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Old 09-21-2012, 10:38 AM
mhead10 mhead10 is offline
Join Date: Mar 2012
Posts: 40
SenSable Open Haptics/Vizard SensAble Plugin

Hello All,

I'm using XP 32-bit (Open Haptics 3.0) and Windows 7 64-bit (Open Haptics 3.0) with Vizard 4. I am trying to get the SensAble Vizard 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.

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Old 09-21-2012, 11:22 AM
farshizzo farshizzo is offline
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Join Date: Mar 2003
Posts: 2,849
Can you post your script code?
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Old 09-21-2012, 11:32 AM
mhead10 mhead10 is offline
Join Date: Mar 2012
Posts: 40
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.DAQmxCreateTask("",ctypes.byref(taskHand le)))
CHK(nidaq.DAQmxCreateAIVoltageChan(taskHandle,"Dev 2/ai0:1","",DAQmx_Val_Cfg_Default,float64(-13.0),float64(13.0),DAQmx_Val_Volts,None))
CHK(nidaq.DAQmxCfgSampClkTiming(taskHandle,"",floa t64(1),DAQmx_Val_Rising,DAQmx_Val_ContSamps,uInt64 (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,,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')
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Old 09-21-2012, 11:35 AM
farshizzo farshizzo is offline
WorldViz Team Member
Join Date: Mar 2003
Posts: 2,849
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()
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Old 09-21-2012, 11:38 AM
mhead10 mhead10 is offline
Join Date: Mar 2012
Posts: 40
THANKS for fixing my dumb mistake! The name was changed.

Last edited by mhead10; 09-21-2012 at 11:47 AM.
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Old 09-21-2012, 12:07 PM
mhead10 mhead10 is offline
Join Date: Mar 2012
Posts: 40
I just restarted my computer and the error came back

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.

Last edited by mhead10; 09-21-2012 at 12:16 PM.
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