simtk.org

Hi,

I would like to know how to get access to joint torques during forward simulation using python API? Is there any API command for it?

Thanks,
Saurabh

From simbody documentation, it seems getMobilityForces() and getRigidBodyForces() functions could be used for this. Can someone tell what is the difference between these two functions? And which one is appropriate for getting joint moments/torques due to muscles, gravity, centrifugal and coriolis? A code snippet would also be helpful.

Thanks,
Saurabh