get contact forces from model plugin

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Hello,

I'm trying to get the contact forces between my robot and the rest of the world. In this tutorial, they explain how to do do it using by using a contact sensor and by writing a dedicated plugin.

However, I do already have a plugin to control my robot (it's a model plugin), and I would like to get access on current collision forces by calling some function(s) whenever I want (for example at each call of "OnUpdate" of the model).

Of course, I might write a separate plugin coupled with a contact sensor, and then use a message passing protocol, but it seems a bit complicated, and I'd rather having everything in a single program.

Do you have some idea how I could do it?

Thank you very much in advance

Félix