measurement of force

Hi,

Is there anyway in breve to know how much force a paticular object 
exerts on another object? I am building a wheeled robot in a crate-world 
simulation. I require feedback as to how much force the robot needs to 
lift different crates, push them etc. Can I get this information from 
the built-in physics engine? (mass of entities being provided and 
various other physical parameters at play being set .e have known values)

Thanks,
Mithila
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