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Hi,

How about creating a plugin, where you can access the joints and apply forces on them? Here is a plugin example.

One possibility for getting the joint and applying a force on it would be something like:

physics::ModelPtr my_model = _parent;

physics::JointPtr my_joint = my_model->GetJoint("name_of_joint");

my_joint->SetForce(0, 3.0);

Cheers, Andrei

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