How to calculate dynamics under the circumstances of reference trajectory

[kuanglele]

Hi,

I am trying to figure out how to calculate the dynamics like torques and contact forces under the condition of reference trajectory.

Take quadruped_min for example, before the step of trajectory optimazation, the code gives a reference trajectory and it can be visualized with MeshCat. But all I know is the knematics, how can I get dynamics such as the energy when it's walking, the torques and contact forces?

Thanks for your help!