How to manually set forces on joints?

[Yoakshat]

Intro

Hi!

I am an undegrad AI researcher using Mujoco for robotics & RL research.

My setup

I am using Mujoco 3.3.4

My question

In the documentation, it specifies you can manually set forces on each joint. How to do that? There is no method like rigidentity.set_dofs_force.

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[kevinzakka]

See data.qfrc_applied.