Connecting with Multiple Open Haptic Devices

[z6zou]

Hello,
I'm currently working with two open haptic devices, which I would like to send the stylus and button transformation matrices to Slicer. Following Multimodel tracking examples online, I generated the configuration files as following:

<PlusConfigurationversion="2.1">
<DataCollection StartupDelaySec="1.0">
<DeviceSet Name="PlusServer: Open Haptics device tracking 2 Devices" Description="Broadcasting device stylyus tracking data through OpenIGTLink." />
<Device
Id="TrackerDeviceLeft"
Type="OpenHaptics"
AcquisitionRate="5"
ToolReferenceFrame="BaseLeft"
DeviceName="Left Device" >
<DataSources>
<DataSource Type="Tool" Id="StylusLeft" PortName="Stylus" />
<DataSource Type="Tool" Id="ButtonsLeft" PortName="Buttons" />
</DataSources>
<OutputChannels>
<OutputChannel Id="NeedleStreamLeft">
<DataSource Id="StylusLeft" />
<DataSource Id="ButtonsLeft" />
</OutputChannel>
</OutputChannels>
</Device>

<Device
Id="TrackerDeviceRight"
Type="OpenHaptics"
AcquisitionRate="5"
ToolReferenceFrame="BaseRight"
DeviceName="Right Device" >
<DataSources>
<DataSource Type="Tool" Id="StylusRight" PortName="Stylus" />
<DataSource Type="Tool" Id="ButtonsRight" PortName="Buttons" />
</DataSources>
<OutputChannels>
<OutputChannel Id="NeedleStreamRight">
<DataSource Id="StylusRight" />
<DataSource Id="ButtonsRight" />
</OutputChannel>
</OutputChannels>
</Device>

</DataCollection>
<PlusOpenIGTLinkServer
MaxNumberOfIgtlMessagesToSend="1"
MaxTimeSpentWithProcessingMs="50"
ListeningPort="18944"
OutputChannelId="NeedleStreamLeft" >
<DefaultClientInfo>
<MessageTypes>
<Message Type="TRANSFORM" />
</MessageTypes>
<TransformNames>
<Transform Name="StylusLeftToBaseLeft" />
<Transform Name="ButtonsLeftToBaseLeft" />
</TransformNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
<PlusOpenIGTLinkServer
MaxNumberOfIgtlMessagesToSend="1"
MaxTimeSpentWithProcessingMs="50"
ListeningPort="18889"
OutputChannelId="NeedleStreamRight" >
<DefaultClientInfo>
<MessageTypes>
<Message Type="TRANSFORM" />
</MessageTypes>
<TransformNames>
<Transform Name="StylusRightToBaseRight" />
<Transform Name="ButtonsRightToBaseRight" />
</TransformNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
</PlusConfiguration>

To listen to the two ports, I created two connectors in 3D Slicer. However, it seems like only the transformations in the first device is updating. I tried to swap the order of the devices and confirmed that. I'm wondering if there is anything wrong with my configuration file, and would like to hear any valuable suggestions to achieve this from you.

Best Regards,
Zoe