Decent looking dancers who want you to have fun
I find Torpedoes to be like a relaxed, neighborhood bar, with decent-looking dancers that are eager to help you have fun.  The dancers are mostly Latina, and while they are mainly in the 5-7 range, they come in all shapes and sizes, and the dances can often stretch beyond a simple grind (YMMV). 
The Club has a rectangular bar with 2 poles. Girls dance 2 songs, then circulate inside the bar for tips for 2 songs, then either sit with their phone or come around to ask for dances. Their English language skills are sometimes limited, but you can typically work out the communications with Google Translate or using your hands.
I was really tempted by an exceptionally curvy and pillowy girl who asked me for a dance during her tip walk.  Her look and on-stage activities had me very interested, but I decided to wait to check out other options.  A very fit dancer with a gymnast-like body was next to ask me for a dance, but I had been for a lap dance with her before and found it to be very sensual, but she stopped short of making it sensational.  I gave in to a MILFy dancer – thin, with a really enhanced manmade chest.  We started with a regular lap dance, then moved to VIP when things got promising. I certainly left happy and was happy to provide an appropriate tip. 
Regular lapdances are in a separate room with a set of 10-12 wooden benches around the outside. 6-foot partitions separate each of the benches so you have privacy to the side, but the front is open into the common area. Dances are $20 for 4 minutes, with the first paid in advance to a big guy at the front who serves as both money-taker and timekeeper. He'll call out the girl's name when your time is up, and you'll pay him at the end for any additional dances. VIP is $100 for 15 minutes in an enclosed area directly across from the timekeeper, or in the most remote bench area. The timekeeper basically keeps to himself, but it is good to tip him a few bucks if you want to avoid interruption. Waitress is attentive, beer is $6, bathroom is clean enough, and there is plenty of safe parking in the Bound Brook Train Station lot ($4). There's no cover charge in the afternoon.