Question Get Contact Tension

I am tying to build a jointed character rig and control it via ML brain.
I need to insert data about force that's applied from any contact point.

Meanwhile I tying to get tension , or force (maybe its called lambda which is called Lagrange multiplier) that is applied inside of the contacts that mostly do not perform any Work( in Joule).


here the sample reference that displays contact tension in constrained bridge
link : https://www.myphysicslab.com/engine2D/chain-en.html



is There any ways to get that tension force from a joint?
If its, for simplicity, how can I get that tension from a distance joint?