I'm new with mujoco_py.I already installed it successfully on linux and I have the URDF file of the robot(kukaiiwa14) but I don't know how can I manipulate the joints.For example I want to know the commands of how can I apply a force on a joint . I have to apply optimal control on this robot so that he throws a ball for a specific distance if someone has an idea about it please help. If someone could help me by this Project I would be so grateful.

CodePudding user response：

mujoco_py is unsupported and deprecated, you should probably use MuJoCo's native Python bindings.

Regarding applying forces to joints, the actuation model is described here, and you can find various examples, e.g. here that might help you along.

CodePudding user response：

As far as I know URDF does not support actuators. I recommend that you import the URDF, save the resulting MJCF, and then edit the MJCF directly.

This might be relevant.