i am sending cartesian position (px,py,pz) to two falcon (teleoperation principal) it is main part of the code.
///////////////////
// default role assignment
master = 1;
slave = 0;
// center both devices
drdMoveToPos (0.0, 0.0, 0.0, false, master);
drdMoveToPos (0.0, 0.0, 0.0, true, slave);
while (drdIsMoving (master) || drdIsMoving (slave)) drdWaitForTick (master);

drdEnableFilter (true,master);

drdEnableFilter (true,slave);



t0 = drdGetTime();

if (done > -1) done = 0;
while (!done) {

// generate random point within workspace

dt = drdGetTime()-t0;
alpha = radial_vel * dt;
beta = M_PI/2.0 + (vertical_vel * dt);
px = x0+radius*cos(alpha)*cos(beta);
py = y0+radius*sin(alpha)*cos(beta);
pz = z0+radius*sin(beta);

drdTrackPos(px,py,pz,master);
drdTrackPos(px,py,pz,slave) ;
if (beta > 5.0*M_PI/2.0) done = -1;

drdGetPos(&px,&py,&pz,master);
drdGetPos(&psx,&psy,&psz,slave);

dhdGetForce(&fmx,&fmy,&fmz,master);
dhdGetForce(&fsx,&fsy,&fsz,master);
///////////////////////////////////////////////////
my question is i use drdGetPos to write positions values in text file witch is fine as an output but when i check for forces with dhdGetForce i got also numbers in the text file i wonder why i have also forces as an output?

Maybe the following code:

dhdGetForce(&fsx,&fsy,&fsz,master);

should be written as:

dhdGetForce(&fsx,&fsy,&fsz,slave);

i think you didnt understand what i mean.in the code i send only positions to master and i track them in the slave side ,when i record the data during simulation i get positions values,which is normal but i get force values too i wonder why?