Real-Time Physics Simulation Forum

How do I separate the controller from the motor in the command "setJointMotorControl2"? I want to design a controller and use setJointMotorControl2 to actuate a robot. Also, is there a source code for this command so I can understand what happens in it better?

I am using pybullet to simulate a bipedal robot using pre calculated trajectory. I have joints angles for the whole trajectory. It works perfectly using POSITION_CONTROL with "setJointMotorControl2". However, using a torque input with TORQUE_CONTROL the robot gets loose and the joints don'...