Is there any way to measure the torque at the end of the robotic arm in webots?

[xinyuzhu1]

I want to measure the force and torque at the end of the robotic arm, but webots only has force sensors and no torque sensors. Is there any way to measure torque?

[ShuffleWire]

There is the https://cyberbotics.com/doc/reference/motor?version=master#wb_motor_get_torque_feedback for measuring the torque used by a motor, that could give you info.

However even in real life measuring external action is more often made by measuring force. And if you need a torque, multiply this force by a lever distance.