short of adding tire mechanics into our physics engine. We also have a number of examples of this workflow in my Underactuated Robotics course, where we make extensive use of "simple models". [...] Hydraulic actuators provide another solution for generating large torques without large transmissions. Sarcos had a series of torque-controlled arms (and humanoids), and many of the most famous robots from Boston Dynamics are based on hydraulics (though there is an increasing trend towards electric mo