Force/Torque control

Hi, I am trying to use force/torque for my robot joints.

I found that in there are two methods in DC API:


may I know what are the differences between them?
And, is there any other better way to do it?

Lastly, is there any method to check if the torque is really applied in the simulation? Like any feedback/sensor that can I use for debugging to make sure it is working in the way I want?

Thank you.

You can use this API document to find information for force/torque: Dynamic Control [omni.isaac.dynamic_control] — isaac_sim mr3140 documentation