To revisit this...
Mergelinkable takes the orientation from one sensor/object and the position from another sensor/object. This isn't the case with PhaseSpace - we just have position information.
It still feels like this should all be quite easy in Vizard, but there doesn't seem to be a nice walkthrough. With three position sensors, we should be able to define a rigid body, which then has position and orientation information.
Thanks!
-Matt
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