I recently studied this example（https://www.mathworks.com/help/robotics/examples/perform-safe-trajectory-tracking.html）
learned how to use Simulink to implement safe trajectory tracking，and I want to try to implement the same function on the Baxter robot. The example considered is the swayer robot (single arm), while the Baxter robot is (two arms), so there is a big difference in calculating the expected torque using the inverse dynamic block.
And my qestion is how to calculate the expected torque to the two arms of Baxter, what settings are needed (I have imported the URDF model of baxter) .How to modify the input parameters of the block to ensure the expected force of different arms.
I am grateful for any reply !