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When I run Forward Dynamics on a model that has contact, I get forces and torques for the contact elements from the ForceReporter. Are these forces applied to a body's origin? i.e. this is not the force applied to the body at the center of pressure right? since at COP would mean torques are 0.

Hi Anne,

Unfortunately there isnt much documentation around describing this. The reporter force is the net force of the contact between the two contact surfaces. It will report the 6 net force components (Fx, Fy, Fz, Mx, My, Mz). There currently is no way of accessing the individual forces between elements using the API.

Cheers,
-james