How to implement position-based control without existing Actuator components in SOFA?

[colaca]

Hi everyone
I'm working on a deformable object control problem using SOFA framework. My setup involves:

1. A 3-DOF robot end-effector that can move in XYZ directions
2. Control points on the deformable object that are directly manipulated by the end-effector
3. Feature points whose positions need to be monitored
4. QPInverseProblemSolver for computing optimal control solutions

I understand that QPInverseProblemSolver requires both Actuator and Effector components to build and solve inverse problems. Currently available Actuators in SOFA include:CableActuator (for cable-driven systems)、SurfacePressureActuator (for pneumatic actuation)、JointActuator (for joint angle control)、ForcePointActuator (for point force application)、YoungModulusActuator (for material property control)

However, none of these seems directly applicable to my case where I need pure position control at specific points. I'm considering these questions:
1.Is there any existing solution that I might have overlooked?
2.Is it possible to adapt any existing Actuator for position-based control?
3.If not, is it necessary to develop a custom Actuator component?
4.If yes, what would be the correct approach to develop a position-based Actuator that works with QPInverseProblemSolver?

My ideal Actuator would Control spatial positions of specified points directly and can Set position constraints and limits，also，Work with QPInverseProblemSolver for inverse computation.

Any suggestions or guidance would be greatly appreciated!
Thanks！