Thank you for the great post. I was struggling to compile my own code and now I finally ran it using your code. I just have some questions here.

1. I want to control a robotic arm like kuka or franka in mujoco. I have the robot description. I think I have to use one controller per joint for this arm. How can I assign multiple controllers to mjcb_controller?

2. And is there anyway to do path planning for arm using mujoco? Or I have to use moveit?

3. Is there any clear example/tutorial to learn more about mujoco? It’s completely rare