Mujoco Test mujoco_teleop_glfw.mp4 Setup pip3 install mujoco pip3 install glfw Mesh sources a0912 robot arm (doosan robot) https://github.com/DoosanRobotics/doosan-robot/tree/main 2f85 parallel gripper https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotiq_2f85 (Educational purposes) Tutorial General control left click & drag to rotate right drag to move scroll to zoom in/out viewer_camera_test.py open xml file with mujoco_viewer Keyboard option control github repository: https://github.com/rohanpsingh/mujoco-python-viewer mujoco_arm_viewer.mp4 keyboard_teleop.py glfw window creation use python glfw library Multiple camera views: interactive (free) / ego-centric (fixed) keyboard teleop with glfw callback 4-DOF (4 joints controllable) A,D: z-axis rotation N,M: bottom y-axis joint rotation K,L: middle y-axis joint rotation O,P: top y-axis joint rotation U,I: gripper R to reset