The shape files of T shape tool.
The shape files of target object.
the makefile
The script that uses makefile to run the controller code.
This adds force.
The world file.
This adds velocity of 20 m/s in Z direction.
The angular velocity 1000[rad/s] about Y axis is applied along Y direction.
This uses setLinearVelocity to apply the linear velocity 20[m/s] in Z axis
Unstable version, when only force is added.
Unstable version, when only torque is added.
Unstable version, when only angular velocity is added.
Unstable version, when only linear velocity is added.
Stable version, when only linear velocity is added.
Stable version, when only angular velocity is added.
stable version, when only force is added.
Object shape files created by NOT using OpenHRP format.
Tool shape files created by NOT using OpenHRP format.
World file. Modify it to use different shapes of tool and target.
Generic controller file. Comment out functtions you don't need.