663644" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
-              <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.66 3.01"/>
+              <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66" actuatorfrcrange="-18 18"/>
               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
               <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
               <body name="right_elbow_pitch_link" pos="0.006 -0.0329 -0.182">
                 <inertial pos="0.077092 0.028751 -0.009714" quat="0.388305 0.423352 0.610781 0.544921" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
-                <joint name="right_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.6 2.53"/>
+                <joint name="right_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.95 3.18" actuatorfrcrange="-18 18"/>
                 <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/>
                 <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/>
                 <body name="right_elbow_roll_link" pos="0.121 0.0329 -0.011">
                   <inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
-                  <joint name="right_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
+                  <joint name="right_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.75 3.01" actuatorfrcrange="-19 19"/>
                   <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/>
                   <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/>
                   <body name="right_wrist_pitch_link" pos="0.085 0 0">
                     <inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
-                    <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
+                    <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.47 0.47" actuatorfrcrange="-19 19"/>
                     <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
                     <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
                     <body name="right_wrist_yaw_link" pos="0.02 0 0">
                       <inertial pos="0.0770303 0.0013013 -0.000699011" quat="0.482149 0.506915 0.510629 0.499827" mass="0.26543" diaginertia="0.00085381 0.000722728 0.000221145"/>
-                      <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
+                      <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.27 1.27" actuatorfrcrange="-19 19"/>
                       <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
                       <geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
                       <geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
                       <body name="R_thumb_proximal_base" pos="0.1231 0.01696 0.02045" quat="-0.707107 -2.59735e-06 -0.707107 0">
                         <inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/>
-                        <joint name="R_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3"/>
+                        <joint name="R_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3" actuatorfrcrange="-1 1"/>
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
                         <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
                         <body name="R_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
                           <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/>
-                          <joint name="R_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.6"/>
+                          <joint name="R_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.6" actuatorfrcrange="-1 1"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
                           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
                           <body name="R_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
                             <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/>
-                            <joint name="R_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
+                            <joint name="R_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8" actuatorfrcrange="-1 1"/>
                             <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
                             <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
                             <body name="R_thumb_distal" pos="0.020248 0.010156 -0.0012">
                               <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
-                              <joint name="R_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
+                              <joint name="R_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2" actuatorfrcrange="-1 1"/>
                               <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
                               <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
                             </body>
@@ -319,48 +319,48 @@
                       </body>
                       <body name="R_index_proximal" pos="0.19053 -0.00028533 0.032268" quat="0.706999 0.0123358 -0.0123358 -0.706999">
                         <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/>
-                        <joint name="R_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <joint name="R_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
                         <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
                         <body name="R_index_intermediate" pos="-0.0026138 0.032026 -0.001">
                           <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/>
-                          <joint name="R_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <joint name="R_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
                           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
                         </body>
                       </body>
                       <body name="R_middle_proximal" pos="0.1911 -0.00028533 0.01295" quat="0.707107 -2.59735e-06 2.59735e-06 -0.707107">
                         <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
-                        <joint name="R_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <joint name="R_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
                         <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
                         <body name="R_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
                           <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/>
-                          <joint name="R_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <joint name="R_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
                           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
                         </body>
                       </body>
                       <body name="R_ring_proximal" pos="0.19091 -0.00028533 -0.0062872" quat="-0.706864 0.0185215 -0.0185215 0.706864">
                         <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
-                        <joint name="R_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <joint name="R_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
                         <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
                         <body name="R_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
                           <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/>
-                          <joint name="R_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <joint name="R_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
                           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
                         </body>
                       </body>
                       <body name="R_pinky_proximal" pos="0.18971 -0.00028533 -0.025488" quat="-0.706138 0.0369975 -0.0369975 0.706138">
                         <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
-                        <joint name="R_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                        <joint name="R_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                         <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
                         <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
                         <body name="R_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
                           <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/>
-                          <joint name="R_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
+                          <joint name="R_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
                           <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
                           <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
                         </body>
@@ -378,57 +378,57 @@
 
 
   <actuator>
-    <motor name="left_hip_yaw_joint"      joint="left_hip_yaw_joint"      ctrlrange="-200 200"/>
-    <motor name="left_hip_pitch_joint"    joint="left_hip_pitch_joint"    ctrlrange="-200 200"/>
-    <motor name="left_hip_roll_joint"     joint="left_hip_roll_joint"     ctrlrange="-200 200"/>
-    <motor name="left_knee_joint"         joint="left_knee_joint"         ctrlrange="-300 300"/>
-    <motor name="left_ankle_pitch_joint"  joint="left_ankle_pitch_joint"  ctrlrange="-60 60"/>
-    <motor name="left_ankle_roll_joint"   joint="left_ankle_roll_joint"   ctrlrange="-40 40"/>
-    <motor name="right_hip_yaw_joint"     joint="right_hip_yaw_joint"     ctrlrange="-200 200"/>
-    <motor name="right_hip_pitch_joint"   joint="right_hip_pitch_joint"   ctrlrange="-200 200"/>
-    <motor name="right_hip_roll_joint"    joint="right_hip_roll_joint"    ctrlrange="-200 200"/>
-    <motor name="right_knee_joint"        joint="right_knee_joint"        ctrlrange="-300 300"/>
-    <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" ctrlrange="-60 60"/>
-    <motor name="right_ankle_roll_joint"  joint="right_ankle_roll_joint"  ctrlrange="-40 40"/>
-    <motor name="torso_joint" joint="torso_joint" ctrlrange="-200 200"/>
-    <motor name="left_shoulder_pitch_joint"  joint="left_shoulder_pitch_joint"  ctrlrange="-40 40"/>
-    <motor name="left_shoulder_roll_joint"   joint="left_shoulder_roll_joint"   ctrlrange="-40 40"/>
-    <motor name="left_shoulder_yaw_joint"    joint="left_shoulder_yaw_joint"    ctrlrange="-18 18"/>
-    <motor name="left_elbow_pitch_joint"     joint="left_elbow_pitch_joint"     ctrlrange="-18 18"/>
-    <motor name="left_elbow_roll_joint"      joint="left_elbow_roll_joint"      ctrlrange="-19 19"/>
-    <motor name="left_wrist_pitch_joint"     joint="left_wrist_pitch_joint"     ctrlrange="-19 19"/>
-    <motor name="left_wrist_yaw_joint"       joint="left_wrist_yaw_joint"       ctrlrange="-19 19"/>
-    <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrlrange="-40 40"/>
-    <motor name="right_shoulder_roll_joint"  joint="right_shoulder_roll_joint"  ctrlrange="-40 40"/>
-    <motor name="right_shoulder_yaw_joint"   joint="right_shoulder_yaw_joint"   ctrlrange="-18 18"/>
-    <motor name="right_elbow_pitch_joint"    joint="right_elbow_pitch_joint"    ctrlrange="-18 18"/>
-    <motor name="right_elbow_roll_joint"     joint="right_elbow_roll_joint"     ctrlrange="-19 19"/>
-    <motor name="right_wrist_pitch_joint"    joint="right_wrist_pitch_joint"    ctrlrange="-19 19"/>
-    <motor name="right_wrist_yaw_joint"      joint="right_wrist_yaw_joint"      ctrlrange="-19 19"/>
-    <motor name="L_index_proximal_joint"       joint="L_index_proximal_joint"       ctrlrange="-1 1"/>
-    <motor name="L_index_intermediate_joint"   joint="L_index_intermediate_joint"   ctrlrange="-1 1"/>
-    <motor name="L_middle_proximal_joint"      joint="L_middle_proximal_joint"      ctrlrange="-1 1"/>
-    <motor name="L_middle_intermediate_joint"  joint="L_middle_intermediate_joint"  ctrlrange="-1 1"/>
-    <motor name="L_ring_proximal_joint"        joint="L_ring_proximal_joint"        ctrlrange="-1 1"/>
-    <motor name="L_ring_intermediate_joint"    joint="L_ring_intermediate_joint"    ctrlrange="-1 1"/>
-    <motor name="L_pinky_proximal_joint"       joint="L_pinky_proximal_joint"       ctrlrange="-1 1"/>
-    <motor name="L_pinky_intermediate_joint"   joint="L_pinky_intermediate_joint"   ctrlrange="-1 1"/>
-    <motor name="L_thumb_proximal_yaw_joint"   joint="L_thumb_proximal_yaw_joint"   ctrlrange="-1 1"/>
-    <motor name="L_thumb_proximal_pitch_joint" joint="L_thumb_proximal_pitch_joint" ctrlrange="-1 1"/>
-    <motor name="L_thumb_intermediate_joint"   joint="L_thumb_intermediate_joint"   ctrlrange="-1 1"/>
-    <motor name="L_thumb_distal_joint"         joint="L_thumb_distal_joint"         ctrlrange="-1 1"/>
-    <motor name="R_index_proximal_joint"       joint="R_index_proximal_joint"       ctrlrange="-1 1"/>
-    <motor name="R_index_intermediate_joint"   joint="R_index_intermediate_joint"   ctrlrange="-1 1"/>
-    <motor name="R_middle_proximal_joint"      joint="R_middle_proximal_joint"      ctrlrange="-1 1"/>
-    <motor name="R_middle_intermediate_joint"  joint="R_middle_intermediate_joint"  ctrlrange="-1 1"/>
-    <motor name="R_ring_proximal_joint"        joint="R_ring_proximal_joint"        ctrlrange="-1 1"/>
-    <motor name="R_ring_intermediate_joint"    joint="R_ring_intermediate_joint"    ctrlrange="-1 1"/>
-    <motor name="R_pinky_proximal_joint"       joint="R_pinky_proximal_joint"       ctrlrange="-1 1"/>
-    <motor name="R_pinky_intermediate_joint"   joint="R_pinky_intermediate_joint"   ctrlrange="-1 1"/>
-    <motor name="R_thumb_proximal_yaw_joint"   joint="R_thumb_proximal_yaw_joint"   ctrlrange="-1 1"/>
-    <motor name="R_thumb_proximal_pitch_joint" joint="R_thumb_proximal_pitch_joint" ctrlrange="-1 1"/>
-    <motor name="R_thumb_intermediate_joint"   joint="R_thumb_intermediate_joint"   ctrlrange="-1 1"/>
-    <motor name="R_thumb_distal_joint"         joint="R_thumb_distal_joint"         ctrlrange="-1 1"/>
+    <motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
+    <motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
+    <motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
+    <motor name="left_knee_joint" joint="left_knee_joint"/>
+    <motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
+    <motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
+    <motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
+    <motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
+    <motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
+    <motor name="right_knee_joint" joint="right_knee_joint"/>
+    <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
+    <motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
+    <motor name="torso_joint" joint="torso_joint"/>
+    <motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
+    <motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
+    <motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
+    <motor name="left_elbow_pitch_joint" joint="left_elbow_pitch_joint"/>
+    <motor name="left_elbow_roll_joint" joint="left_elbow_roll_joint"/>
+    <motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
+    <motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
+    <motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
+    <motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
+    <motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
+    <motor name="right_elbow_pitch_joint" joint="right_elbow_pitch_joint"/>
+    <motor name="right_elbow_roll_joint" joint="right_elbow_roll_joint"/>
+    <motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
+    <motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
+    <motor name="L_index_proximal_joint" joint="L_index_proximal_joint"/>
+    <motor name="L_index_intermediate_joint" joint="L_index_intermediate_joint"/>
+    <motor name="L_middle_proximal_joint" joint="L_middle_proximal_joint"/>
+    <motor name="L_middle_intermediate_joint" joint="L_middle_intermediate_joint"/>
+    <motor name="L_ring_proximal_joint" joint="L_ring_proximal_joint"/>
+    <motor name="L_ring_intermediate_joint" joint="L_ring_intermediate_joint"/>
+    <motor name="L_pinky_proximal_joint" joint="L_pinky_proximal_joint"/>
+    <motor name="L_pinky_intermediate_joint" joint="L_pinky_intermediate_joint"/>
+    <motor name="L_thumb_proximal_yaw_joint" joint="L_thumb_proximal_yaw_joint"/>
+    <motor name="L_thumb_proximal_pitch_joint" joint="L_thumb_proximal_pitch_joint"/>
+    <motor name="L_thumb_intermediate_joint" joint="L_thumb_intermediate_joint"/>
+    <motor name="L_thumb_distal_joint" joint="L_thumb_distal_joint"/>
+    <motor name="R_index_proximal_joint" joint="R_index_proximal_joint"/>
+    <motor name="R_index_intermediate_joint" joint="R_index_intermediate_joint"/>
+    <motor name="R_middle_proximal_joint" joint="R_middle_proximal_joint"/>
+    <motor name="R_middle_intermediate_joint" joint="R_middle_intermediate_joint"/>
+    <motor name="R_ring_proximal_joint" joint="R_ring_proximal_joint"/>
+    <motor name="R_ring_intermediate_joint" joint="R_ring_intermediate_joint"/>
+    <motor name="R_pinky_proximal_joint" joint="R_pinky_proximal_joint"/>
+    <motor name="R_pinky_intermediate_joint" joint="R_pinky_intermediate_joint"/>
+    <motor name="R_thumb_proximal_yaw_joint" joint="R_thumb_proximal_yaw_joint"/>
+    <motor name="R_thumb_proximal_pitch_joint" joint="R_thumb_proximal_pitch_joint"/>
+    <motor name="R_thumb_intermediate_joint" joint="R_thumb_intermediate_joint"/>
+    <motor name="R_thumb_distal_joint" joint="R_thumb_distal_joint"/>
   </actuator>
 
   <sensor>
diff --git a/resources/robots/h1_2/h1_2_simplified.urdf b/resources/robots/h1_2/h1_2_simplified.urdf
index c58d697..f7f357d 100644
--- a/resources/robots/h1_2/h1_2_simplified.urdf
+++ b/resources/robots/h1_2/h1_2_simplified.urdf
@@ -467,7 +467,7 @@
     <parent link="left_shoulder_roll_link"/>
     <child link="left_shoulder_yaw_link"/>
     <axis xyz="0 0 1"/>
-    <limit lower="-3.01" upper="2.66" effort="18" velocity="20"/>
+    <limit lower="-2.66" upper="3.01" effort="18" velocity="20"/>
   </joint>
   <link name="left_elbow_pitch_link">
     <inertial>
@@ -490,7 +490,7 @@
     <parent link="left_shoulder_yaw_link"/>
     <child link="left_elbow_pitch_link"/>
     <axis xyz="0 1 0"/>
-    <limit lower="-2.53" upper="1.6" effort="18" velocity="20"/>
+    <limit lower="-0.95" upper="3.18" effort="18" velocity="20"/>
   </joint>
 
   <link name="left_elbow_roll_link">
@@ -514,7 +514,7 @@
     <parent link="left_elbow_pitch_link"/>
     <child link="left_elbow_roll_link"/>
     <axis xyz="1 0 0"/>
-    <limit lower="-2.967" upper="2.967" effort="19" velocity="31.4"/>
+    <limit lower="-3.01" upper="2.75" effort="19" velocity="31.4"/>
   </joint>
 
   <link name="left_wrist_pitch_link">
@@ -538,7 +538,7 @@
     <parent link="left_elbow_roll_link"/>
     <child link="left_wrist_pitch_link"/>
     <axis xyz="0 1 0"/>
-    <limit lower="-0.471" upper="0.349" effort="19" velocity="31.4"/>
+    <limit lower="-0.47" upper="0.47" effort="19" velocity="31.4"/>
   </joint>
   <link name="left_wrist_yaw_link">
     <inertial>
@@ -561,7 +561,7 @@
     <parent link="left_wrist_pitch_link"/>
     <child link="left_wrist_yaw_link"/>
     <axis xyz="0 0 1"/>
-    <limit lower="-1.012" upper="1.012" effort="19" velocity="31.4"/>
+    <limit lower="-1.27" upper="1.27" effort="19" velocity="31.4"/>
   </joint>
 
   <!-- R arm -->
@@ -586,7 +586,7 @@
     <parent link="torso_link"/>
     <child link="right_shoulder_pitch_link"/>
     <axis xyz="0 1 0"/>
-    <limit lower="-1.57" upper="3.14" effort="40" velocity="9"/>
+    <limit lower="-3.14" upper="1.57" effort="40" velocity="9"/>
   </joint>
   <link name="right_shoulder_roll_link">
     <inertial>
@@ -633,7 +633,7 @@
     <parent link="right_shoulder_roll_link"/>
     <child link="right_shoulder_yaw_link"/>
     <axis xyz="0 0 1"/>
-    <limit lower="-2.66" upper="3.01" effort="18" velocity="20"/>
+    <limit lower="-3.01" upper="2.66" effort="18" velocity="20"/>
   </joint>
   <link name="right_elbow_pitch_link">
     <inertial>
@@ -656,7 +656,7 @@
     <parent link="right_shoulder_yaw_link"/>
     <child link="right_elbow_pitch_link"/>
     <axis xyz="0 1 0"/>
-    <limit lower="-1.6" upper="2.53" effort="18" velocity="20"/>
+    <limit lower="-0.95" upper="3.18" effort="18" velocity="20"/>
   </joint>
 
   <link name="right_elbow_roll_link">
@@ -680,7 +680,7 @@
     <parent link="right_elbow_pitch_link"/>
     <child link="right_elbow_roll_link"/>
     <axis xyz="1 0 0"/>
-    <limit lower="-2.967" upper="2.967" effort="19" velocity="31.4"/>
+    <limit lower="-2.75" upper="3.01" effort="19" velocity="31.4"/>
   </joint>
 
   <link name="right_wrist_pitch_link">
@@ -704,7 +704,7 @@
     <parent link="right_elbow_roll_link"/>
     <child link="right_wrist_pitch_link"/>
     <axis xyz="0 1 0"/>
-    <limit lower="-0.471" upper="0.349" effort="19" velocity="31.4"/>
+    <limit lower="-0.47" upper="0.47" effort="19" velocity="31.4"/>
   </joint>
   <link name="right_wrist_yaw_link">
     <inertial>
@@ -727,7 +727,7 @@
     <parent link="right_wrist_pitch_link"/>
     <child link="right_wrist_yaw_link"/>
     <axis xyz="0 0 1"/>
-    <limit lower="-1.012" upper="1.012" effort="19" velocity="31.4"/>
+    <limit lower="-1.27" upper="1.27" effort="19" velocity="31.4"/>
   </joint>
 
   <!-- LOGO -->
