Reinforcement learning for dexterous applications

I am working on using reinforcement learning for dexterous applications, i am new with mujoco, i have insatlled mujoco, mujoco-py and gym, i found modular prosthetic limb in mujocos models and also found three fingered gripper i have downloaded both of them but honestly i donot know how to use them with mujoco, to explain the last sentence i can go to mujoco-py and then go to exapmles and run body_interaction.py i would like to know how to do this with the MPL