Hi all, I want to apply external force to a body of my robot during RL training. For example, i want to apply force to a thigh link of a quadrupeds. I need to apply force at the surface, not the center-of-mass(COM). Moreover, i want to apply force with random position at the surface.
There is a API in Dynamic Control:
apply_body_force() : Apply a force to a rigid body at a position, coordinates can be specified in global or local coordinates
Here is the question. Since the thigh is a irregular rigid body. How can i randomly select a random point of application of the force at the surface ?
Mnay thanks for your kind help!