diff --git a/Go2Py/control/cat.py b/Go2Py/control/cat.py
index 74c7bad..8e16b07 100755
--- a/Go2Py/control/cat.py
+++ b/Go2Py/control/cat.py
@@ -294,6 +294,7 @@ class CaTAgent:
             "contact_state": self.contact_state[np.newaxis, :],
             "body_linear_vel_cmd": self.commands[np.newaxis, 0:2],
             "body_angular_vel_cmd": self.commands[np.newaxis, 2:],
+            "torques": self.torques
         }
 
         self.timestep += 1
diff --git a/examples/06-CaT-RL-controller.ipynb b/examples/06-CaT-RL-controller.ipynb
index 5ab6cb7..7cb5218 100644
--- a/examples/06-CaT-RL-controller.ipynb
+++ b/examples/06-CaT-RL-controller.ipynb
@@ -25,7 +25,23 @@
    "cell_type": "code",
    "execution_count": 1,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "ename": "ImportError",
+     "evalue": "this platform is not supported: ('failed to acquire X connection: Can\\'t connect to display \":1\": b\\'Authorization required, but no authorization protocol specified\\\\n\\'', DisplayConnectionError(':1', b'Authorization required, but no authorization protocol specified\\n'))\n\nTry one of the following resolutions:\n\n * Please make sure that you have an X server running, and that the DISPLAY environment variable is set correctly",
+     "output_type": "error",
+     "traceback": [
+      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
+      "\u001b[0;31mImportError\u001b[0m                               Traceback (most recent call last)",
+      "Cell \u001b[0;32mIn[1], line 2\u001b[0m\n\u001b[1;32m      1\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mGo2Py\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mrobot\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mfsm\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m FSM\n\u001b[0;32m----> 2\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mGo2Py\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mrobot\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mremote\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m KeyboardRemote\n\u001b[1;32m      3\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mGo2Py\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mrobot\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01msafety\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m SafetyHypervisor\n\u001b[1;32m      4\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mGo2Py\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01msim\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01mmujoco\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m Go2Sim\n",
+      "File \u001b[0;32m/home/Go2py/Go2Py/robot/remote.py:2\u001b[0m\n\u001b[1;32m      1\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mthreading\u001b[39;00m\n\u001b[0;32m----> 2\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mpynput\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m keyboard\n\u001b[1;32m      5\u001b[0m \u001b[38;5;28;01mclass\u001b[39;00m \u001b[38;5;21;01mBaseRemote\u001b[39;00m:\n\u001b[1;32m      6\u001b[0m     \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21m__init__\u001b[39m(\u001b[38;5;28mself\u001b[39m):\n",
+      "File \u001b[0;32m/usr/local/lib/python3.10/dist-packages/pynput/__init__.py:40\u001b[0m\n\u001b[1;32m     34\u001b[0m     \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mlogging\u001b[39;00m\n\u001b[1;32m     35\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m logging\u001b[38;5;241m.\u001b[39mgetLogger(\u001b[38;5;124m'\u001b[39m\u001b[38;5;132;01m{}\u001b[39;00m\u001b[38;5;124m.\u001b[39m\u001b[38;5;132;01m{}\u001b[39;00m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mformat(\n\u001b[1;32m     36\u001b[0m         \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m.\u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mjoin(\u001b[38;5;28mcls\u001b[39m\u001b[38;5;241m.\u001b[39m\u001b[38;5;18m__module__\u001b[39m\u001b[38;5;241m.\u001b[39msplit(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124m.\u001b[39m\u001b[38;5;124m'\u001b[39m, \u001b[38;5;241m2\u001b[39m)[:\u001b[38;5;241m2\u001b[39m]),\n\u001b[1;32m     37\u001b[0m         \u001b[38;5;28mcls\u001b[39m\u001b[38;5;241m.\u001b[39m\u001b[38;5;18m__name__\u001b[39m))\n\u001b[0;32m---> 40\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m keyboard\n\u001b[1;32m     41\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01m.\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m mouse\n",
+      "File \u001b[0;32m/usr/local/lib/python3.10/dist-packages/pynput/keyboard/__init__.py:31\u001b[0m\n\u001b[1;32m     26\u001b[0m \u001b[38;5;28;01mimport\u001b[39;00m \u001b[38;5;21;01mitertools\u001b[39;00m\n\u001b[1;32m     28\u001b[0m \u001b[38;5;28;01mfrom\u001b[39;00m \u001b[38;5;21;01mpynput\u001b[39;00m\u001b[38;5;21;01m.\u001b[39;00m\u001b[38;5;21;01m_util\u001b[39;00m \u001b[38;5;28;01mimport\u001b[39;00m backend, Events\n\u001b[0;32m---> 31\u001b[0m backend \u001b[38;5;241m=\u001b[39m \u001b[43mbackend\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;18;43m__name__\u001b[39;49m\u001b[43m)\u001b[49m\n\u001b[1;32m     32\u001b[0m KeyCode \u001b[38;5;241m=\u001b[39m backend\u001b[38;5;241m.\u001b[39mKeyCode\n\u001b[1;32m     33\u001b[0m Key \u001b[38;5;241m=\u001b[39m backend\u001b[38;5;241m.\u001b[39mKey\n",
+      "File \u001b[0;32m/usr/local/lib/python3.10/dist-packages/pynput/_util/__init__.py:77\u001b[0m, in \u001b[0;36mbackend\u001b[0;34m(package)\u001b[0m\n\u001b[1;32m     74\u001b[0m         \u001b[38;5;28;01mif\u001b[39;00m module \u001b[38;5;129;01min\u001b[39;00m RESOLUTIONS:\n\u001b[1;32m     75\u001b[0m             resolutions\u001b[38;5;241m.\u001b[39mappend(RESOLUTIONS[module])\n\u001b[0;32m---> 77\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mImportError\u001b[39;00m(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mthis platform is not supported: \u001b[39m\u001b[38;5;132;01m{}\u001b[39;00m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mformat(\n\u001b[1;32m     78\u001b[0m     \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m; \u001b[39m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mjoin(\u001b[38;5;28mstr\u001b[39m(e) \u001b[38;5;28;01mfor\u001b[39;00m e \u001b[38;5;129;01min\u001b[39;00m errors)) \u001b[38;5;241m+\u001b[39m (\u001b[38;5;124m'\u001b[39m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;124m'\u001b[39m\n\u001b[1;32m     79\u001b[0m         \u001b[38;5;124m'\u001b[39m\u001b[38;5;124mTry one of the following resolutions:\u001b[39m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;124m'\u001b[39m\n\u001b[1;32m     80\u001b[0m         \u001b[38;5;241m+\u001b[39m \u001b[38;5;124m'\u001b[39m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;130;01m\\n\u001b[39;00m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mjoin(\n\u001b[1;32m     81\u001b[0m             \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m * \u001b[39m\u001b[38;5;132;01m{}\u001b[39;00m\u001b[38;5;124m'\u001b[39m\u001b[38;5;241m.\u001b[39mformat(s)\n\u001b[1;32m     82\u001b[0m             \u001b[38;5;28;01mfor\u001b[39;00m s \u001b[38;5;129;01min\u001b[39;00m resolutions))\n\u001b[1;32m     83\u001b[0m         \u001b[38;5;28;01mif\u001b[39;00m resolutions \u001b[38;5;28;01melse\u001b[39;00m \u001b[38;5;124m'\u001b[39m\u001b[38;5;124m'\u001b[39m)\n",
+      "\u001b[0;31mImportError\u001b[0m: this platform is not supported: ('failed to acquire X connection: Can\\'t connect to display \":1\": b\\'Authorization required, but no authorization protocol specified\\\\n\\'', DisplayConnectionError(':1', b'Authorization required, but no authorization protocol specified\\n'))\n\nTry one of the following resolutions:\n\n * Please make sure that you have an X server running, and that the DISPLAY environment variable is set correctly"
+     ]
+    }
+   ],
    "source": [
     "from Go2Py.robot.fsm import FSM\n",
     "from Go2Py.robot.remote import KeyboardRemote\n",
@@ -39,7 +55,19 @@
    "cell_type": "code",
    "execution_count": 2,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "ename": "NameError",
+     "evalue": "name 'Go2Sim' is not defined",
+     "output_type": "error",
+     "traceback": [
+      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
+      "\u001b[0;31mNameError\u001b[0m                                 Traceback (most recent call last)",
+      "Cell \u001b[0;32mIn[2], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m robot \u001b[38;5;241m=\u001b[39m \u001b[43mGo2Sim\u001b[49m()\n",
+      "\u001b[0;31mNameError\u001b[0m: name 'Go2Sim' is not defined"
+     ]
+    }
+   ],
    "source": [
     "robot = Go2Sim()"
    ]
@@ -69,6 +97,7 @@
     "        self.command_profile = CommandInterface()\n",
     "        self.agent = CaTAgent(self.command_profile, self.robot)\n",
     "        self.init()\n",
+    "        self.hist_data = {}\n",
     "\n",
     "    def init(self):\n",
     "        self.obs = self.agent.reset()\n",
@@ -79,7 +108,12 @@
     "\n",
     "    def update(self, robot, remote):\n",
     "        action = self.policy(self.obs, self.policy_info)\n",
-    "        self.obs, self.ret, self.done, self.info = self.agent.step(action)"
+    "        self.obs, self.ret, self.done, self.info = self.agent.step(action)\n",
+    "        for key, value in self.info.items():\n",
+    "            if key in self.hist_data:\n",
+    "                self.hist_data[key].append(value)\n",
+    "            else:\n",
+    "                self.hist_data[key] = [value]"
    ]
   },
   {