mujoco_actuator.py

"""
`dynprm` is a vector of actuator dynamic parameters that includes the actuator’s mass, damping, and spring constant 1.

`gainprm` is a vector of actuator gain parameters that includes the actuator’s proportional gain, derivative gain, and integral gain 1.

`biasprm` is a vector of actuator bias parameters that includes the actuator’s bias force and bias torque
"""
model = mujoco.MjModel.from_xml_path(xml_path)

data = mujoco.MjData(model)

data.ctrl[_actuator_index_] = 0.61826