Not sure if a quadruped robot with a different structure can be added to the framework

[zheyangdetaiyang]

Hello,

I would like to add a new quadruped robot model to the framework, which has a structure similar to ETH's HEAP (a wheeled-legged excavator robot). However, the leg structure is somewhat different from typical quadruped robots. Therefore, I am unsure if the kinematics/dynamics computation processes in the framework will be applicable to this model. I reviewed the "body_force_estimator_dynamics.cpp" and "quad_kd.cpp" files in the code, but the large codebase makes it difficult for me to understand the kinematic/dynamic relationships within the framework. I am urgently seeking help in this area, and I would greatly appreciate any guidance you can provide.

Thank you very much!

Here is an image of the model I want to add to the framework.

[zheyangdetaiyang]

I reviewed three of Joseph Norby's papers, but the descriptions of both the simple and complex dynamics models do not mention the configuration of the leg joints, which raises doubts about whether these models can be adapted to my own. I noticed similar questions in previous issues（#382）.

However, the MATLAB script for generating the dynamics model seems to only generate a center-of-mass dynamics model. I'm not sure if it can produce a full-body dynamics model for legged robots with different structures or if modifications to the script code are needed.