Hi, I put one force and one torque sensor in the wrist of my robot and when I read the data and multiply it by transformation matrix to transform it into world frame, I get following signal values. I have a bias of about 12 in z-direction: (the change in signal is because of touching the desk) I want to do force control. The data before multiplying transformation matrix is almost similar too. Is it ok or it has to be zero? Thre code in XML is as follows: in body tag: site name="lumi_torque7" pos="0 0 0.107" quat="0.92388 0 0 -0.382683" in sensor tag: torque name="lumi_joint7_torque" site="lumi_torque7" force name="lumi_joint7_force" site="lumi_torque7" and I read data using sensordata: int torque_sensor_id = 7; int adr = m->sensor_adr[torque_sensor_id]; int dim = m->sensor_dim[torque_sensor_id]; mjtNum torque_data_temp[dim]; mju_copy(torque_data_temp, &d->sensordata[adr], dim); and same for force data. And I have another question. How can I read force-torque values without sensor and from mujoco calculations? Is it possible?