I am trying to figure out how to calculate the dynamics like torques and contact forces under the condition of reference trajectory.
Take quadruped_min for example, before the step of trajectory optimazation, the code gives a reference trajectory and it can be visualized with MeshCat. But all I know is the knematics, how can I get dynamics such as the energy when it's walking, the torques and contact forces?
Hi,
I am trying to figure out how to calculate the dynamics like torques and contact forces under the condition of reference trajectory.
Take quadruped_min for example, before the step of trajectory optimazation, the code gives a reference trajectory and it can be visualized with MeshCat. But all I know is the knematics, how can I get dynamics such as the energy when it's walking, the torques and contact forces?
Thanks for your help!