I’m currently doing a project regarding robotic legs and was wondering if you have the dynamic analysis of the leg? (aka calculations for the Jacobian and how you determine the states of the leg)
Hi bkwan,
For something like this, I would suggest you use the URDF of the robot and a tool such as Pinocchio (https://github.com/stack-of-tasks/pinocchio). The simulator file they have setup uses such a formulation. Pinocchio will allow you to get information such as calculations for the jacobian.