How can apply a Cartesian force and torque to a perticular joint in Mujoco

[kpydv]

Describe the bug A clear and concise description of what the bug is.

To Reproduce Steps to reproduce the behavior.

Expected behavior A clear and concise description of what you expected to happen.

Error Messages Including more/longer error messages gives us more information to work with.

Desktop (please complete the following information):

• OS: [e.g. macOS 10.13.6]
• Python Version [e.g. 3.6.6]
• Mujoco Version [e.g. 1.50]
• mujoco-py version [e.g. 1.50.1.59]

Environment

• output of: echo $LD_LIBRARY_PATH
• output of: echo $HOME
• output of: echo $USER

Additional context Add any other context about the problem here.

[saran-t]

Why are you using a (very) old version of MuJoCo?