[SOLVED] Geomagic touch failed to initialize the device

[Eyad]

Hello,

I am new to Sofa and I’m trying to test my Geomagic Touch on the Geomagic-FEMLiver scene (all other geomagic scenes give the same result).

The Geomagic_Touch_Setup detects my device and I can test it with the Geomagic_Touch_Diagnostic. It appears that the device is working fine.

When I try to load the scene Sofa fails to initialize the device.
[ERROR] [GeomagicDriver(GeomagicDevice)] Failed to initialize the device ID: 4294967295 | Name: 'Default Device' | Error code returned: 771

The device’s name is indeed “Default Device” according to the Geomagic Touch Setup.

I have the plugins added with cmake-gui and the Geomagic plugin is also available in Sofa’s plugin manager menu.
Is there something I am missing to get the haptic device to work? Where exactly can I find the driver name and device name?

[DEPRECATED] [MechanicalObject(DOFs)] The deprecated template 'Rigid' has been replaced by Rigid3d. As they have different precisions this may result in undefined behavior. To remove this message, please update your scene to use the generic 'Vec3' templates or one of 'Vec3f/Vec3d' that match your the precision of your Sofa binary.
[DEPRECATED] [MechanicalStateController(mechanicalStateController1)] The deprecated template 'Rigid' has been replaced by Rigid3d. As they have different precisions this may result in undefined behavior. To remove this message, please update your scene to use the generic 'Vec3' templates or one of 'Vec3f/Vec3d' that match your the precision of your Sofa binary.
[DEPRECATED] [MechanicalObject(instrumentState)] The deprecated template 'Rigid' has been replaced by Rigid3d. As they have different precisions this may result in undefined behavior. To remove this message, please update your scene to use the generic 'Vec3' templates or one of 'Vec3f/Vec3d' that match your the precision of your Sofa binary.
[INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckAPIChange, SceneCheckDuplicatedName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias]
[INFO]    [SceneCheckAPIChange] No 'APIVersion' component in scene. Using the default APIVersion level: 17.06
[WARNING] [SceneCheckDuplicatedName]   
- Found duplicated names ['instrument', ] in node '/Instrument/CollisionModel'  
Nodes with similar names at the same level in your scene can crash certain operations, please rename them
[WARNING] [SceneCheckMissingRequiredPlugin] This scene is using component defined in plugins but is not importing the required plugins.  
  Your scene may not work on a sofa environment with different pre-loaded plugins.  
  To fix your scene and remove this warning you just need to cut & paste the following lines at the begining of your scene (if it is a .scn):   
  <RequiredPlugin pluginName='SofaHaptics'/> <!-- Needed to use components [LCPForceFeedback, ]-->
[WARNING] [SceneCheckUsingAlias] This scene is using hard coded aliases. Aliases can be very confusing, use with caution.  
  - DefaultContactManager: 1 created with alias "CollisionResponse"  
  - DefaultPipeline: 1 created with alias "CollisionPipeline"  
  - MeshTopology: 6 created with alias "Mesh"
[INFO]    [SceneCheckerVisitor] Finished validating node "root".
[WARNING] [OglModel(VisualModel)] Loading obj mesh file directly inside the VisualModel will be deprecated soon. Use a MeshObjLoader and link the Data to the VisualModel. E.g:  
<MeshObjLoader name='myLoader' filename='myFilePath.obj'/>  
<OglModel src='@myLoader'/>
[WARNING] [OglModel(InstrumentVisualModel)] Loading obj mesh file directly inside the VisualModel will be deprecated soon. Use a MeshObjLoader and link the Data to the VisualModel. E.g:  
<MeshObjLoader name='myLoader' filename='myFilePath.obj'/>  
<OglModel src='@myLoader'/>
Config directory not set correctly.: No such file or directory
Config directory not set correctly.: No such file or directory
[ERROR]   [GeomagicDriver(GeomagicDevice)] Failed to initialize the device ID: 4294967295 | Name: 'Default Device' | Error code returned: 771

[Hugo]

Hi @eyadshak

Thank you for your interest in SOFA and welcome in the SOFA forum!
You apparently did all good steps and I don’t see the issue:
– your device seems to be well setup
– the name is the same in the scene and in the configuration

Have you tried to re-setup and configure your Geomagic device?
I will try the plugin myself next week when I get back from a business trip.

Best

Hugo

[Eyad]

Hello Huga,

Thank you for your response, unfortunately the error remains after I tried to reinstalling Sofa and the drivers. I am afraid there might be something wrong with the setup process itself or that I have messed up configuring the device on Sofa, although the geomagic diagnostic detects the device and works perfectly.

Appreciate any assistance on this.

[Hugo]

Hi @eyadshak

Can you maybe share your scene so that I can test it locally?
Best

Hugo

[Eyad]

I’m running the default scenes, for example, the FEMLiver scene in the geomagic plugin folder.
application/plugins/geomagic/scenes

[epernod]

Hi,

the driver error 771 if I well remember means that your device is busy.
Be sure before starting the scene that you have closed all touch app. like the demo or Touch Setup.

If none, also check in your task manager that there is no zombie task like an old exec of runSofa or touch app.

best regards,

[Hugo]

Ouh ! thanks @epernod for this good clue! It might be very useful for many other users.

@eyadshak is this helping?

Hugo

[Eyad]

Thanks for the suggestion! I am unable to remote connect to my machine at the moment, so I’ll check tomorrow first thing in the morning and update you guys.

Regards,

[Eyad]

Unfortunately, I have killed all the running applications, restarted Ubuntu, and tried to run the scene, I still get the same error.
I get the same error whether the device is connected or not. The device is not getting recognized on Sofa for some reason, whether its a mismatch in the naming or plugin configuration.

Regards,

[epernod]

Hi,

sorry my hexadecimal is a bit rusty.
771 correspond to:
#define HD_COMM_CONFIG_ERROR 0x0303

in openHaptics: hdDefines.h

Just to be sure, when you are using the touch setup, is the device well detected?
Are you able to run touch demo ? (I’m on windows, so not sure it exists on linux)

best,

[Eyad]

Hello @epernod and thanks for taking the time to help.

Yes the driver and diagnostic are working fine.

I have attached these images with the setup and error encounters in SOFA.
Maybe you’ll find something I missed.

Thanks for your help.
(images link https://imgur.com/a/5u85rMM)

[epernod]

ok I don’t think it is a problem from SOFA.
As it is using OpenHaptics to communicate with the touch, be sure to have an up to date version and if you can try to run the example from the lib as well.

[epernod]

Hi,
any update on your problem?

regards,

[Eyad]

Hello,
I tried to setup SOFA and the Geomagic Touch on another Ubuntu system, got the exact same error, even though the diagnostic tool works fine.
Gonna try to build on Windows for now to see if it works.
Will update you if it works or not.

[epernod]

hi,
ok, but were you able to run the OpenHaptics example? Sofa is using this lib to control the geomagic. So if there example do not work, maybe you need to update your version of OH.

best,

[Eyad]

I have got openhaptics developer version 3.4 and geomagic_touch_device_driver_2016.1-1, downloaded by following the link on SOFA. Just tried AnchoredSpringForce and Calibration console examples from the OpenHaptics folder and they work fine.

Regards,

[Eyad]

Hey everyone,

I have managed to get it working on Windows 10 for now. The geomagic plug was successfully added and the demo examples are working perfectly.

I have replicated my configuration from Ubuntu, didn’t change a thing. It might be an openhaptics drivers compatibility issue with Ubuntu 18.04 and 16.04.

Here is my current working configuration:
– Windows 10 Pro
– SOFA v19.06
– Visual Studio Community 2015
– CMake 3.10.2
– Boost 1.65.1
– Qt 5.12.2 LTS
– OpenHaptics Developer Edition v3.4.0
– Geomagic Touch Device Driver 2016.10.13

If anyone has an idea on how to resolve it on Ubuntu 18.04, I would be grateful.

Thats all for now, thanks everyone!

[Hugo]

Hi @eyadshak

I know on Linux I got issues since environment variables need to be set and are conflicting, in my case, with QtCreator.

Just to check could you run this command in your Linux terminal:

echo $QT_PLUGIN_PATH

Hugo

[Eyad]

Hello Hugo,

Here is the result of the command above:

echo $QT_PLUGIN_PATH
/opt/geomagic_touch_device_driver/lib/plugins

[Hugo]

Hi @eyadshak

Sorry for the silence, we’ve been busy. Your echo seems normal.
Can you also test this:

echo $GTDD_HOME
echo $LD_LIBRARY_PATH

Hugo

[Eyad]

Hi @Hugo,

No worries at all, thanks for all your hard work!

Here’s the results:

echo $GTDD_HOME
/opt/geomagic_touch_device_driver
echo $LD_LIBRARY_PATH
/opt/ros/melodic/lib

[Hugo]

Hi @eyadshak

Your $QT_PLUGIN_PATH and $GTDD_HOME are fine.
However, the $LD_LIBRARY_PATH should also include : /opt/geomagic_touch_device_driver/lib

Could you try running :

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/geomagic_touch_device_driver/lib

And try again running your simulation?

Hugo

[Eyad]

Thanks @Hugo!

echo $LD_LIBRARY_PATH
/opt/ros/melodic/lib:/opt/geomagic_touch_device_driver/lib

The Geogmagic Touch is detected and working on Sofa!

Many thanks!

[yitian]

Hi Eyad, I am working on this haptics device with Ubuntu 16.04. I can’t find a proper driver. Could you give me such files? Thanks!

[Eyad]

hi @yitian,

I’ve been trying to reply but my posts are weirdly not showing, you can download the drivers from gofile.io/d/xF9EvG, they should be on Geomagic’s website but their servers are down at the moment.

[Author]

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