Hey everyone! We have exciting news to share! The first iteration of Inverse Dynamics is ready for experimentation! It should allow for more control over your simulations in a strictly force centered environment. The feature consists of 4 main getters: ArticulationBody.GetDriveForces(List<float> forces) and the related property getter ArticulationBody.driveForce ArticulationBody.GetJointGravityForces(List<float> forces) ArticulationBody.GetJointCoriolisCentrifugalForces(List<float> forces) ArticulationBody.GetJointForcesForAcceleration(ArticulationReducedSpace acceleration) GetDriveForces and the associated property driveForce, will return the forces applied by the Articulation Drives. It can tell you how hard each drive is trying to reach the intended target. In a simple example, you could calculate the weight of objects, by how much force they exert on the scale. GetJointGravityForces fills the supplied list of floats with the forces required to counteract gravity for each link in the chain. This tells you how much weight each link is experiencing due to gravity. GetJointCoriolisCentrifugalForces fills the supplied list of floats with the forces required to counteract coriolis and centrifugal effects. If applied to the joints, the effects of those forces will be negated. Otherwise, it tells you how much force is generated due to the coriolis and centrifugal forces. GetJointForcesForAcceleration will return the forces required to reach the provided acceleration for the ArticulationBody. Applying this force to the joint will propel the body to the desired acceleration. All of these demos can be found here: https://github.com/JuozasK/unity-inverse-dynamics-demo Inverse Dynamics is available in 2022.1.0a16 and up We’re excited to hear any feedback you might have about this feature!