Hi, I try to add a weight to a robotic arm and measure the simulated joint efforts that when the robot is moving the weight. I currently use get_joint_torques(), since get_applied_joint_efforts() does not yield the desired result, as I do not want to apply torques and thus not measure applied torques, but the torques induced only by gravity and the robot movement, being controlled via joint position Articulation actions.
On a side note, when moving the weight via positional Articulation actions, the result given by get_joint_torques() does match the groundtruth real world data perfectly when it comes to the static forces, however, it fails to capture the dynamic forces (simulated forces in blue, measured in orange)
