Hello,

First of all thanks for your help and the detailed description.

I tried both ways and encountered problems. I tried running it with supervisor rights. But there was a fatal error and vrep seg faulted.
The error asked me to and a line to the ~/.bashrc. After writing this into the bash file the result was the same. Where is the exact location
of this bashrc file. Are there more of them, and I wrote it in the wrong one?

In the second way :

I did what you wrote me and the simulator loaded successfully and I opened Vrep
and started the example and when i pushed the bottom of simulation interface to haptic device and my falcon immidately
was turned off by something. There was no light on it I had to reconnect the cable and when i did it again it stopped again.

what can you suggest to me to do?

I am waiting for your reply.

Cheers.

So. Finally my example is working
how can i use to move a kuka robot like velcity controlling by falcon?

Thank you for helping

cheers

I would like to control via ROS. My expecting is there is a fix possition (0,0,0) of falcon and if i puch a little up TCP of the robot would start going to up and if i am not pushing the falcon to up it would be back to "home possiotion" and the robot stops at its possition.
So, it wants to be using velocity.

Cheers