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Is there a way to model flexible joints in vrep?

Hello,

do you mean joints with a certain compliance? Yes, you can use a joint in spring-damper mode, and adjust its target position. Or you can write your own joint controller via a joint control callback function.
Have a look at the demo model: Models/examples/spring-damper.ttm

Cheers

I just wanted to add that it is also possible to add "relaxation" to a joint by editing its engine specific properties. I, for instance, added relaxation to a joint using the vortex engine such that it is allowed to move a bit in the z-direction (i.e. some compliance in the z-direction).

Best,
Mathias Thor

Am I able to do torque control with that?

Also, in the ODE manual at section How to use ERP and CFM it is said that there is a direct relationship between CFM and ERP parameters, and the Kp and Kd constants of a spring-damper model.