I want to use the 'Darwin' robots from [github repository](https://github.com/HumaRobotics/darwin_gazebo.git) to analysis the robot's walking with AI methods,but the feedback data is not enough in gazebo.
**How to get the pressure of the models link which touch the ground using URDF?**
attaching the Darwin description in gazebo
[darwin.urdf](https://github.com/HumaRobotics/darwin_description/blob/master/urdf/darwin.urdf)
[description repository](https://github.com/HumaRobotics/darwin_description.git)
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