I am having some trouble with figuring out some joints and actuators. Currently, I am trying to rotate a wrist joint with a position actuator, but anytime I send a command to the wrist (i.e to rotate the wrist), the robot slides using a 'slide_y' joint. Is there any way that I can independently get both the ability to move the wrist with a position controller and the slide_y with another controller?
I was not able to load your model, but in general, you can control different joints independently by attaching actuators to them. Note that for a coupled mechanical system, when you apply force to one actuator this could cause motion at other degrees of freedom.