# Revision history [back]

I think the minimum includes you'll need are:

#include <gazebo/physics/Joint.hh>
#include <gazebo/physics/JointWrench.hh>


and use the function this way:

physics::JointPtr joint = this->model->GetJoint("my_joint_name");
physics::JointWrench wrench = joint->GetForceTorque(0);


It's not a good example as it's convoluted, but the AtlasPlugin makes use of the GetForceTorque calls to get forces and torques at wrist and ankle.