Gravity compensation for force torque sensing at the wrist?

[mvandermerwe]

I am trying to simulate a force torque sensor at the wrist of a kuka robot with pybullet. After the wrist is a gripper and a tool rigidly attached to the gripper. Is there a means to perform gravity compensation such that the force at the wrist is near zero when only gravity is acting on the tool, such that only external forces and torques are returned from the force torque sensor, e.g. from contacting another object in the scene?

Current behavior: in the following scenario, the force torque sensor at the wrist reports [1.06041923e-03, -1.92771867e-05, -7.50066399e+00, -7.91212099e-05, 1.25379123e-03, 1.42409211e-08], which corresponds to the gravitational force on the gripper + tool.