Hi,

I was wondering if there is a (straight forward) way to constrain the robot (Using Omega 6) motion to particular axis? While just making a virtual cylinder would do the job I was wondering if there is an API that would enable that!

Also I was using the Chai3D Version 2.0 for sometime now but would like upgrade to the latest version. However when I tried compiling my old code it threw up a bunch of errors and was wondering if the latest version is backward compatible?

Thanks!