View Full Version : SenSable Open Haptics/Vizard SensAble Plugin

09-21-2012, 11:38 AM
Hello All,

I'm using XP 32-bit (Open Haptics (http://www.sensable.com/openhaptics-system-requirements.htm) 3.0) and Windows 7 64-bit (Open Haptics 3.0) with Vizard 4. I am trying to get the SensAble Vizard (http://docs.worldviz.com/vizard/SensAble_Haptic_Devices.htm) Plugin to run, but get the same error on both machines.

sensable3.dle SensAble Extension
** ERROR: Failed to connect to haptic device (Invalid value specified for a function that is attempting to set a value.)
** ERROR: Failed to create extension sensor with sensable3.dle
** ERROR: Flagged linkable failed (linkable is invalid)
** ERROR: Link failed (source linkable is invalid)

Does anyone have any ideas? Same results occur with Open Haptics 2.0.


09-21-2012, 12:22 PM
Can you post your script code?

09-21-2012, 12:32 PM
import ctypes
import numpy
import viztask
import time
import threading
nidaq = ctypes.windll.nicaiu # load the DLL

int32 = ctypes.c_long
uInt32 = ctypes.c_ulong
uInt64 = ctypes.c_ulonglong
float64 = ctypes.c_double
TaskHandle = uInt32
read = int32()
# the constants
DAQmx_Val_Cfg_Default = int32(-1)
DAQmx_Val_Volts = 10348
DAQmx_Val_Rising = 10280
DAQmx_Val_FiniteSamps = 10178
DAQmx_Val_ContSamps = 10123
DAQmx_Val_GroupByChannel = 0
DAQmx_Val_GroupByScanNumber= 1 #interleaved
# initialize variables
taskHandle = TaskHandle(0)
max_num_samples = 2
data = numpy.zeros((max_num_samples,),dtype=numpy.float64 )

def CHK(err):
if err < 0:
buf_size = 100
buf = ctypes.create_string_buffer('\000' * buf_size)
nidaq.DAQmxGetErrorString(err,ctypes.byref(buf),bu f_size)
raise RuntimeError('nidaq call failed with error %d: %s'%(err,repr(buf.value)))

#Main Program
CHK(nidaq.DAQmxCfgSampClkTiming(taskHandle,"",float64(1),DAQmx_Val_Rising,DAQmx_Val_ContSamps,u Int64(max_num_samples))); #(samples/sec/channel) #ContSamps

# stop/clear when I want to end program by mouseclick
def onMouseDown(button):
if button == viz.MOUSEBUTTON_LEFT:

def obtain_value():# continuosly read the DAQ values
CHK(nidaq.DAQmxReadAnalogF64(taskHandle,1,float64(-1),DAQmx_Val_GroupByChannel,data.ctypes.data,max_n um_samples,ctypes.byref(read),None))
print data

def loop(): # loop which call for DAQ values to continuosly be read
while x < 10:

viz.clearcolor(1,0,0) #proves I can use vizard interface with continuous data aquisition

# add haptics
device = sensable.addHapticDevice(name = 'Left')

09-21-2012, 12:35 PM
Are you sure Left is the correct name of the device? If not, leave the name blank, and the plugin will connect to the default device. If you only have one device connected, then you really don't need to specify a name. Try this instead:device = sensable.addHapticDevice()

09-21-2012, 12:38 PM
THANKS for fixing my dumb mistake! The name was changed.

09-21-2012, 01:07 PM
I just restarted my computer and the error came back :confused:

Anymore thoughts? The error seems to be coming from the
device = sensable.addHapticDevice()
If I comment it out I get no error. I'm now leaving it blank because I want the default haptic device object to be connected.

09-22-2012, 05:45 AM
I uninstalled and reinstalled Open Haptics 3.0 x64 onto my Windows 7 64-bit system. Now I just get the following error:
** ERROR: Failed to load plug-in: 'sensable3.dle' this in turn creates the following as well device = sensable.addHapticDevice()
AttributeError: 'VizExtension' object has no attribute 'addHapticDevice'

I get the same errors with all variation of O.H.'s 3.0 and 2.0. I'm guessing for some reason O.H.'s 3.0 can't be found because I know it's installed. My control panel shot is attached.

Any guesses why Vizard thinks Open Haptics isn't installed?


09-24-2012, 12:33 PM
This seems to indicate that the 32-bit OpenHaptics 3.0 binaries (i.e. hd.dll and hl.dll) were not installed properly. Even if you are running on a 64-bit system, you still need the 32-bit binaries, since Vizard is a 32-bit application.

You might need to double check with SensAble to make sure their 64-bit installer still supports 32-bit applications.

09-25-2012, 11:29 AM
To make a long story short, I finally found using the newest driver from SensAble's website (4.2.133 (http://www.sensable.com/pdd-downloads-thankyou.htm#Alert)) instead of what comes packaged with Open Haptics 3.0 (4.2) fixed my problem.

Thanks for your help farshizzo

10-06-2012, 10:57 AM
If I'm now using two devices, how do I determine what the names are?

For instance, previously I could use one device with the following code:

device = sensable.addHapticDevice()

However, now I'm using two devices, and thus need to figure out what their names are. Therefore, how do you determine the names? Where are the names assigned? Is this a guess and check method?

I have tried, Left, Right, left, right, 1,2, and 3 and unfortunately I cannot connect.