I do agree, this is one of the many improvementents/experimentation the project needs. Actually, the Minitaur example come with a torque controller implementati

I do agree, this is one of the many improvementents/experimentation the project needs. Actually, the Minitaur example come with a torque controller implementation (https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur.py https://github.com/bulletphysics/bullet3/blob/master/example...), needs tests. btw I'm going to use a Jetson mini as controller!! :)