By creating a mocap body and fixing it to the end point of the robotic arm, Realize inverse kinematics in mujoco through mocap control.
creating a mocap body:
<body mocap="true" name="mocap" pos="0.08229997 0.10921554 1.871059">
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</body>fixing it to the end point of the robotic arm:
<equality>
<weld body1="mocap" body2="ee_link" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>
</equality>By setting setting the mocap position and quaternion, you can compelting tcp control
sim.data.set_mocap_pos("mocap", pos)
self.sim.data.set_mocap_quat("mocap", quat)"Go up/down/left/right", "[up]/[down]/[left]/[right] arrow",
"Go forwarf/backward", "[F]/[B]"
"ROT_X", "[Q]/[W]"
"ROT_Y", "[A]/[S]"
"ROT_Z", "[Z]/[X]"
"Slow down/Speed up", "[-]/[=]"