p.setJointMotorControl , TORQUE_CONTROL mode not working properly

[a-daksh]

I am attempting to simulate a fully actuated robotic hand using the Bullet physics engine. However, when I use the setJointMotorControl function with torque control mode to rotate each joint, I encounter unexpected behavior. Specifically, when I set the torque value to 1, the joints rotate for a certain duration and then abruptly stop. However, when I increase the torque value to 2 or even 10, there is absolutely no response from the joints at all.

Note: I have set a threshold for each angle and also a limit effort and velocity (1000 and 1) in the URDF file of the hand
Also, when I execute using velocity control. Behaviour is as expected with no issues at all

This image is when all torques are set to 10

This is when torque=1

This is the expected behaviour (hand is in fist fashion), which occurs when i set to velocity mode