[ODE] Character Collision with primitives 2

[Jeroen van den Belt]

I have one character who's movement is controlled by inverse kinematics.

I want to able to touch objects with the hands and fingers of the character.

So I assume I need to represent characters meshes by cylinders?

Is there an example available how to represent a characters, which is made
out of bones and skinning, trought cylinders?

I think I need to do:
1. setup the cylinders
2. Then for each framestep:
  transform their orientation and position according to the bones.

Any help would be appreciated.