Issue to use Haptic in Sofa_V25.12

[accuracy-maker]

Hi Community,

I met an issue to run the basic Geomagic-Demo.scn by sofa with haptic device. I followed the instruction online to download the openhaptic SDK and the touch driver. After installation, we can run TouchCheckup file as follow:

this is the output when I run Touch_HeadlessSetup

(Advanced tool usage can be found by reading the included readme.txt or by running this tool 
 with the argument HELP ) 

 LibUSB Error (/home/andy/Perforce/LundellA_andy-HP-ZBook-15u-G3_7264 __commandlinetools/depot/Phantom/CommandLineTools/3DSheadlessTouchSetup/3DSheadlessTouchSetup.cpp 656) : -5, Entity not found 
$GTDD_HOME not set. Using Default value : /home/haitao/.3dsystems
: Success
Success. Configured Device : Default Device  (sn=22129000559) 
Thank you for using the 3DS headless Touch Setup!

This is the output when I open TorchCheckup and close

$GTDD_HOME not set. Using Default value : /home/haitao/.3dsystems
: Success
(/home/andy/repo/GeomagicTouchDeviceDrivers/PhantomManager/src/HIDManager.cpp,409) RELEASING Interface for 772 
InitLogFile : (null)
(/home/andy/repo/GeomagicTouchDeviceDrivers/PhantomManager/src/HIDManager.cpp,409) RELEASING Interface for 772 
(/home/andy/repo/GeomagicTouchDeviceDrivers/PhantomManager/src/HIDManager.cpp,409) RELEASING Interface for 772 
****************************************
This is the DEVELOPER EDITION of OPENHAPTICS, commercial distribution is prohibited
Please contact 3D Systems to obtain a commercial license
****************************************
HD Error: HD_INVALID_OPERATION
The operation could not be performed.
HHD: 0
Error Code: 102
Internal Error Code: 0
Message: Failed to update haptic device
Segmentation fault (core dumped)

It seems there are some bugs but the application can run well.

Then I run the example file of sofa, I got

(sofa) haitao@sicong-Alienware-Area-51-AAT2250:~/sofa$ runSofa -l SofaPython3 -g imgui src/applications/plugins/Geomagic/scenes/Geomagic-Demo.scn
[INFO]    [runSofa] PluginRepository paths = /home/haitao/sofa/build/lib:/home/haitao/sofa/build/plugins
[INFO]    [runSofa] DataRepository paths = /home/haitao/sofa/src/share:/home/haitao/sofa/src/examples:/home/haitao/sofa/build:/home/haitao/sofa/build:/home/haitao/sofa/build
[INFO]    [runSofa] runSofaDataRepository paths = /home/haitao/sofa/src/applications/projects/runSofa/resources:/home/haitao/sofa/build
[INFO]    [GUIManager] Registered batch as a GUI.
[INFO]    [SofaPython3] Initializing with python version 3.10.20 (main, Mar 11 2026, 17:53:24) [GCC 14.3.0]
[INFO]    [SofaPython3] Registering a scene loader for [.py, .py3, .pyscn, .py3scn] files.
[INFO]    [SofaPython3] Initializing python
<string>:2: DeprecationWarning: scipy.misc is deprecated and will be removed in 2.0.0
[INFO]    [SofaPython3] Added '/home/haitao/sofa/src/applications/plugins/BeamAdapter/examples/python3' to sys.path
[INFO]    [SofaPython3] Added '/home/haitao/sofa/build/lib/python3/site-packages' to sys.path
---------------------------------------
Checking SOFA_ROOT and SOFAPYTHON3_ROOT
Using environment variable SOFA_ROOT: /home/haitao/sofa/build
---------------------------------------
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofaPython3.so
[INFO]    [runSofa] Loading automatically plugin list in /home/haitao/sofa/build/lib/plugin_list.conf.default
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.ODESolver.Forward.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.ODESolver.Backward.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.ODESolver.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.IO.Mesh.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.IO.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Playback.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.SceneUtility.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Topology.Container.Constant.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Topology.Container.Dynamic.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Topology.Container.Grid.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Topology.Container.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Topology.Mapping.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Topology.Utility.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Topology.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Visual.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.LinearSystem.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.LinearSolver.Iterative.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.LinearSolver.Ordering.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.LinearSolver.Direct.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.LinearSolver.Preconditioner.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.LinearSolver.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Mass.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Diffusion.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Mapping.Linear.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Mapping.NonLinear.so
[DEPRECATED] [Sofa.Component.Mapping.MappedMatrix] This plugin is deprecated and will be removed in the future.
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Mapping.MappedMatrix.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Mapping.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.StateContainer.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.SolidMechanics.Spring.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.SolidMechanics.FEM.Elastic.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.SolidMechanics.FEM.HyperElastic.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.SolidMechanics.FEM.NonUniform.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.SolidMechanics.FEM.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.SolidMechanics.TensorMass.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.SolidMechanics.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Constraint.Lagrangian.Model.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Constraint.Lagrangian.Correction.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Constraint.Lagrangian.Solver.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Constraint.Lagrangian.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Constraint.Projective.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Constraint.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.AnimationLoop.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.MechanicalLoad.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Collision.Geometry.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Collision.Detection.Algorithm.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Collision.Detection.Intersection.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Collision.Detection.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Collision.Response.Mapper.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Collision.Response.Contact.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Collision.Response.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Collision.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Setting.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Controller.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Engine.Analyze.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Engine.Generate.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Engine.Select.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Engine.Transform.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Engine.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.Haptics.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.Component.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.GL.Component.Rendering2D.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.GL.Component.Rendering3D.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.GL.Component.Engine.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.GL.Component.Shader.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.GL.Component.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.GUI.Component.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofa.GUI.Batch.so
[INFO]    [GUIManager] Registered glfw as a GUI.
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofaGLFW.so
[INFO]    [MainAdditionGUIRegistry] Registered GUI "Camera"
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofaImGui.Camera.so
[INFO]    [GUIManager] Registered imgui as a GUI.
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSofaImGui.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libMultiThreading.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libGeomagic.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libBeamAdapter.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSTLIB.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSoftRobots.so
[INFO]    [PluginManager] Loaded plugin: /home/haitao/sofa/build/lib/libSoftRobots.Inverse.so
[INFO]    [PluginManager] 76 plugins have been loaded from /home/haitao/sofa/build/lib/plugin_list.conf.default
[INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckCollisionResponse, SceneCheckDeprecatedComponents, SceneCheckDuplicatedName, SceneCheckEmptyNodeName, SceneCheckMapping, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias, SceneCheckMultithreading]
[INFO]    [SceneCheckerVisitor] Finished validating node "root".
[WARNING] [GeomagicDriver(GeomagicDevice)] No forceFeedBack component found in the scene. Only the motion of the haptic tool will be simulated.
InitLogFile : (null)
(/home/andy/repo/GeomagicTouchDeviceDrivers/PhantomManager/src/HIDManager.cpp,409) RELEASING Interface for 772 
(/home/andy/repo/GeomagicTouchDeviceDrivers/PhantomManager/src/HIDManager.cpp,409) RELEASING Interface for 772 
****************************************
This is the DEVELOPER EDITION of OPENHAPTICS, commercial distribution is prohibited
Please contact 3D Systems to obtain a commercial license
****************************************
[WARNING] [OglModel(stylus_visualModel)] OglModel : VBO is not supported by your GPU

########## SIG 11 - SIGSEGV: segfault ##########
  sofa::helper::BackTrace::sig(int)
Segmentation fault (core dumped)

I am not able to understand the bug and fix them. I look for some advice here.

Thanks in advance.

Cheers,