Getting measured forces of an articulation (force sensor)

[jackzeng-robotics]

Hi developers,

I was wondering if we are able to retrieve the forces/torques applied on a body or joint?
In other words, I want to measure the torque acting on my body or joint through a (imaginary) force sensor.

I have been able to find the applied torques through the actuation model and the desired joint effort., in the articulationview class. However, I want to use the implicit actuator model so these values are 0 for me. For reference, I am trying to control a drone by applying external forces on the bodies. So, I am not using any joint control.

Thanks!

Kind regards,
Jack