[SOLVED] Haptic Device from Rigid3d to Vec3d

[mikelitu]

Hi all,

I am using SofaHAPI for my Master’s Thesis. I need to use the sliding constraint for the Haptic device to constraint its movement across a given path. I have managed to succesfully use the sliding constraint, however the Novint Falcon only have 3DoF an I am having some weird behaviours regarding the orientation. Is there any way of using a Vec3d template for the Haptic Device mechanical object? Thank you in advance.

Best,
Mikel

[Hugo]

Hi @mikelitu

Could you share your scene?
What are the weird behaviors you are referring? Do you have a short video about it?

Is your Novint Falcon represented as a Rigid dof?

Best wishes,

Hugo

[mikelitu]

Hi @Hugo

I ultimately solved the problem and now the scene is properly working. I managed to use a Vec3D template to map a point inside the Haptic device the model and use that point to apply the constraints. Thank you very much.

Best,

Mikel

[Author]

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