I’m simulating a push recovery controller on a humanoid robot in Choreonoid and sometimes ago I was using follwoing lines for applying external force, however it does not work with recent version of the Choreonoid.
currentBodyItem = RootItem::instance()->findItem(“World/MyRobot”);
currentBodyItem1 = RootItem::instance()->findItem(“World/MyRobot”);
activeSimulator = SimulatorItem::findActiveSimulatorItemFor(currentBodyItem);
activeSimulator->setExternalForce(currentBodyItem1, waistLink, point, force, 0.5);
Would you please guide me how can I apply external force on a specific link in c++ in the recent version of Choreonoid?
Thank you very much.