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I don't know of any way to get these values 'out' of RViz (they're not published on a topic fi).

As I wrote in my earlier comment, these are calculated by the MoveIt RViz plugin. Searching the sources, they appear to be calculated in MotionPlanningDisplay::computeMetricsInternal(..) (here), using an instance of the DynamicsSolver class. Lacking any way of getting the values out of the plugin, you could see whether you can instantiate a DynamicsSolver yourself and have it calculate things for you whenever you want.