Question about how to get the contact forces and the local center of pressure position

[peterRassolow]

Hi,

Thank you and congratulations for you library!

I was wondering if there were any functions to get the following data that I would like to plot:

• the contact forces related to a 6D contact.
• the position of the local center of pressure (it can be retrieved from the local forces, but maybe a function is already available?).

If so, do you have any example on how to use these functions?

Thank you!
Best,
Peter

[cmastalli]

Hi @peterRassolow,

You can retrieve 6D contact forces and their derivatives if your problem defines 6D contact. You can compute their center of pressure yourself via the CopSupport class.

You can find force information via action_data.differential.multibody.contacts.contacts.

I hope this can help you.

Best,
Carlos

[peterRassolow]

Hi @cmastalli

Thank you for your prompt answer!

Best,
Peter