Hi everyone, i'm trying to understand how weheelcolliders behave, and even if i got a pretty decent results on my car, there are still things i can't grasp. The main things is how to completely stop the car from moving at the beginning of the episode. i've tried everything, brakeTorque = infinity, motorTorque = 0, rb.velocity & rb.angular velocity = vector3.zero, useGravity = false, isKinematic = true, and still after the agent reset there are still forces applied to the car. i'm using 2 booleans to be sure that the "full stop" is applied at least for 1 fixed update before calling EndEpisode(). if rb.velocity.magnitude is around 0 for a certain time, the agent gets resetted, so i can check if the car got stuck. When it flips on a side, velocity goes down, the counter starts ticking, but if i keep accelerating while waiting for the reset, as the new episode begins, the car starts almost at full speed. In a videogame you could easily set it to kinematic for the first 4-5 frames or whatever, but being an ML agent, this could mess with the initial inputs of every episode. I think messing with the last input would be less problematic for the agent, that's why i tried stopping it completely right before EndEpisode, instead of doing it onEpisodeBegin. am i missing some forces? how can i make it stop completely?