The linear complementarity Problems (LCPs) generated by this library are solved using PATH. pathlcp will need to be in the MATLAB path for the examples to run correctly.
Quasi-static LCPs can be solved directly, both in the velocity-based formulation (finiteFB) as well as the time-stepping formulation (finiteFBTS). There is additional structure to repeatedly solves the time-stepping problem over a trajectory with positional feedback in simulateQuasiStatics.
There are three examples included, each of which may be run with the parameter true to generate a corresponding video:
slidingCircle: A circle is pushed along three different paths by two fingers.slidingCircleWithWall: A circle is rolled against a wall.polygonalPegInHole: A rectangual peg is inserted into a slot with a 1% width tolerance.