I wat to read the motor_torque data while performing a spherical clsing hand action. The action is indeed executed,, however I read motor_torque=0 in the following actuators: A_index1, A_middle1, A_ring1, A_pinky_1.

I am reading the sensor data at ~1kHz. The rest of the variables give information that make sense. For instance the joint positions of the fingers change when the hand is closing.