Hello,

I am attempting to manipulate a cube with 2 haptic devices.
The cube was created as follows.

ODEBody0 = new cODEGenericBody(ODEWorld);
dynamicBox = new chai3d::cMesh();

chai3d::cMaterial mat0;
mat0.setBlueRoyal();
mat0.setStiffness(300);
mat0.setDynamicFriction(1.5);
mat0.setStaticFriction(1.5);
mat0.setUseHapticFriction(true);
dynamicBox->setMaterial(mat0);
dynamicBox->setUseMaterial(true);

ODEBody0->createDynamicBox(boxSize, boxSize, boxSize);
ODEBody0->setImageModel(dynamicBox);

The cube reacts to normal forces against its surface as expected. It follows reasonable trajectories when floating in free space and being shoved from any direction. However, I am struggling to use frictional forces to move the cube. I have set the rotational damping very high (so that I don't have to worry about the cube rotating out of grip), but despite this, frictional forces against cube don't seem to make it lift, even if I turn gravity off. The lateral forces against a face don't seem to cause it to move in that direction. Is there anything I'm missing here?

Edit: Not sure what fixed it, but seems to be working now.

When you touch the object with the haptic device, do you actually feel any friction forces? Or does the object feel completely slippery?