I know hat MuJoCo provides haptic feedback so that if you have a joystick you, as the human controller, will feel the forces applied to joints etc (if you're controlling an articulated hand model) while moving the stuff in a scene. However, for the project that I'm working on I need to get some more detailed information. For instance, imagine you have an articulated hand like shown in this video and you move the hand to touch other objects. I need to get access to information such as how much force/pressure is being applied to every part (e.g. face) of the articulated hand. I wonder, is it possible to obtain these information in MuJoCo?