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.