The output of calculate_force_and_torque_matrix is resistance_matrix, not the force and torque matrix. And the code of calculate_force_and_torque_matrix nearly same as calculate_resistance_matrix.
The "force and torque matrix" is not finished and actually currently not used in the code. Maybe i will include that feature of force and torque calucation in the future. Currently, i have no time for that.
The output of calculate_force_and_torque_matrix is resistance_matrix, not the force and torque matrix. And the code of calculate_force_and_torque_matrix nearly same as calculate_resistance_matrix.