What's the practice to do torque control?

[WenqiangX]

Is your feature request related to a problem? Please describe.
I saw the documentation here mentions "Note: Best practices for velocity and torque control will be published in the future."

Since recently we really need the torque control feature, I wonder how can we achieve that in (may be not best) practice?

Describe the solution you'd like
The tutorial to achieve torque control.

Describe alternatives you've considered
No ideas.

Additional context
I actually also post our recent trials to implement the torque control in forum.

We conduct a parallel expriments by implementing the inverse dynamics example from pybullet to unity. We try to make the logic the same. But the simulated results are not.

It may be due to we are not using the inverse dynamics APIs correctly in Unity.

So if anyone can instruct us, it would be really grateful!