[SOLVED] Control actuators and receive sensor variables of scene .scn Legged Robot

[eaparra]

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

[Hugo]

Duplicated with https://www.sofa-framework.org/community/forum/topic/problem-of-the-variables-control-of-legged-robot-with-flexible-passive-trunk/

Let’ s close this topic.
Best

Hugo

[Author]

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