Grabbing with constraints: now can set lin and ang limits.
Grabbing with constraints: now can set lin and ang limits.
Changed the rotation of haptic input.
Changed position of lights.
Fixed bugs in getting points from boxes and holes. No longer double counts.
Reseting and free grabbing added.
Added new keys for resetting scene and playback and toggle lfd.
Added a vector to check threshold for rope points because it was not being grabbbed properly.
Changed closed val for peg and modified peg transfer to work for playback.
Added reset and changes to check if file exist.
Fixed playback issues with peg transfer. Added reset facility and checks for file existing. Also can toggle between using lfd and openloop playback during run time.
Changed parameters for box cloth.