Joint Torque Control Mechanism

  1. What is the mechanism under omni.isaac.dynamic_control.apply_articulation_dof_efforts()? Is there a lexible joint model and extra joint controller? Or the force are directly applied on the joint?
  2. How the sensed torque value are generated in omni.isaac.dynamic_control.apply_articulation_dof_efforts()? The values are computed using flexible joint model, or computed through contact and dynamics model?

@Ossama_Ahmed would you please help