Problem of the Variables Control of Legged Robot with Flexible Passive Trunk.

Hi everyone.

I’ve been developing a Legged Robot with the help of @Juan.
To give a general idea is try to simulate a legged robot with flexible passive trunk, where at the ends of the trunk there is a leg, which is actuated from the hip and knee of each one of leg.
I have the inconvenience that I cannot control the force signals of each of the actuators.
I don’t know if this can be done from python, c ++ or from the same script as in .scn.

If anyone can help me, it would be of great help to me, since I have searched a lot but I cannot find something to help me.

I attach the github link of the two simulations that I have:

— One is a half ltrunk with one leg
https://github.com/eaparra01/Example_Beam/blob/main/Example_4_Beam.scn

— and the other is a legged robot with planar.
https://github.com/eaparra01/Example_Beam/blob/main/Example_5_Beam.scn