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I am currently using opensim in forward dynamics simulation, I add two contact mesh to my robot's feet. Is it possible to plot the contact with respect to time in opensim? I believe I created the contact force correctly, but in the plot window, there is no contact force to choose for y axis.

There will be as such no contact force in the Y axis.You have to consider the segment or region where you have created your contact sphere/contact mesh and plot it with respect to time.

All the best.

Thanks for your helping, but I still don't know how to do so. Do you mean I first run a forward dynamics, and analyze the motion data? Sorry I am new to this software.

1.Create contact mesh/contact spheres and respective contact forces on the region you want to determine the force.Then run forward dynamics with the help of motion file you have.Plot the results