How to integrate two controlMode in one ArticulatedSystem?

[Hly-123]

Dear Professor,

I am using the simulation Raisim now. And I use addArticulatedSystem() to import my robot (UR5 + Allegro Hand in one urdf).
While I want to use PD_PLUS_FEEDFORWARD_TORQUE to control UR5, I want to use FORCE_AND_TORQUE to control the Allegro Hand.

Since I design a PD controller to compute the torque (tau) for Allegro hand in the hardware setting, I want to align the controller between Sim and Real. Therefore, I wonder if I set the imported ArticulatedSystem in PD_PLUS_FEEDFORWARD_TORQUE, then set the Pgain and Dgain of Allegro hand's joints to zero. Then use setGeneralizedForce(tau) to assign the 'tau' calculated by my PD controller.
Will it be the same as setGeneralizedForce(tau) in the FORCE_AND_TORQUE control mode? Since I noticed that the PD controller in the Raisim not only considers posErr_, gv_, uref_, but also has some compensation term?

Or, is there any other better way to solve integrate two controlMode in one ArticulatedSystem?

Thanks for your kindness and patience! I'm looking forward to hearing back from you!

Regards,
Linyi