VRep: How to use V-Rep in Torque/Force mode

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The V-REP allows the user to choose how to control the robot, if in inverse kinematic mode or torque/force mode. The configuration in the V-REP environment is different for each case, and sending torque to V-REP can be a little bit trick. Thereat, this tutorial will cover the control of a V-REP robot using the torque/force mode.