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

[Armand Prieditis]

Hi Jon,

Thanks for your response. I was looking for more of a per-joint basis rather
than whole body. How do I use the "joint feedback" that you mentioned? I'm
guessing the forces and torques that can be measured at each joint must be
available because ODE has to use such things to propagate external forces
applied at one location to the rest of the body of an articulated body.

Thanks,

Armand