Apply external push/disturbance on the robot body or its CoM?

[Ahmadreza-Shahrokhshahi]

Hi,

I want to apply a certain amount of external push/disturbance to the walking robot in Choreonoid at a specific time as a force vector. This external force vector could be applied to the trunk, pelvis or the CoM. I have also checked Choreonoid forums, but I wanted to know how to apply it specifically in lipm_walking_control platform directly. Furthermore, in the forums, they have mentioned that there is a sample in python, but it is a little confusing, and since applying external disturbance is a very common problem, it would be great if we come up with a straightforward solution to it here.

Thanks