Hello grindrise,

In order to use CHAI 3D with V-REP, you need to build the CHAI 3D V-REP module and copy the resulting shared library to the V-REP directory as described in the documentation file:

chai3d-3.1.1/modules/V-REP/doc/getting-started-Makefiles.html

chai3d-3.1.1/modules/V-REP/examples

You will find the file "libv_repExtCHAI3D.so" in the bin folder of the V-REP module, after you build it from the source files. In order to build the module, you will need to follow the instructions given under the "Compilation" section of the documentation page referenced above. The simplest way to do this is to open a terminal, and run the following commands (assuming that chai3d-3.1.1 is located in your home folder):

cd ~/chai3d-3.1.1/modules/V-REP
make

~/chai3d-3.1.1/modules/V-REP/bin/lin-x86_64

Hello grindrise,

Most likely, V-REP + CHAI 3D do not "see" your haptic device when you press the V-REP "Play" button. In Linux, superuser privileges are required to access the raw USB port of USB haptic devices, including the Falcon. There are two ways to fix this:

1. temporary solution: run V-REP with superuser privileges by running it from a terminal with the 'sudo' command:

   cd /path/to/V-REP/
   sudo ./vrep.sh

2. permanent solution: add the following content to a new UDEV rule file (e.g. 11-forcedimension.rules), to be placed in /etc/udev/rules.d. Then restart UDEV (or reboot your computer). This will give read-write access to normal users on all Force Dimension USB devices (including the Novint Falcon):

   # Force Dimension haptic devices
   SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="1451", MODE:="0666"
   SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="04b4", ATTR{idProduct}=="8613", MODE:="0666"
   
   # Novint haptic device
   SUBSYSTEM=="usb", ACTION=="add", ATTR{idVendor}=="0403", ATTR{idProduct}=="cb48", MODE:="0666"