pincher_gl

To start the simulator run: openGL_main_pyGame.
This program requires python pygame,numpy, and opengl modules.
Press the left mouse button and w to move camera forward, q move left, e to move right, s to move backward.
To manually move the robots joints press F1, 1, F2, 2, F3, 3 F4, 4.
To open and close the grippers press a and d.
The space bar moves the robot through sequences that pounce ball, pick ball, move up, drop ball, release, start over.
If the robot can not reach the ball you may have to press the space bar a few times and it will change the wrist angle, so it can reach.