How can I move limbs with real time data with python script link in blueprint

Development Programming & Scripting Blueprint
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I want to use Unreal Engine 5 engine for reinforced learning environment, but there are two problems in front of me:
1- I am not sure how to connect Python script and unreal engine engine and exchange real-time data.
2- When Ragdoll Physics is active, I don’t know how we can apply the movement data for all limbs of the character in a single frame for each limb.
Thanks in advance for every reply.

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I learned that if you want to do a physical simulation you should use Pawn. I used Add Torque to physically move these Pawn limbs, but I still couldn’t get exactly what I wanted.