Not sure if this is even feasible, or if this has already been requested, but what about letting the user click&drag joints on-the-fly? Let's say I have created a walker bot that's almost walking perfectly, except one node isn't quite right... what if I could click and drag it to influence that node a little bit? I realize that changes a lot about  the sim, but maybe there could be a section with bots that were influenced by humans and those that were not or something?