SetVelocity bypasses physics (see the call to SetVelocityMaximal underneath), so forces were not computed based on target velocity. To do this is a physically realistic fashion, write a force based PID controller that takes velocity target as feedback, and GetForceTorque should give you more physically meaningful readings.
SetVelocity bypasses physics (see the call to SetVelocityMaximal underneath), so forces were not computed based on target velocity. To do this is in a physically realistic fashion, write a force based PID controller that takes velocity target as feedback, and GetForceTorque should give you more physically meaningful readings.