hpr/movement convert into ode forces/torques


I wish to use pandaAI. pandaAi calculate new position for a node, depending of behavior.
new position and new hpr.

For simple node, I use LerpPosInterval to mitigate to the new pos in smooth move.

But I am using too Ode, and to use physics, I must’nt apply new position and quaternion to my body, but I have to apply forces and torques.

Anyone has an experience, idea, to do something like lerposInterval using addTorque, or addForce?

Thank you