We are trying to give the shadow hand from OpenAI () full 3D motion by adding x, y, z slide joints at the wrist. We set controlrange equal to the joint range and give a considerable force range. Our understanding of controls for positional actuators is that the control represents the target qpos value for the corresponding joint. However if we set the z-actuator control to 1, we don't generate any force. Are we misunderstanding the inverse control model? I have attached links to the original model below. The changes we have made are: In robot.xml: <mujoco> <body name="robot0:hand mount" pos="0.0 0.0 0.8" euler="1.5708 0 0"> <inertial mass="0.1" pos="0 0 0" diaginertia="0.001 0.001 0.001"></inertial> <joint axis="1 0 0" name="x_0" armature="0.0" pos="0 0 0" range="-1 1" damping="0.0" type="slide"></joint> <joint axis="0 0 1" name="y_0" armature="0.0" pos="0 0 0" range="-1 1" damping="0.0" type="slide"></joint> <joint axis="0 1 0" name="z_0" armature="0.0" pos="0 0 0" range="-1 1" damping="0.0" type="slide"></joint> <body childclass="robot0:asset_class" name="robot0:forearm" pos="0 0.01 0" euler="0 0 0"> ... In shared.xml: <actuator> <position class="robot0:asset_class" name="A_x_0" joint="x_0" ctrlrange="-1 1" kp="1" forcerange="-50 50"/> <position class="robot0:asset_class" name="A_y_0" joint="y_0" ctrlrange="-1 1" kp="1" forcerange="-50 50"/> <position class="robot0:asset_class" name="A_z_0" joint="z_0" ctrlrange="-1 1" kp="1" forcerange="-50 50"/> ... OpenAI model: https://github.com/openai/gym/tree/master/gym/envs/robotics/assets/hand/robot.xml Actuator Defs: https://github.com/openai/gym/tree/master/gym/envs/robotics/assets/hand/shared.xml