'MUJOCO_PY:Computed torque control for kuka iiwa14 robot
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.
Solution 1:[1]
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.
Solution 2:[2]
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.
Sources
This article follows the attribution requirements of Stack Overflow and is licensed under CC BY-SA 3.0.
Source: Stack Overflow
| Solution | Source |
|---|---|
| Solution 1 | yuval |
| Solution 2 | Yuval Tassa |