Improved documentation and added example with IMAGE preprocessed data. It shows each one of the segments of the image with damping texture, the recognized objects can be felt too. The example has the following buttons:
Stop/Apply force: turn on/off all the forces on the device, already implemented in past examples.
Remove/Show objects: turn on/off the forces produced by the objects, so if it is off, you would not be able to feel them and when it is on, the objects are present as static filled circles that can be felt with the end effector.
Remove/Show segments: turn on/off the forces produced by the current segment. If it is off, you would not be able to feel anything and when it is on, the segment is present as a static region with damping, so when the EE goes inside, it is harder to move around.
Next segment: since the segments are presented one at a time, with this button you can change to the next one.
Improved documentation and added example with IMAGE preprocessed data. It shows each one of the segments of the image with damping texture, the recognized objects can be felt too. The example has the following buttons: