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Does anybody have an example of how to add an external force to a model?

I am using the upper extremity model and I would like to add an external torque to both the elbow and shoulder joint. The torque values are saved in a .mot file.

How do I specify the direction of the torque and the joint it acts on in the .osim file (I know it should be in the Force set parameter but I dont know what properties need to be specified under that, and how to ensure that the external values are taken during the inverse dynamics and static optimization steps)?

Is there an example of an external force (I think its called a torque actuator) that can be created to act at a joint? I wasnt able to find an example of it.