this year is there a penalty if you do not withdraw the minimum amount required from your traditional ira ?
Yes. In 2021 you must withdraw your RMD.
If you mean for your 2020 return the RMD was waived and you do not need to take it.
Here is a worksheet to calculate the RMD
https://www.irs.gov/pub/irs-tege/uniform_rmd_wksht.pdf