[ODE] are torque and force measures available for all joints in ODE?

[Armand Prieditis]

Hi,

 

I'd like to access the torques and forces that external forces cause upon a
set of joints connected through bones. For example, when a foot in on the
ground, the forces from the ground presumably propagate to the knee, hips,
pelvis. Are these available through some function call? If not, is it easy
to get these? It seems like ODE must have these easily accessible since it
must use such information to compute the result of external forces upon a
connected object.

 

Thanks,

 

Armand

 

 

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