diff --git a/Barotrauma/BarotraumaShared/SharedSource/Characters/Animation/AnimController.cs b/Barotrauma/BarotraumaShared/SharedSource/Characters/Animation/AnimController.cs
index 723963e509..be307ce5af 100644
--- a/Barotrauma/BarotraumaShared/SharedSource/Characters/Animation/AnimController.cs
+++ b/Barotrauma/BarotraumaShared/SharedSource/Characters/Animation/AnimController.cs
@@ -319,14 +319,24 @@ public void LockFlipping(float time = 0.2f)
         
         protected void UpdateConstantTorque(float deltaTime)
         {
+            if (character.IsIncapacitated) { return; }
+            if (character.Stun > 0.01f) { return; }
             foreach (var limb in Limbs)
             {
                 if (limb.IsSevered) { continue; }
-                if (Math.Abs(limb.Params.ConstantTorque) > 0)
+                float angleToApply = limb.Params.ConstantAngle;
+                float torqueToApply = limb.Params.ConstantTorque;
+                float movementFactor = Math.Max(character.AnimController.Collider.LinearVelocity.Length() * 0.5f, 1);
+                if (CurrentAnimationParams.LimbConstantAnglesData.ContainsKey(limb.Params.ID))
                 {
-                    // TODO: not sure if this works on ground
-                    float movementFactor = Math.Max(character.AnimController.Collider.LinearVelocity.Length() * 0.5f, 1);
-                    limb.body.SmoothRotate(MainLimb.Rotation + MathHelper.ToRadians(limb.Params.ConstantAngle) * Dir, limb.Mass * limb.Params.ConstantTorque * movementFactor, wrapAngle: true);
+                    var constantAngleData = CurrentAnimationParams.LimbConstantAnglesData[limb.Params.ID];
+
+                    angleToApply = constantAngleData.ConstantAngle;
+                    torqueToApply = constantAngleData.ConstantTorque;
+                }
+                if (torqueToApply > 0f) 
+                {
+                    limb.body.SmoothRotate(MainLimb.Rotation + MathHelper.ToRadians(angleToApply) * Dir, limb.Mass * torqueToApply * movementFactor, wrapAngle: true);
                 }
             }
         }
diff --git a/Barotrauma/BarotraumaShared/SharedSource/Characters/Params/Animation/AnimationParams.cs b/Barotrauma/BarotraumaShared/SharedSource/Characters/Params/Animation/AnimationParams.cs
index 3a2562d48d..9efed3a00d 100644
--- a/Barotrauma/BarotraumaShared/SharedSource/Characters/Params/Animation/AnimationParams.cs
+++ b/Barotrauma/BarotraumaShared/SharedSource/Characters/Params/Animation/AnimationParams.cs
@@ -170,6 +170,29 @@ public float TorsoAngle
         [Serialize(50.0f, IsPropertySaveable.Yes, description: "How much torque is used to rotate the torso to the correct orientation."), Editable(MinValueFloat = 0, MaxValueFloat = 1000, ValueStep = 1)]
         public float TorsoTorque { get; set; }
 
+        public struct LimbConstantAngleData
+        {
+            public float ConstantAngle { get; set; }
+            public float ConstantTorque { get; set; }
+
+            public LimbConstantAngleData(float constantAngle, float constantTorque)
+            {
+                ConstantAngle = constantAngle;
+                ConstantTorque = constantTorque;
+            }
+        }
+        /// <summary>
+        /// Key = limb id, value = LimbConstantAngleData struct with two properties: constant angle and constant torque
+        /// </summary>
+        public Dictionary<int, LimbConstantAngleData> LimbConstantAnglesData { get; set; } = new Dictionary<int, LimbConstantAngleData>();
+
+        [Serialize(null, IsPropertySaveable.Yes), Editable]
+        public string LimbConstantAngles
+        {
+            get => ParseLimbConstantAngles(LimbConstantAnglesData);
+            set => SetLimbConstantAngles(LimbConstantAnglesData, value);
+        }
+
         [Header("Legs")]
         [Serialize(25.0f, IsPropertySaveable.Yes, description: "How much torque is used to rotate the feet to the correct orientation."), Editable(MinValueFloat = 0, MaxValueFloat = 1000, ValueStep = 1)]
         public float FootTorque { get; set; }
@@ -486,6 +509,12 @@ protected static string ParseFootAngles(Dictionary<int, float> footAngles)
             return string.Join(",", footAngles.Select(kv => kv.Key + ": " + kv.Value.ToString("G", CultureInfo.InvariantCulture)).ToArray());
         }
 
+        protected static string ParseLimbConstantAngles(Dictionary<int, LimbConstantAngleData> limbAngles)
+        {
+            //convert to the format "id1:angle;torque,id2:angle;torque"
+            return string.Join(",", limbAngles.Select(kv => $"{kv.Key}: {kv.Value.ConstantAngle.ToString("G", CultureInfo.InvariantCulture)};" + $"{kv.Value.ConstantTorque.ToString("G", CultureInfo.InvariantCulture)}"));
+        }
+
         protected static void SetFootAngles(Dictionary<int, float> footAngles, string value)
         {
             footAngles.Clear();
@@ -509,6 +538,42 @@ protected static void SetFootAngles(Dictionary<int, float> footAngles, string va
             }
         }
 
+        protected static void SetLimbConstantAngles(Dictionary<int, LimbConstantAngleData> limbAngles, string value)
+        {
+            limbAngles.Clear();
+            if (string.IsNullOrEmpty(value))
+            {
+                return;
+            }
+
+            string[] keyValuePairs = value.Split(',');
+            foreach (string joinedKvp in keyValuePairs)
+            {
+                string[] keyValuePair = joinedKvp.Split(':');
+                if (keyValuePair.Length != 2 ||
+                    !int.TryParse(keyValuePair[0].Trim(), out int limbIndex))
+                {
+                    DebugConsole.ThrowError("Failed to parse limb constant angles (" + value + ")");
+                    continue;
+                }
+
+                string[] dataValues = keyValuePair[1].Split(';');
+                if (dataValues.Length != 2 ||
+                    !float.TryParse(dataValues[0].Trim(), NumberStyles.Float, CultureInfo.InvariantCulture, out float constantAngle) ||
+                    !float.TryParse(dataValues[1].Trim(), NumberStyles.Float, CultureInfo.InvariantCulture, out float constantTorque))
+                {
+                    DebugConsole.ThrowError($"Failed to parse angle or torque for limb {limbIndex} ({keyValuePair[1]})");
+                    continue;
+                }
+
+                limbAngles[limbIndex] = new LimbConstantAngleData
+                {
+                    ConstantAngle = constantAngle,
+                    ConstantTorque = constantTorque
+                };
+            }
+        }
+
         public static Type GetParamTypeFromAnimType(AnimationType type, bool isHumanoid)
         {
             if (isHumanoid)