[ODE] Real contact forces (=weight distribution)

[Marco Vienup]

Hi Thomas,
I dont´t know if I was the person, but I had the same problem.
I needed the correct forces on the feet of a walking robot.
So I placed a thin body with a very small mass at the bottom of each leg.
I connect the leg and the thin body with a fixed joint.
With the dJointGetFeedback function I can determine the forces which affect
to the leg.
How do you determine the forces at the moment, and why they are wrong ?
I didn´t understand it :)

Greetz
Marco

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Marco Vienup
Mail: Marco at Vienup.de