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guidance sphere updates

Amy Blank requested to merge feature/guidance-sphere-updates into devel

Description

  • Added damping ramp to prevent force discontinuities when making contact with sphere
  • Added ability to ramp off the guidance itself rather than ramping the force to zero
  • Updated haptic guidance examples to test the above features using gains and ramp times commonly found in games

Issues

  • Fixes #214
  • Addresses burt/games/burt-pirate-catcher#33

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