title: MUJOCO_PY:Computed torque control for kuka iiwa14 robot
body: <p>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.</p>