cub@icub-head:/usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubGenova11$ yarprobotinterface [DEBUG] Reading file /usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubGenova11/./icub_all_no_legs.xml [DEBUG] yarprobotinterface: using xml parser for DTD v3.x [DEBUG] Reading file /usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubGenova11/./icub_all_no_legs.xml [INFO] Yarprobotinterface was started using the following enable_tags: [INFO] Yarprobotinterface was started using the following disable_tags: [DEBUG] List of all enable attributes found in the include tags: [DEBUG] List of all disable attributes found in the include tags: [DEBUG] Preprocessor complete in: 0.00963283 s [WARNING] ************************************************************************************* * yarprobotinterface 'portprefix' parameter does not follow convention, * * it MUST start with a leading '/' since it is used as the full prefix port name * * name: full port prefix name with leading '/', e.g. /robotName * * A temporary automatic fix will be done for you, but please fix your config file * ************************************************************************************* [INFO] |yarp.os.Port|/icub/yarprobotinterface| Port /icub/yarprobotinterface active at tcp://10.0.0.2:10002/ [INFO] startup phase starting... [INFO] Opening device left_arm-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/left_arm")] [DEBUG] |yarp.dev.PolyDriver|left_arm-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id left_arm-mc_nws_yarp) (name "/icub/left_arm") (period 0.0100000000000000002082) (robotName icub) [INFO] |yarp.os.Port|/icub/left_arm/rpc:i| Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10003/ [INFO] |yarp.os.Port|/icub/left_arm/command:i| Port /icub/left_arm/command:i active at tcp://10.0.0.2:10004/ [INFO] |yarp.os.Port|/icub/left_arm/state:o| Port /icub/left_arm/state:o active at tcp://10.0.0.2:10005/ [INFO] |yarp.os.Port|/icub/left_arm/stateExt:o| Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10006/ [INFO] |yarp.dev.PolyDriver|left_arm-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device right_arm-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/right_arm")] [DEBUG] |yarp.dev.PolyDriver|right_arm-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id right_arm-mc_nws_yarp) (name "/icub/right_arm") (period 0.0100000000000000002082) (robotName icub) [INFO] |yarp.os.Port|/icub/right_arm/rpc:i| Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10007/ [INFO] |yarp.os.Port|/icub/right_arm/command:i| Port /icub/right_arm/command:i active at tcp://10.0.0.2:10008/ [INFO] |yarp.os.Port|/icub/right_arm/state:o| Port /icub/right_arm/state:o active at tcp://10.0.0.2:10009/ [INFO] |yarp.os.Port|/icub/right_arm/stateExt:o| Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10010/ [INFO] |yarp.dev.PolyDriver|right_arm-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device head-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/head")] [DEBUG] |yarp.dev.PolyDriver|head-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id head-mc_nws_yarp) (name "/icub/head") (period 0.0100000000000000002082) (robotName icub) [INFO] |yarp.os.Port|/icub/head/rpc:i| Port /icub/head/rpc:i active at tcp://10.0.0.2:10011/ [INFO] |yarp.os.Port|/icub/head/command:i| Port /icub/head/command:i active at tcp://10.0.0.2:10012/ [INFO] |yarp.os.Port|/icub/head/state:o| Port /icub/head/state:o active at tcp://10.0.0.2:10013/ [INFO] |yarp.os.Port|/icub/head/stateExt:o| Port /icub/head/stateExt:o active at tcp://10.0.0.2:10014/ [INFO] |yarp.dev.PolyDriver|head-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device face-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/face")] [DEBUG] |yarp.dev.PolyDriver|face-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id face-mc_nws_yarp) (name "/icub/face") (period 0.0100000000000000002082) (robotName icub) [INFO] |yarp.os.Port|/icub/face/rpc:i| Port /icub/face/rpc:i active at tcp://10.0.0.2:10015/ [INFO] |yarp.os.Port|/icub/face/command:i| Port /icub/face/command:i active at tcp://10.0.0.2:10016/ [INFO] |yarp.os.Port|/icub/face/state:o| Port /icub/face/state:o active at tcp://10.0.0.2:10017/ [INFO] |yarp.os.Port|/icub/face/stateExt:o| Port /icub/face/stateExt:o active at tcp://10.0.0.2:10018/ [INFO] |yarp.dev.PolyDriver|face-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device torso-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/torso")] [DEBUG] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id torso-mc_nws_yarp) (name "/icub/torso") (period 0.0100000000000000002082) (robotName icub) [INFO] |yarp.os.Port|/icub/torso/rpc:i| Port /icub/torso/rpc:i active at tcp://10.0.0.2:10019/ [INFO] |yarp.os.Port|/icub/torso/command:i| Port /icub/torso/command:i active at tcp://10.0.0.2:10020/ [INFO] |yarp.os.Port|/icub/torso/state:o| Port /icub/torso/state:o active at tcp://10.0.0.2:10021/ [INFO] |yarp.os.Port|/icub/torso/stateExt:o| Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10022/ [INFO] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. [INFO] Opening device left_arm-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(left_arm_joints1 left_arm_joints2 left_arm_joints3 left_arm_joints4)"), ("left_arm_joints1" = "( 0 3 0 3 )"), ("left_arm_joints2" = "( 4 7 0 3 )"), ("left_arm_joints3" = "( 8 11 0 3 )"), ("left_arm_joints4" = "( 12 15 0 3 )"), ("joints" = "16")] [DEBUG] |yarp.dev.PolyDriver|left_arm-mc_remapper| Parameters are (device controlboardremapper) (id left_arm-mc_remapper) (joints 16) (left_arm_joints1 (0 3 0 3)) (left_arm_joints2 (4 7 0 3)) (left_arm_joints3 (8 11 0 3)) (left_arm_joints4 (12 15 0 3)) (networks (left_arm_joints1 left_arm_joints2 left_arm_joints3 left_arm_joints4)) (robotName icub) [INFO] |yarp.dev.PolyDriver|left_arm-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device right_arm-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4)"), ("right_arm_joints1" = "( 0 3 0 3 )"), ("right_arm_joints2" = "( 4 7 0 3 )"), ("right_arm_joints3" = "( 8 11 0 3 )"), ("right_arm_joints4" = "( 12 15 0 3 )"), ("joints" = "16")] [DEBUG] |yarp.dev.PolyDriver|right_arm-mc_remapper| Parameters are (device controlboardremapper) (id right_arm-mc_remapper) (joints 16) (networks (right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4)) (right_arm_joints1 (0 3 0 3)) (right_arm_joints2 (4 7 0 3)) (right_arm_joints3 (8 11 0 3)) (right_arm_joints4 (12 15 0 3)) (robotName icub) [INFO] |yarp.dev.PolyDriver|right_arm-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device head-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(head_joints1 head_joints2)"), ("head_joints1" = "( 0 1 0 1 )"), ("head_joints2" = "( 2 5 0 3 )"), ("joints" = "6")] [DEBUG] |yarp.dev.PolyDriver|head-mc_remapper| Parameters are (device controlboardremapper) (head_joints1 (0 1 0 1)) (head_joints2 (2 5 0 3)) (id head-mc_remapper) (joints 6) (networks (head_joints1 head_joints2)) (robotName icub) [INFO] |yarp.dev.PolyDriver|head-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device face-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(face_joints)"), ("face_joints" = "( 0 0 0 0 )"), ("joints" = "1")] [DEBUG] |yarp.dev.PolyDriver|face-mc_remapper| Parameters are (device controlboardremapper) (face_joints (0 0 0 0)) (id face-mc_remapper) (joints 1) (networks (face_joints)) (robotName icub) [INFO] |yarp.dev.PolyDriver|face-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device torso-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(torso_joints)"), ("torso_joints" = "( 0 2 0 2 )"), ("joints" = "3")] [DEBUG] |yarp.dev.PolyDriver|torso-mc_remapper| Parameters are (device controlboardremapper) (id torso-mc_remapper) (joints 3) (networks (torso_joints)) (robotName icub) (torso_joints (0 2 0 2)) [INFO] |yarp.dev.PolyDriver|torso-mc_remapper| Created device . See C++ class ControlBoardRemapper for documentation. [INFO] Opening device left_arm-cartesian with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(ControllerName icub/cartesianController/left_arm) (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect cartesianSolver/left_arm) (KinematicPart arm) (KinematicType left_v2.7) (PositionControl on) (NumberOfDrivers 2)"), ("DRIVER_0" [group] = "(Key torso) (JointsOrder reversed) (MinAbsVels (0.35 0.35 0.35))"), ("DRIVER_1" [group] = "(Key left_arm) (JointsOrder direct) (MinAbsVels (0.35 0.35 0.35 0.35 0.35 0.35 0.35))"), ("PLANT_MODEL" [group] = "(plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000))) (joint_1 ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000))) (joint_2 ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000))) (joint_3 ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000))) (joint_4 ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000))) (joint_5 ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000))) (joint_6 ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000))) (joint_7 ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000))) (joint_8 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000))) (joint_9 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)))")] [DEBUG] |yarp.dev.PolyDriver|left_arm-cartesian| Parameters are (DRIVER_0 (Key torso) (JointsOrder reversed) (MinAbsVels (0.349999999999999977796 0.349999999999999977796 0.349999999999999977796))) (DRIVER_1 (Key left_arm) (JointsOrder direct) (MinAbsVels (0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796))) (GENERAL (ControllerName "icub/cartesianController/left_arm") (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect "cartesianSolver/left_arm") (KinematicPart arm) (KinematicType left_v2.7) (PositionControl on) (NumberOfDrivers 2)) (PLANT_MODEL (plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.02200000000000001954) (Tz 0.405000000000000026645) (Tw 0.247999999999999998224) (Zeta 0.797000000000000041744) (Td 0.0))) (joint_1 ((Kp 1.02600000000000002309) (Tz 0.406999999999999972911) (Tw 0.242999999999999993783) (Zeta 0.821999999999999952927) (Td 0.0))) (joint_2 ((Kp 1.04000000000000003553) (Tz 0.343999999999999972466) (Tw 0.160000000000000003331) (Zeta 1.1100000000000000977) (Td 0.0))) (joint_3 ((Kp 1.03499999999999992006) (Tz 0.409999999999999975575) (Tw 0.177999999999999991562) (Zeta 1.19799999999999995381) (Td 0.0))) (joint_4 ((Kp 1.01600000000000001421) (Tz 0.384000000000000007994) (Tw 0.159000000000000002442) (Zeta 1.22199999999999997513) (Td 0.0))) (joint_5 ((Kp 1.02499999999999991118) (Tz 0.822999999999999953815) (Tw 0.405000000000000026645) (Zeta 1.03000000000000002665) (Td 0.0))) (joint_6 ((Kp 1.02200000000000001954) (Tz 0.299999999999999988898) (Tw 0.119999999999999995559) (Zeta 1.30299999999999993605) (Td 0.0))) (joint_7 ((Kp 1.01600000000000001421) (Tz 0.122999999999999998224) (Tw 0.0299999999999999988898) (Zeta 2.20400000000000018119) (Td 0.0))) (joint_8 ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0))) (joint_9 ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)))) (device cartesiancontrollerserver) (id left_arm-cartesian) (robotName icub) [INFO] ***** Configuring cartesian controller ***** [INFO] Acquiring options for group GENERAL... [INFO] Acquiring options for group DRIVER_0... [INFO] Acquiring options for group DRIVER_1... [INFO] PLANT_MODEL group detected [INFO] DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_0 (A 0.0320000000000000006661) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.00549999999999999968081) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_2 (A 0.0233646999999999986641) (D -0.143300000000000010703) (alpha -90.0) (offset 105.000000000000014211) (min -59.0000000000000071054) (max 59.0000000000000071054) (blocked 0.0)) (link_3 (A 0.0) (D 0.107740000000000002434) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.800000000000011369)) (link_5 (A 0.0149999999999999994449) (D 0.152279999999999998694) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.0149999999999999994449) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_7 (A 0.0) (D 0.141300000000000008926) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) (link_9 (A 0.0625) (D -0.0259799999999999996214) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (numLinks 10) (type left_v2.7) [INFO] |yarp.os.Port|/icub/cartesianController/left_arm/cartesianSolver/left_arm/in| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10023/ [INFO] |yarp.os.Port|/icub/cartesianController/left_arm/cartesianSolver/left_arm/out| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10024/ [INFO] |yarp.os.Port|/icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10025/ [INFO] |yarp.os.Port|/icub/cartesianController/left_arm/command:i| Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10026/ [INFO] |yarp.os.Port|/icub/cartesianController/left_arm/state:o| Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10027/ [INFO] |yarp.os.Port|/icub/cartesianController/left_arm/events:o| Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10028/ [INFO] |yarp.os.Port|/icub/cartesianController/left_arm/rpc:i| Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10029/ [INFO] |yarp.dev.PolyDriver|left_arm-cartesian| Created device . See C++ class ServerCartesianController for documentation. [INFO] Opening device right_arm-cartesian with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(ControllerName icub/cartesianController/right_arm) (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect cartesianSolver/right_arm) (KinematicPart arm) (KinematicType right_v2.7) (PositionControl on) (NumberOfDrivers 2)"), ("DRIVER_0" [group] = "(Key torso) (JointsOrder reversed) (MinAbsVels (0.35 0.35 0.35))"), ("DRIVER_1" [group] = "(Key right_arm) (JointsOrder direct) (MinAbsVels (0.35 0.35 0.35 0.35 0.35 0.35 0.35))"), ("PLANT_MODEL" [group] = "(plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000))) (joint_1 ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000))) (joint_2 ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000))) (joint_3 ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000))) (joint_4 ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000))) (joint_5 ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000))) (joint_6 ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000))) (joint_7 ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000))) (joint_8 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000))) (joint_9 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)))")] [DEBUG] |yarp.dev.PolyDriver|right_arm-cartesian| Parameters are (DRIVER_0 (Key torso) (JointsOrder reversed) (MinAbsVels (0.349999999999999977796 0.349999999999999977796 0.349999999999999977796))) (DRIVER_1 (Key right_arm) (JointsOrder direct) (MinAbsVels (0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796))) (GENERAL (ControllerName "icub/cartesianController/right_arm") (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect "cartesianSolver/right_arm") (KinematicPart arm) (KinematicType right_v2.7) (PositionControl on) (NumberOfDrivers 2)) (PLANT_MODEL (plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.02200000000000001954) (Tz 0.405000000000000026645) (Tw 0.247999999999999998224) (Zeta 0.797000000000000041744) (Td 0.0))) (joint_1 ((Kp 1.02600000000000002309) (Tz 0.406999999999999972911) (Tw 0.242999999999999993783) (Zeta 0.821999999999999952927) (Td 0.0))) (joint_2 ((Kp 1.04000000000000003553) (Tz 0.343999999999999972466) (Tw 0.160000000000000003331) (Zeta 1.1100000000000000977) (Td 0.0))) (joint_3 ((Kp 1.03499999999999992006) (Tz 0.409999999999999975575) (Tw 0.177999999999999991562) (Zeta 1.19799999999999995381) (Td 0.0))) (joint_4 ((Kp 1.01600000000000001421) (Tz 0.384000000000000007994) (Tw 0.159000000000000002442) (Zeta 1.22199999999999997513) (Td 0.0))) (joint_5 ((Kp 1.02499999999999991118) (Tz 0.822999999999999953815) (Tw 0.405000000000000026645) (Zeta 1.03000000000000002665) (Td 0.0))) (joint_6 ((Kp 1.02200000000000001954) (Tz 0.299999999999999988898) (Tw 0.119999999999999995559) (Zeta 1.30299999999999993605) (Td 0.0))) (joint_7 ((Kp 1.01600000000000001421) (Tz 0.122999999999999998224) (Tw 0.0299999999999999988898) (Zeta 2.20400000000000018119) (Td 0.0))) (joint_8 ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0))) (joint_9 ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)))) (device cartesiancontrollerserver) (id right_arm-cartesian) (robotName icub) [INFO] ***** Configuring cartesian controller ***** [INFO] Acquiring options for group GENERAL... [INFO] Acquiring options for group DRIVER_0... [INFO] Acquiring options for group DRIVER_1... [INFO] PLANT_MODEL group detected [INFO] DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_0 (A 0.0320000000000000006661) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.00549999999999999968081) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_2 (A -0.0233646999999999986641) (D -0.143300000000000010703) (alpha 90.0) (offset -105.000000000000014211) (min -59.0000000000000071054) (max 59.0000000000000071054) (blocked 0.0)) (link_3 (A 0.0) (D -0.107740000000000002434) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.800000000000011369)) (link_5 (A -0.0149999999999999994449) (D -0.152279999999999998694) (alpha -90.0) (offset -105.000000000000014211) (min -37.0) (max 100.0)) (link_6 (A 0.0149999999999999994449) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_7 (A 0.0) (D -0.141300000000000008926) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) (link_9 (A 0.0625) (D 0.0259799999999999996214) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (numLinks 10) (type right_v2.7) [INFO] |yarp.os.Port|/icub/cartesianController/right_arm/cartesianSolver/right_arm/in| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10030/ [INFO] |yarp.os.Port|/icub/cartesianController/right_arm/cartesianSolver/right_arm/out| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10031/ [INFO] |yarp.os.Port|/icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10032/ [INFO] |yarp.os.Port|/icub/cartesianController/right_arm/command:i| Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10033/ [INFO] |yarp.os.Port|/icub/cartesianController/right_arm/state:o| Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10034/ [INFO] |yarp.os.Port|/icub/cartesianController/right_arm/events:o| Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10035/ [INFO] |yarp.os.Port|/icub/cartesianController/right_arm/rpc:i| Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10036/ [INFO] |yarp.dev.PolyDriver|right_arm-cartesian| Created device . See C++ class ServerCartesianController for documentation. [INFO] Opening device head-eb20-j0_1-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.20) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "head-eb20-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "neck_pitch" "neck_roll") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 161.68 161.68) (Gearbox_E2J 1 1) (useMotorSpeedFbk 1 1) (MotorType "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMin -30 -20) (hardwareJntPosMax +22 +20) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 1.000 0.000 0.000 -1.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 0.500 -0.500 0.000 0.000 0.500 0.500 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 1) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port CONN:P3 CONN:P4)) (ENCODER1 (type aea aea) (port CONN:P11 CONN:P10) (position atjoint atjoint) (resolution 4096 -4096) (tolerance 0.703 0.703)) (ENCODER2 (type qenc qenc) (port CONN:P3 CONN:P4) (position atmotor atmotor) (resolution 2048 2048) (tolerance 0 0))))"), ("LIMITS" [group] = "(jntPosMin -30 -20) (jntPosMax +22 +20) (jntVelMax 1000 1000) (motorOverloadCurrents 6000 6000) (motorNominalCurrents 1500 1500) (motorPeakCurrents 4000 4000) (motorPwmLimit 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0) (damping 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none) (currentPid none none) (speedPid none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -645 +547) (kd -19 +16) (ki -2983 +2879) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)")] [DEBUG] |yarp.dev.PolyDriver|head-eb20-j0_1-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none) (currentPid none none) (speedPid none none)) (COUPLINGS (matrixJ2M 1.0 1.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 0.5 -0.5 0.0 0.0 0.5 0.5 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.20") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name head-eb20-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName neck_pitch neck_roll) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 161.680000000000006821 161.680000000000006821) (Gearbox_E2J 1 1) (useMotorSpeedFbk 1 1) (MotorType DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0) (damping 0.0 0.0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMin -30 -20) (hardwareJntPosMax 22 20) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin -30 -20) (jntPosMax 22 20) (jntVelMax 1000 1000) (motorOverloadCurrents 6000 6000) (motorNominalCurrents 1500 1500) (motorPeakCurrents 4000 4000) (motorPwmLimit 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -645 547) (kd -19 16) (ki -2983 2879) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port "CONN:P3" "CONN:P4")) (ENCODER1 (type aea aea) (port "CONN:P11" "CONN:P10") (position atjoint atjoint) (resolution 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type qenc qenc) (port "CONN:P3" "CONN:P4") (position atmotor atmotor) (resolution 2048 2048) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (device embObjMotionControl) (id head-eb20-j0_1-mc) (robotName icub) [DEBUG] eth::parser::print(pc104Data) for PC104: [DEBUG] PC104/PC104IpAddress:PC104IpPort = 10.0.1.104:12345 [DEBUG] PC104/PC104TXrate = 1 [DEBUG] PC104/PC104RXrate = 5 [DEBUG] EthSender is a PeriodicThread with txrate = 1 ms [DEBUG] EthReceiver is a PeriodicThread with rxrate = 5 ms [WARNING] in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE= [DEBUG] eth::parser::print(boardData) for BOARD head-eb20-j0_1 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.20 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = head-eb20-j0_1 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.20 (head-eb20-j0_1) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.20 [WARNING] embObjMC BOARD head-eb20-j0_1 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD head-eb20-j0_1 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] hardwareTemperatureLimits parameter not found for board head-eb20-j0_1 in bottle LIMITS (hardwareJntPosMin -30 -20) (hardwareJntPosMax 22 20) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin -30 -20) (jntPosMax 22 20) (jntVelMax 1000 1000) (motorOverloadCurrents 6000 6000) (motorNominalCurrents 1500 1500) (motorPeakCurrents 4000 4000) (motorPwmLimit 3360 3360) [WARNING] hardwareTemperatureLimits param not found in config file for board head-eb20-j0_1. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] from BOARD 10.0.1.20 (head-eb20-j0_1) time=4955s 360m 683u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 23 [DEBUG] EthResource::verifyBoardPresence() found BOARD head-eb20-j0_1 with IP 10.0.1.20 after 0.00179267 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb20-j0_1 with IP 10.0.1.20 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb20-j0_1 with IP 10.0.1.20 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD head-eb20-j0_1 with IP 10.0.1.20 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD head-eb20-j0_1 @ IP 10.0.1.20 of type mc4plus with FW = ver 3.90 built on 2024 Mar 21 15:0 [DEBUG] from BOARD 10.0.1.20 (head-eb20-j0_1) time=4955s 413m 365u : CFG: EOtheEncoderReader can be correctly configured [DEBUG] from BOARD 10.0.1.20 (head-eb20-j0_1) time=4955s 413m 815u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|head-eb20-j0_1-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device head-eb21-j2_5-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.21) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "head-eb21-j2_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100 -141 50 50) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMin -45 -30 -45 0) (hardwareJntPosMax +45 +30 +45 +45) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 -1.000 0.000 0.000 1.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.500 0.500 0.000 0.000 -1.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P5 CONN:P4)) (ENCODER1 (type aea aea none none) (port CONN:P11 CONN:P10 CONN:none CONN:none) (position atjoint atjoint none none) (resolution 4096 4096 0 0) (tolerance 0.703 0.703 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P5 CONN:P4) (position atmotor atmotor atmotor atmotor) (resolution 2048 2048 2048 2048) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMin -45 -30 -30 0) (jntPosMax +45 +30 +30 +45) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2500 2500) (motorNominalCurrents 700 700 700 700) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1100.00 -1000 3500 3500) (kd 0.0 0.0 0.0 0.0) (ki 0.0 -100 600.0 600.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")] [DEBUG] |yarp.dev.PolyDriver|head-eb21-j2_5-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 -1.0 0.0 0.0 1.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.5 0.5 0.0 0.0 -1.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.21") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name head-eb21-j2_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName neck_yaw eyes_tilt eyes_version eyes_vergence) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100 -141 50 50) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMin -45 -30 -45 0) (hardwareJntPosMax 45 30 45 45) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMin -45 -30 -30 0) (jntPosMax 45 30 30 45) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2500 2500) (motorNominalCurrents 700 700 700 700) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1100.0 -1000 3500 3500) (kd 0.0 0.0 0.0 0.0) (ki 0.0 -100 600.0 600.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P3" "CONN:P2" "CONN:P5" "CONN:P4")) (ENCODER1 (type aea aea none none) (port "CONN:P11" "CONN:P10" "CONN:none" "CONN:none") (position atjoint atjoint none none) (resolution 4096 4096 0 0) (tolerance 0.702999999999999958256 0.702999999999999958256 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port "CONN:P3" "CONN:P2" "CONN:P5" "CONN:P4") (position atmotor atmotor atmotor atmotor) (resolution 2048 2048 2048 2048) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id head-eb21-j2_5-mc) (robotName icub) [INFO] from BOARD 10.0.1.20 (head-eb20-j0_1) time=4955s 502m 337u : ETH monitor: just verified, no news [DEBUG] eth::parser::print(boardData) for BOARD head-eb21-j2_5 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.21 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = head-eb21-j2_5 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.21 (head-eb21-j2_5) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.21 [WARNING] embObjMC BOARD head-eb21-j2_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD head-eb21-j2_5 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] hardwareTemperatureLimits parameter not found for board head-eb21-j2_5 in bottle LIMITS (hardwareJntPosMin -45 -30 -45 0) (hardwareJntPosMax 45 30 45 45) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMin -45 -30 -30 0) (jntPosMax 45 30 30 45) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2500 2500) (motorNominalCurrents 700 700 700 700) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360) [WARNING] hardwareTemperatureLimits param not found in config file for board head-eb21-j2_5. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] from BOARD 10.0.1.21 (head-eb21-j2_5) time=4955s 534m 795u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 41 [DEBUG] EthResource::verifyBoardPresence() found BOARD head-eb21-j2_5 with IP 10.0.1.21 after 0.00583792 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb21-j2_5 with IP 10.0.1.21 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb21-j2_5 with IP 10.0.1.21 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD head-eb21-j2_5 with IP 10.0.1.21 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD head-eb21-j2_5 @ IP 10.0.1.21 of type mc4plus with FW = ver 3.90 built on 2024 Mar 21 15:0 [DEBUG] from BOARD 10.0.1.21 (head-eb21-j2_5) time=4955s 591m 378u : CFG: EOtheEncoderReader can be correctly configured [DEBUG] from BOARD 10.0.1.21 (head-eb21-j2_5) time=4955s 591m 838u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|head-eb21-j2_5-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device face-eb22-j0-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.22) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "face-eb22-j0") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 1) (AxisMap 0) (AxisName "eyelids") (AxisType "revolute") (Encoder 182.044) (fullscalePWM 3360) (ampsToSensor 1000.0) (Gearbox_M2J -16) (Gearbox_E2J 2.38) (useMotorSpeedFbk 1) (MotorType "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMin -5) (hardwareJntPosMax +65) (rotorPosMin 0) (rotorPosMax 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 1) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm) (port CONN:P2)) (ENCODER1 (type aea) (port CONN:P10) (position atjoint) (resolution -4096) (tolerance 0.703)) (ENCODER2 (type none) (port none) (position none) (resolution 0) (tolerance 0))))"), ("LIMITS" [group] = "(jntPosMin -5) (jntPosMax +65) (motorOverloadCurrents 2000) (motorNominalCurrents 700) (motorPeakCurrents 1000) (jntVelMax 1000) (motorPwmLimit 3300)"), ("TIMEOUTS" [group] = "(velocity 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0) (damping 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT) (torqueControl none) (currentPid none) (speedPid none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 600.00) (kd 0.0) (ki 100.0) (maxOutput 3360) (maxInt 3360) (stictionUp 0) (stictionDown 0) (kff 0)")] [INFO] from BOARD 10.0.1.21 (head-eb21-j2_5) time=4955s 740m 644u : ETH monitor: just verified, no news [DEBUG] |yarp.dev.PolyDriver|face-eb22-j0-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT) (torqueControl none) (currentPid none) (speedPid none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.22") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name face-eb22-j0) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 1) (AxisMap 0) (AxisName eyelids) (AxisType revolute) (Encoder 182.044000000000011141) (fullscalePWM 3360) (ampsToSensor 1000.0) (Gearbox_M2J -16) (Gearbox_E2J 2.37999999999999989342) (useMotorSpeedFbk 1) (MotorType DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0) (damping 0.0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMin -5) (hardwareJntPosMax 65) (rotorPosMin 0) (rotorPosMax 0) (jntPosMin -5) (jntPosMax 65) (motorOverloadCurrents 2000) (motorNominalCurrents 700) (motorPeakCurrents 1000) (jntVelMax 1000) (motorPwmLimit 3300)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 600.0) (kd 0.0) (ki 100.0) (maxOutput 3360) (maxInt 3360) (stictionUp 0) (stictionDown 0) (kff 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm) (port "CONN:P2")) (ENCODER1 (type aea) (port "CONN:P10") (position atjoint) (resolution -4096) (tolerance 0.702999999999999958256)) (ENCODER2 (type none) (port none) (position none) (resolution 0) (tolerance 0))))) (TIMEOUTS (velocity 100)) (device embObjMotionControl) (id face-eb22-j0-mc) (robotName icub) [DEBUG] eth::parser::print(boardData) for BOARD face-eb22-j0 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.22 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = face-eb22-j0 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.22 (face-eb22-j0) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.22 [WARNING] embObjMC BOARD face-eb22-j0 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD face-eb22-j0 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] hardwareTemperatureLimits parameter not found for board face-eb22-j0 in bottle LIMITS (hardwareJntPosMin -5) (hardwareJntPosMax 65) (rotorPosMin 0) (rotorPosMax 0) (jntPosMin -5) (jntPosMax 65) (motorOverloadCurrents 2000) (motorNominalCurrents 700) (motorPeakCurrents 1000) (jntVelMax 1000) (motorPwmLimit 3300) [WARNING] hardwareTemperatureLimits param not found in config file for board face-eb22-j0. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] from BOARD 10.0.1.22 (face-eb22-j0) time=4955s 756m 283u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 17 [DEBUG] EthResource::verifyBoardPresence() found BOARD face-eb22-j0 with IP 10.0.1.22 after 0.00307202 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD face-eb22-j0 with IP 10.0.1.22 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD face-eb22-j0 with IP 10.0.1.22 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD face-eb22-j0 with IP 10.0.1.22 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle [INFO] EthResource::askBoardVersion() found BOARD face-eb22-j0 @ IP 10.0.1.22 of type mc4plus with FW = ver 3.90 built on 2024 Mar 21 15:0 [DEBUG] from BOARD 10.0.1.22 (face-eb22-j0) time=4955s 810m 251u : CFG: EOtheEncoderReader can be correctly configured [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [DEBUG] from BOARD 10.0.1.22 (face-eb22-j0) time=4955s 810m 598u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|face-eb22-j0-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device torso-eb5-j0_2-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.5) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "torso-eb5-j0_2") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 3) (AxisMap 2 0 1) (AxisName "torso_yaw" "torso_roll" "torso_pitch") (AxisType "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J -100.00 -100.00 -100.00) (Gearbox_E2J 1 1 1) (useMotorSpeedFbk 1 1 1) (MotorType "BLL_MOOG" "BLL_MOOG" "BLL_MOOG") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 50 30 70) (hardwareJntPosMin -50 -30 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0)"), ("2FOC" [group] = "(HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 0.500 -0.500 0.000 0.000 0.500 0.500 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 0.500 0.500 0.000 0.000 -0.500 0.500 0.000 0.000 0.275 0.275 0.550 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 1) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc) (port CAN1:3:0 CAN1:4:0 CAN1:1:0)) (ENCODER1 (type eomc_enc_aea aea aea) (port CONN:P6 CONN:P7 CONN:P8) (position eomc_pos_atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie) (port CAN1:3:0 CAN1:4:0 CAN1:1:0) (position atmotor atmotor atmotor) (resolution -14400 -14400 -14400) (tolerance 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 50 30 70) (jntPosMin -50 -30 -20) (jntVelMax 1000 1000 1000) (motorNominalCurrents 4000 4000 4000) (motorPeakCurrents 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000) (motorPwmLimit 10000 10000 10000)"), ("TIMEOUTS" [group] = "(velocity 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0 0 0) (damping 0 0 0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.11 -1066.66 -1066.66) (kd 0.00 0.00 0.00) (ki -7111.09 -10666.64 -14222.18) (maxOutput 8000 8000 16000) (maxInt 750 1000 1000) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (viscousPos -0.0016 -0.003 -0.003) (viscousNeg -0.0016 -0.003 -0.003) (coulombPos 0 0 0) (coulombNeg 0 0 0) (velocityThres 0 0 0) (filterType 0 0 0) (ktau -200 -200 -200)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8) (kd 0 0 0) (ki 2 2 2) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000) (kff 0 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0) (kp 12 12 12) (kd 0 0 0) (ki 16 16 16) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)")] [INFO] from BOARD 10.0.1.22 (face-eb22-j0) time=4955s 869m 236u : ETH monitor: just verified, no news [DEBUG] |yarp.dev.PolyDriver|torso-eb5-j0_2-mc| Parameters are ("2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8) (kd 0 0 0) (ki 2 2 2) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000) (kff 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0) (kp 12 12 12) (kd 0 0 0) (ki 16 16 16) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 0.5 -0.5 0.0 0.0 0.5 0.5 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 0.5 0.5 0.0 0.0 -0.5 0.5 0.0 0.0 0.275000000000000022204 0.275000000000000022204 0.550000000000000044409 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.5") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name torso-eb5-j0_2) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 3) (AxisMap 2 0 1) (AxisName torso_yaw torso_roll torso_pitch) (AxisType revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1) (useMotorSpeedFbk 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0 0 0) (damping 0 0 0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 50 30 70) (hardwareJntPosMin -50 -30 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 50 30 70) (jntPosMin -50 -30 -20) (jntVelMax 1000 1000 1000) (motorNominalCurrents 4000 4000 4000) (motorPeakCurrents 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000) (motorPwmLimit 10000 10000 10000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.110000000000013642 -1066.66000000000008185 -1066.66000000000008185) (kd 0.0 0.0 0.0) (ki -7111.09000000000014552 -10666.6399999999994179 -14222.180000000000291) (maxOutput 8000 8000 16000) (maxInt 750 1000 1000) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc) (port "CAN1:3:0" "CAN1:4:0" "CAN1:1:0")) (ENCODER1 (type eomc_enc_aea aea aea) (port "CONN:P6" "CONN:P7" "CONN:P8") (position eomc_pos_atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie) (port "CAN1:3:0" "CAN1:4:0" "CAN1:1:0") (position atmotor atmotor atmotor) (resolution -14400 -14400 -14400) (tolerance 0 0 0))))) (TIMEOUTS (velocity 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (viscousPos -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (viscousNeg -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (coulombPos 0 0 0) (coulombNeg 0 0 0) (velocityThres 0 0 0) (filterType 0 0 0) (ktau -200 -200 -200)) (device embObjMotionControl) (id torso-eb5-j0_2-mc) (robotName icub) [DEBUG] eth::parser::print(boardData) for BOARD torso-eb5-j0_2 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.5 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = torso-eb5-j0_2 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.5 (torso-eb5-j0_2) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.5 [WARNING] embObjMC BOARD torso-eb5-j0_2 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD torso-eb5-j0_2 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] kbemf parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (viscousPos -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (viscousNeg -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (coulombPos 0 0 0) (coulombNeg 0 0 0) (velocityThres 0 0 0) (filterType 0 0 0) (ktau -200 -200 -200) [WARNING] kbemf not found. Using fallback where kbemf is set to 0. [WARNING] hardwareTemperatureLimits parameter not found for board torso-eb5-j0_2 in bottle LIMITS (hardwareJntPosMax 50 30 70) (hardwareJntPosMin -50 -30 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 50 30 70) (jntPosMin -50 -30 -20) (jntVelMax 1000 1000 1000) (motorNominalCurrents 4000 4000 4000) (motorPeakCurrents 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000) (motorPwmLimit 10000 10000 10000) [WARNING] hardwareTemperatureLimits param not found in config file for board torso-eb5-j0_2. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [WARNING] TemperatureSensorType parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8) [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] torso-eb5-j0_2 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] torso-eb5-j0_2 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] torso-eb5-j0_2 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [WARNING] Verbose parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8) [WARNING] In torso-eb5-j0_2 there isn't 2FOC . Verbose failed. By default it is disabled [WARNING] AutoCalibration parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8) [WARNING] In torso-eb5-j0_2 there isn't 2FOC . AutoCalibration failed. By default it is disabled [INFO] embObjMC BOARD torso-eb5-j0_2 (IP 10.0.1.5) joint 0 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] embObjMC BOARD torso-eb5-j0_2 (IP 10.0.1.5) joint 1 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] embObjMC BOARD torso-eb5-j0_2 (IP 10.0.1.5) joint 2 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=4955s 561m 260u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 34 [DEBUG] EthResource::verifyBoardPresence() found BOARD torso-eb5-j0_2 with IP 10.0.1.5 after 0.00238824 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD torso-eb5-j0_2 with IP 10.0.1.5 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD torso-eb5-j0_2 with IP 10.0.1.5 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD torso-eb5-j0_2 with IP 10.0.1.5 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD torso-eb5-j0_2 @ IP 10.0.1.5 of type ems4 with FW = ver 3.88 built on 2024 Apr 04 15:0 [DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=4955s 615m 411u : CFG: EOtheEncoderReader can be correctly configured [INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=4955s 615m 528u : CFG: CANdiscovery started the search for 3 eobrd_foc boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. [WARNING] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=4955s 616m 255u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [WARNING] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=4955s 616m 363u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [WARNING] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=4955s 616m 471u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=4955s 616m 579u : CFG: CANdiscovery is OK for 3 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms [DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=4955s 617m 95u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|torso-eb5-j0_2-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device left_arm-eb1-j0_3-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb1-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100.00 100.00 100.00 100.00) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 0 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0)"), ("2FOC" [group] = "(HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 -1.625 1.625 0.00 0.00 0.00 0.00 1.625 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.000 0.000 0.000 0.000 1.000 0.615 0.000 0.000 0.000 -0.615 0.615 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P8 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution -4096 -4096 4096 -4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0) (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 8 160 80 106) (jntPosMin -95.5 0 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4500 4500 4500 4000) (motorPeakCurrents 5500 5500 5500 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.1 0.1 0.1 0.1) (damping 0.05 0.05 0.05 0.05)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 711.11 1066.66 711.11 1066.66) (kd 0.00 0.00 0.00 0.00) (ki 7111.09 10666.64 7111.09 10666.64) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.7) (stictionDown -0.7 -0.7 -0.8 -1.2) (kff 1 1 1 1) (viscousPos 0.0030 0.0006 0.0007 0.0007) (viscousNeg 0.0030 0.0006 0.0007 0.0007) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 180 464 463 449)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)")] [DEBUG] |yarp.dev.PolyDriver|left_arm-eb1-j0_3-mc| Parameters are ("2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 -1.625 1.625 0.0 0.0 0.0 0.0 1.625 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 1.0 0.614999999999999991118 0.0 0.0 0.0 -0.614999999999999991118 0.614999999999999991118 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb1-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100.0 100.0 100.0 100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 0 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 8 160 80 106) (jntPosMin -95.5 0 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4500 4500 4500 4000) (motorPeakCurrents 5500 5500 5500 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 711.110000000000013642 1066.66000000000008185 711.110000000000013642 1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki 7111.09000000000014552 10666.6399999999994179 7111.09000000000014552 10666.6399999999994179) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port "CAN1:1:0" "CAN1:2:0" "CAN1:3:0" "CAN1:4:0")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port "CONN:P6" "CONN:P7" "CONN:P8" "CONN:P9") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution -4096 -4096 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port "CAN1:1:0" "CAN1:2:0" "CAN1:3:0" "CAN1:4:0") (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.69999999999999995559) (stictionDown -0.699999999999999955591 -0.699999999999999955591 -0.800000000000000044409 -1.19999999999999995559) (kff 1 1 1 1) (viscousPos 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (viscousNeg 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 180 464 463 449)) (device embObjMotionControl) (id left_arm-eb1-j0_3-mc) (robotName icub) [DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb1-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.1 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb1-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.1 (left_arm-eb1-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.1 [WARNING] embObjMC BOARD left_arm-eb1-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD left_arm-eb1-j0_3 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] kbemf parameter not found for board left_arm-eb1-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.69999999999999995559) (stictionDown -0.699999999999999955591 -0.699999999999999955591 -0.800000000000000044409 -1.19999999999999995559) (kff 1 1 1 1) (viscousPos 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (viscousNeg 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 180 464 463 449) [WARNING] kbemf not found. Using fallback where kbemf is set to 0. [WARNING] hardwareTemperatureLimits parameter not found for board left_arm-eb1-j0_3 in bottle LIMITS (hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 0 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 8 160 80 106) (jntPosMin -95.5 0 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4500 4500 4500 4000) (motorPeakCurrents 5500 5500 5500 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000) [WARNING] hardwareTemperatureLimits param not found in config file for board left_arm-eb1-j0_3. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [WARNING] TemperatureSensorType parameter not found for board left_arm-eb1-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] left_arm-eb1-j0_3 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] left_arm-eb1-j0_3 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] left_arm-eb1-j0_3 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] left_arm-eb1-j0_3 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [WARNING] Verbose parameter not found for board left_arm-eb1-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In left_arm-eb1-j0_3 there isn't 2FOC . Verbose failed. By default it is disabled [WARNING] AutoCalibration parameter not found for board left_arm-eb1-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In left_arm-eb1-j0_3 there isn't 2FOC . AutoCalibration failed. By default it is disabled [INFO] embObjMC BOARD left_arm-eb1-j0_3 (IP 10.0.1.1) joint 0 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] embObjMC BOARD left_arm-eb1-j0_3 (IP 10.0.1.1) joint 1 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] embObjMC BOARD left_arm-eb1-j0_3 (IP 10.0.1.1) joint 2 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] embObjMC BOARD left_arm-eb1-j0_3 (IP 10.0.1.1) joint 3 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4955s 736m 944u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 58 [DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 after 0.00323534 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD left_arm-eb1-j0_3 @ IP 10.0.1.1 of type ems4 with FW = ver 3.88 built on 2024 Apr 04 15:0 [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4955s 791m 456u : CFG: EOtheEncoderReader can be correctly configured [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4955s 791m 572u : CFG: CANdiscovery started the search for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. [WARNING] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4955s 792m 493u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [WARNING] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4955s 792m 601u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [WARNING] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4955s 792m 709u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [WARNING] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4955s 792m 817u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4955s 792m 925u : CFG: CANdiscovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4955s 793m 480u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|left_arm-eb1-j0_3-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device left_arm-eb24-j4_7-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.24) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb24-j4_7") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100 159 159 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 -1.000 +1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 +1.000 0.000 0.000 0.000 +1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P2 CONN:P4 CONN:P3)) (ENCODER1 (type qenc aea aea absanalog) (port CONN:P5 CONN:P10 CONN:P11 CONN:P3) (position atjoint atjoint atjoint atjoint) (resolution 1 -4096 4096 65535) (tolerance 0 0.703 0.703 0)) (ENCODER2 (type qenc qenc qenc none) (port CONN:P5 CONN:P2 CONN:P4 CONN:none) (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200.0 -500.0 -500.0 -500.0) (kd 0.0 0.0 0.0 0.0) (ki -200.0 -50.0 -50.0 -50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)")] [DEBUG] |yarp.dev.PolyDriver|left_arm-eb24-j4_7-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.24") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb24-j4_7) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName l_wrist_prosup l_wrist_pitch l_wrist_yaw l_hand_finger) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100 159 159 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0) (jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200.0 -500.0 -500.0 -500.0) (kd 0.0 0.0 0.0 0.0) (ki -200.0 -50.0 -50.0 -50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P5" "CONN:P2" "CONN:P4" "CONN:P3")) (ENCODER1 (type qenc aea aea absanalog) (port "CONN:P5" "CONN:P10" "CONN:P11" "CONN:P3") (position atjoint atjoint atjoint atjoint) (resolution 1 -4096 4096 65535) (tolerance 0 0.702999999999999958256 0.702999999999999958256 0)) (ENCODER2 (type qenc qenc qenc none) (port "CONN:P5" "CONN:P2" "CONN:P4" "CONN:none") (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)) (device embObjMotionControl) (id left_arm-eb24-j4_7-mc) (robotName icub) [DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb24-j4_7 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.24 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb24-j4_7 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.24 (left_arm-eb24-j4_7) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.24 [WARNING] embObjMC BOARD left_arm-eb24-j4_7 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD left_arm-eb24-j4_7 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] kbemf parameter not found for board left_arm-eb24-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) [WARNING] kbemf not found. Using fallback where kbemf is set to 0. [WARNING] hardwareTemperatureLimits parameter not found for board left_arm-eb24-j4_7 in bottle LIMITS (hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0) (jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360) [WARNING] hardwareTemperatureLimits param not found in config file for board left_arm-eb24-j4_7. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=4956s 327m 949u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 63 [DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 after 0.00428152 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle [INFO] EthResource::askBoardVersion() found BOARD left_arm-eb24-j4_7 @ IP 10.0.1.24 of type mc4plus with FW = ver 3.90 built on 2024 Mar 21 15:0 [DEBUG] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=4956s 383m 382u : CFG: EOtheEncoderReader can be correctly configured [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [DEBUG] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=4956s 383m 842u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|left_arm-eb24-j4_7-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device left_arm-eb25-j8_11-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.25) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb25-j8_11") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -70000 -5120) (rotorPosMax 0 0 5120 32000)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 -1.000 +1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 +1.000 +1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type absanalog mais mais mais) (port CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port CONN:none CONN:P2 CONN:P4 CONN:P5) (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150.0 400.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -15.0 40.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")] [INFO] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=4956s 533m 578u : ETH monitor: just verified, no news [DEBUG] |yarp.dev.PolyDriver|left_arm-eb25-j8_11-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.25") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb25-j8_11) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName l_thumb_oppose l_thumb_proximal l_thumb_distal l_index_proximal) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -70000 -5120) (rotorPosMax 0 0 5120 32000) (jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150.0 400.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -15.0 40.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location "CAN1:14")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5")) (ENCODER1 (type absanalog mais mais mais) (port "CONN:P3" "MAIS:thumbproximal" "MAIS:thumbdistal" "MAIS:indexproximal") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port "CONN:none" "CONN:P2" "CONN:P4" "CONN:P5") (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id left_arm-eb25-j8_11-mc) (robotName icub) [DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb25-j8_11 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.25 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb25-j8_11 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.25 (left_arm-eb25-j8_11) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.25 [WARNING] embObjMC BOARD left_arm-eb25-j8_11 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD left_arm-eb25-j8_11 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] hardwareTemperatureLimits parameter not found for board left_arm-eb25-j8_11 in bottle LIMITS (hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -70000 -5120) (rotorPosMax 0 0 5120 32000) (jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360) [WARNING] hardwareTemperatureLimits param not found in config file for board left_arm-eb25-j8_11. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=4956s 546m 231u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 34 [DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 after 0.00342464 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD left_arm-eb25-j8_11 @ IP 10.0.1.25 of type mc4plus with FW = ver 3.90 built on 2024 Mar 21 15:0 [INFO] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=4956s 579m 647u : CFG: CANdiscovery started the search for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=4956s 579m 774u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_mais boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=4956s 579m 892u : CFG: EOtheMAIS can be correctly configured on board at addr: 14 and port:0 with can protocol ver 0.0 and application ver 0.0. [DEBUG] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=4956s 599m 165u : CFG: EOtheEncoderReader can be correctly configured [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [DEBUG] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=4956s 599m 423u : CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|left_arm-eb25-j8_11-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device left_arm-eb26-j12_15-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.26) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb26-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -5120 -5120 -65000 -5120) (rotorPosMax 65000 32000 5120 65000)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 1.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type mais mais mais mais) (port MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5) (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 500.0 500.0 -200.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 50.0 50.0 -20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")] [INFO] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=4956s 749m 778u : ETH monitor: just verified, no news [DEBUG] |yarp.dev.PolyDriver|left_arm-eb26-j12_15-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.26") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb26-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName l_index_distal l_middle_proximal l_middle_distal l_pinky) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -5120 -5120 -65000 -5120) (rotorPosMax 65000 32000 5120 65000) (jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 500.0 500.0 -200.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 50.0 50.0 -20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location "CAN1:14")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5")) (ENCODER1 (type mais mais mais mais) (port "MAIS:indexdistal" "MAIS:mediumproximal" "MAIS:mediumdistal" "MAIS:littlefingers") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5") (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id left_arm-eb26-j12_15-mc) (robotName icub) [DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb26-j12_15 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.26 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb26-j12_15 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.26 (left_arm-eb26-j12_15) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.26 [WARNING] embObjMC BOARD left_arm-eb26-j12_15 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD left_arm-eb26-j12_15 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] hardwareTemperatureLimits parameter not found for board left_arm-eb26-j12_15 in bottle LIMITS (hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -5120 -5120 -65000 -5120) (rotorPosMax 65000 32000 5120 65000) (jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360) [WARNING] hardwareTemperatureLimits param not found in config file for board left_arm-eb26-j12_15. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=4956s 735m 849u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 43 [DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 after 0.00324917 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD left_arm-eb26-j12_15 @ IP 10.0.1.26 of type mc4plus with FW = ver 3.90 built on 2024 Mar 21 15:0 [INFO] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=4956s 770m 183u : CFG: CANdiscovery started the search for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=4956s 770m 303u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_mais boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=4956s 770m 422u : CFG: EOtheMAIS can be correctly configured on board at addr: 14 and port:0 with can protocol ver 0.0 and application ver 0.0. [DEBUG] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=4956s 790m 173u : CFG: EOtheEncoderReader can be correctly configured [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [DEBUG] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=4956s 790m 434u : CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|left_arm-eb26-j12_15-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device right_arm-eb3-j0_3-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.3) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb3-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100.00 -100.00 -100.00 -100.00) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 0 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0)"), ("2FOC" [group] = "(HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 -1.625 1.625 0.00 0.00 0.00 0.00 1.625 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.000 0.000 0.000 0.000 1.000 0.615 0.000 0.000 0.000 -0.615 0.615 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P10 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 -4096 4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0) (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 8 160 80 106) (jntPosMin -95.5 0 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4000 4000 4000 4000) (motorPeakCurrents 5000 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.1 0.1 0.1 0.1) (damping 0.05 0.05 0.05 0.05)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.11 -1066.66 -711.11 -1066.66) (kd 0.00 0.00 0.00 0.00) (ki -7111.09 -10666.64 -7111.09 -10666.64) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.7) (stictionDown 0.7 0.7 0.8 1.2) (kff 1 1 1 1) (viscousPos -0.0030 -0.0006 -0.0007 0.0007) (viscousNeg -0.0030 -0.0006 -0.0007 0.0007) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -180 -464 -463 -449)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)")] [INFO] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=4956s 940m 200u : ETH monitor: just verified, no news [DEBUG] |yarp.dev.PolyDriver|right_arm-eb3-j0_3-mc| Parameters are ("2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 -1.625 1.625 0.0 0.0 0.0 0.0 1.625 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 1.0 0.614999999999999991118 0.0 0.0 0.0 -0.614999999999999991118 0.614999999999999991118 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.3") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb3-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 0 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 8 160 80 106) (jntPosMin -95.5 0 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4000 4000 4000 4000) (motorPeakCurrents 5000 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.110000000000013642 -1066.66000000000008185 -711.110000000000013642 -1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki -7111.09000000000014552 -10666.6399999999994179 -7111.09000000000014552 -10666.6399999999994179) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port "CAN1:1:0" "CAN1:2:0" "CAN1:3:0" "CAN1:4:0")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port "CONN:P6" "CONN:P7" "CONN:P10" "CONN:P9") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 -4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port "CAN1:1:0" "CAN1:2:0" "CAN1:3:0" "CAN1:4:0") (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.69999999999999995559) (stictionDown 0.699999999999999955591 0.699999999999999955591 0.800000000000000044409 1.19999999999999995559) (kff 1 1 1 1) (viscousPos -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (viscousNeg -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -180 -464 -463 -449)) (device embObjMotionControl) (id right_arm-eb3-j0_3-mc) (robotName icub) [DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb3-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.3 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb3-j0_3 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.3 (right_arm-eb3-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.3 [WARNING] embObjMC BOARD right_arm-eb3-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD right_arm-eb3-j0_3 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] kbemf parameter not found for board right_arm-eb3-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.69999999999999995559) (stictionDown 0.699999999999999955591 0.699999999999999955591 0.800000000000000044409 1.19999999999999995559) (kff 1 1 1 1) (viscousPos -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (viscousNeg -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -180 -464 -463 -449) [WARNING] kbemf not found. Using fallback where kbemf is set to 0. [WARNING] hardwareTemperatureLimits parameter not found for board right_arm-eb3-j0_3 in bottle LIMITS (hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 0 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 8 160 80 106) (jntPosMin -95.5 0 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4000 4000 4000 4000) (motorPeakCurrents 5000 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000) [WARNING] hardwareTemperatureLimits param not found in config file for board right_arm-eb3-j0_3. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [WARNING] TemperatureSensorType parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] right_arm-eb3-j0_3 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] right_arm-eb3-j0_3 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] right_arm-eb3-j0_3 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [WARNING] right_arm-eb3-j0_3 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor [WARNING] Verbose parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In right_arm-eb3-j0_3 there isn't 2FOC . Verbose failed. By default it is disabled [WARNING] AutoCalibration parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) [WARNING] In right_arm-eb3-j0_3 there isn't 2FOC . AutoCalibration failed. By default it is disabled [INFO] embObjMC BOARD right_arm-eb3-j0_3 (IP 10.0.1.3) joint 0 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] embObjMC BOARD right_arm-eb3-j0_3 (IP 10.0.1.3) joint 1 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] embObjMC BOARD right_arm-eb3-j0_3 (IP 10.0.1.3) joint 2 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] embObjMC BOARD right_arm-eb3-j0_3 (IP 10.0.1.3) joint 3 has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4956s 669m 347u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 58 [DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 after 0.0017705 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD right_arm-eb3-j0_3 @ IP 10.0.1.3 of type ems4 with FW = ver 3.88 built on 2024 Apr 04 15:0 [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4956s 722m 457u : CFG: EOtheEncoderReader can be correctly configured [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4956s 722m 572u : CFG: CANdiscovery started the search for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. [WARNING] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4956s 723m 493u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [WARNING] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4956s 723m 601u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [WARNING] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4956s 723m 709u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [WARNING] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4956s 723m 818u : CFG: CANdiscovery has detected eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4956s 723m 926u : CFG: CANdiscovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4956s 724m 481u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|right_arm-eb3-j0_3-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device right_arm-eb27-j4_7-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.27) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb27-j4_7") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100 159 159 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 -1.000 +1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 +1.000 0.000 0.000 0.000 +1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P2 CONN:P4 CONN:P3)) (ENCODER1 (type qenc aea aea absanalog) (port CONN:P5 CONN:P10 CONN:P11 CONN:P3) (position atjoint atjoint atjoint atjoint) (resolution 1 4096 -4096 65535) (tolerance 0 0.703 0.703 0)) (ENCODER2 (type qenc qenc qenc none) (port CONN:P5 CONN:P2 CONN:P4 CONN:none) (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200.0 500.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki 200.0 50.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)")] [DEBUG] |yarp.dev.PolyDriver|right_arm-eb27-j4_7-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.27") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb27-j4_7) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName r_wrist_prosup r_wrist_pitch r_wrist_yaw r_hand_finger) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100 159 159 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0) (jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200.0 500.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki 200.0 50.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P5" "CONN:P2" "CONN:P4" "CONN:P3")) (ENCODER1 (type qenc aea aea absanalog) (port "CONN:P5" "CONN:P10" "CONN:P11" "CONN:P3") (position atjoint atjoint atjoint atjoint) (resolution 1 4096 -4096 65535) (tolerance 0 0.702999999999999958256 0.702999999999999958256 0)) (ENCODER2 (type qenc qenc qenc none) (port "CONN:P5" "CONN:P2" "CONN:P4" "CONN:none") (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)) (device embObjMotionControl) (id right_arm-eb27-j4_7-mc) (robotName icub) [DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb27-j4_7 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.27 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb27-j4_7 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.27 (right_arm-eb27-j4_7) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.27 [WARNING] embObjMC BOARD right_arm-eb27-j4_7 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD right_arm-eb27-j4_7 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] kbemf parameter not found for board right_arm-eb27-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) [WARNING] kbemf not found. Using fallback where kbemf is set to 0. [WARNING] hardwareTemperatureLimits parameter not found for board right_arm-eb27-j4_7 in bottle LIMITS (hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0) (jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360) [WARNING] hardwareTemperatureLimits param not found in config file for board right_arm-eb27-j4_7. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=4957s 210m 360u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 63 [DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 after 0.0011704 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle [INFO] EthResource::askBoardVersion() found BOARD right_arm-eb27-j4_7 @ IP 10.0.1.27 of type mc4plus with FW = ver 3.90 built on 2024 Mar 21 15:0 [DEBUG] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=4957s 262m 382u : CFG: EOtheEncoderReader can be correctly configured [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [DEBUG] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=4957s 262m 842u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|right_arm-eb27-j4_7-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device right_arm-eb28-j8_11-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.28) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb28-j8_11") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "r_thumb_oppose" "r_thumb_proximal" "r_thumb_distal" "r_index_proximal") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -5120 -5120) (rotorPosMax 0 0 70000 32000)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 -1.000 +1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 +1.000 +1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type absanalog mais mais mais) (port CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port CONN:none CONN:P2 CONN:P4 CONN:P5) (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150.0 400.0 -500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -15.0 40.0 -50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")] [INFO] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=4957s 412m 370u : ETH monitor: just verified, no news [DEBUG] |yarp.dev.PolyDriver|right_arm-eb28-j8_11-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.28") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb28-j8_11) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName r_thumb_oppose r_thumb_proximal r_thumb_distal r_index_proximal) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -5120 -5120) (rotorPosMax 0 0 70000 32000) (jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150.0 400.0 -500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -15.0 40.0 -50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location "CAN1:14")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5")) (ENCODER1 (type absanalog mais mais mais) (port "CONN:P3" "MAIS:thumbproximal" "MAIS:thumbdistal" "MAIS:indexproximal") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port "CONN:none" "CONN:P2" "CONN:P4" "CONN:P5") (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id right_arm-eb28-j8_11-mc) (robotName icub) [DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb28-j8_11 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.28 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb28-j8_11 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.28 (right_arm-eb28-j8_11) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.28 [WARNING] embObjMC BOARD right_arm-eb28-j8_11 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD right_arm-eb28-j8_11 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] hardwareTemperatureLimits parameter not found for board right_arm-eb28-j8_11 in bottle LIMITS (hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -5120 -5120) (rotorPosMax 0 0 70000 32000) (jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360) [WARNING] hardwareTemperatureLimits param not found in config file for board right_arm-eb28-j8_11. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=4957s 418m 754u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 34 [DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 after 0.00393748 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD right_arm-eb28-j8_11 @ IP 10.0.1.28 of type mc4plus with FW = ver 3.90 built on 2024 Mar 21 15:0 [INFO] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=4957s 454m 137u : CFG: CANdiscovery started the search for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=4957s 454m 257u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_mais boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=4957s 454m 376u : CFG: EOtheMAIS can be correctly configured on board at addr: 14 and port:0 with can protocol ver 0.0 and application ver 0.0. [DEBUG] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=4957s 474m 170u : CFG: EOtheEncoderReader can be correctly configured [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [DEBUG] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=4957s 474m 429u : CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|right_arm-eb28-j8_11-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device right_arm-eb29-j12_15-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.29) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb29-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "r_index_distal" "r_middle_proximal" "r_middle_distal" "r_pinky") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -65000 -5120 -5120 -65000) (rotorPosMax 5120 42000 65000 5120)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 1.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type mais mais mais mais) (port MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5) (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 500.0 500.0 -500.0 200.0) (kd 0.0 0.0 0.0 0.0) (ki 50.0 50.0 -50.0 20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")] [DEBUG] |yarp.dev.PolyDriver|right_arm-eb29-j12_15-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.29") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb29-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName r_index_distal r_middle_proximal r_middle_distal r_pinky) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -65000 -5120 -5120 -65000) (rotorPosMax 5120 42000 65000 5120) (jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 500.0 500.0 -500.0 200.0) (kd 0.0 0.0 0.0 0.0) (ki 50.0 50.0 -50.0 20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location "CAN1:14")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5")) (ENCODER1 (type mais mais mais mais) (port "MAIS:indexdistal" "MAIS:mediumproximal" "MAIS:mediumdistal" "MAIS:littlefingers") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5") (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id right_arm-eb29-j12_15-mc) (robotName icub) [DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb29-j12_15 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES: [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.29 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 [DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS: [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb29-j12_15 [DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE [DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 [DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.29 (right_arm-eb29-j12_15) with timeout = 0.02 sec and period of missing report = 60 sec [DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.29 [INFO] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=4957s 623m 645u : ETH monitor: just verified, no news [WARNING] embObjMC BOARD right_arm-eb29-j12_15 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) [WARNING] embObjMC BOARD right_arm-eb29-j12_15 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. [WARNING] hardwareTemperatureLimits parameter not found for board right_arm-eb29-j12_15 in bottle LIMITS (hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -65000 -5120 -5120 -65000) (rotorPosMax 5120 42000 65000 5120) (jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360) [WARNING] hardwareTemperatureLimits param not found in config file for board right_arm-eb29-j12_15. Please update robot configuration files or contact https://github.com/robotology/icub-support if needed. Using default values. [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE [INFO] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=4957s 589m 677u : SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 43 [DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 after 0.00381851 seconds [DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 [DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 : config mode + cleared all its regulars [DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle [INFO] EthResource::askBoardVersion() found BOARD right_arm-eb29-j12_15 @ IP 10.0.1.29 of type mc4plus with FW = ver 3.90 built on 2024 Mar 21 15:0 [INFO] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=4957s 624m 688u : CFG: CANdiscovery started the search for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=4957s 624m 808u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_mais boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=4957s 624m 927u : CFG: EOtheMAIS can be correctly configured on board at addr: 14 and port:0 with can protocol ver 0.0 and application ver 0.0. [DEBUG] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=4957s 644m 168u : CFG: EOtheEncoderReader can be correctly configured [DEBUG] embObjMotionControl:serviceVerifyActivate OK! [DEBUG] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=4957s 644m 429u : CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE [INFO] |yarp.dev.PolyDriver|right_arm-eb29-j12_15-mc| Created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] Opening device head-imuFilter_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("name" = "/imuFilter")] [INFO] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=4957s 793m 671u : ETH monitor: just verified, no news [DEBUG] |yarp.dev.PolyDriver|head-imuFilter_wrapper| Parameters are (device multipleanalogsensorsserver) (id head-imuFilter_wrapper) (name "/imuFilter") (period 20) (robotName icub) [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|head-imuFilter_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device head-imuFilter with parameters [("robotName" = "icub"), ("period" = "20"), ("name" = "/imuFilter")] [DEBUG] |yarp.dev.PolyDriver|head-imuFilter| Parameters are (device imuFilter) (id head-imuFilter) (name "/imuFilter") (period 20) (robotName icub) [INFO] Finish PassThroughInertial::open [INFO] |yarp.os.Port|/imuFilter/bias:o| Port /imuFilter/bias:o active at tcp://10.0.0.2:10037/ [INFO] |yarp.dev.PolyDriver|head-imuFilter| Created device . See C++ class yarp::dev::ImuFilter for documentation. [INFO] Opening device head-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/head/inertials")] [DEBUG] |yarp.dev.PolyDriver|head-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id head-inertials_wrapper) (name "/icub/head/inertials") (period 10) (robotName icub) [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|head-inertials_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device head-inertial with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.21) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "head-eb21-j2_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type rfe) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status) (sensorName head_imu_0 head_imu_0 head_imu_0 head_imu_0 head_imu_0) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status) (boardType rfe rfe rfe rfe rfe) (location CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1))) (SETTINGS (acquisitionRate 10) (enabledSensors rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status))")] [DEBUG] |yarp.dev.PolyDriver|head-inertial| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.21") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name head-eb21-j2_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type rfe) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status) (sensorName head_imu_0 head_imu_0 head_imu_0 head_imu_0 head_imu_0) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status) (boardType rfe rfe rfe rfe rfe) (location "CAN1:1" "CAN1:1" "CAN1:1" "CAN1:1" "CAN1:1"))) (SETTINGS (acquisitionRate 10) (enabledSensors rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status))) (device embObjIMU) (id head-inertial) (robotName icub) [INFO] from BOARD 10.0.1.21 (head-eb21-j2_5) time=4957s 936m 985u : CFG: CANdiscovery started the search for 1 eobrd_rfe boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 2.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.21 (head-eb21-j2_5) time=4957s 937m 951u : CFG: CANdiscovery has detected eobrd_rfe board in CAN1 addr 1 with can protocol ver 2.0 and application ver 1.4.0 Search time was 0 ms [INFO] from BOARD 10.0.1.21 (head-eb21-j2_5) time=4957s 938m 63u : CFG: CANdiscovery is OK for 1 eobrd_rfe boards with target can protocol ver 2.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.21 (head-eb21-j2_5) time=4957s 938m 196u : CFG: EOtheInertial3 can be correctly configured [WARNING] from BOARD 10.0.1.21 (head-eb21-j2_5) time=4957s 938m 926u : SYS: the RX phase of the control loop has last more than wanted. RX execution time 413[usec]. Latest previous execution times[usec] (..., Tx=23);(RX=209, DO=133, TX=95); [INFO] |yarp.dev.PolyDriver|head-inertial| Created device . See C++ class yarp::dev::embObjIMU for documentation. [INFO] Opening device xsens_inertial with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/xsens_inertial"), ("subdevice" = "xsensmt"), ("serial" = "/dev/ttyXsens")] [DEBUG] |yarp.dev.PolyDriver|xsens_inertial| Parameters are (device multipleanalogsensorsserver) (id xsens_inertial) (name "/icub/xsens_inertial") (period 10) (robotName icub) (serial "/dev/ttyXsens") (subdevice xsensmt) [DEBUG] |yarp.dev.PolyDriver|xsens_inertial| Parameters are (device xsensmt) (id xsens_inertial) (name "/icub/xsens_inertial") (period 10) (robotName icub) (serial "/dev/ttyXsens") (subdevice xsensmt) [WARNING] xsensmt - Parameter ' sensor_name ' not set. Using default value ' sensor_imu_xsensmt ' for this parameter. [WARNING] xsensmt - Parameter ' frame_name ' not set. Using default value ' sensor_imu_xsensmt ' for this parameter. [WARNING] xsensmt - Parameter ' xsensmt_period ' not set. Using default value ' 0.01 ' for this parameter. [INFO] xsensmt: Opening serial port /dev/ttyXsens with baud rate 115200. The following frequencies are considered. Accelerometer 100.0000 Hz, gyro 100.0000 Hz, magnetometer 100.0000 Hz, euler angle 100.0000 Hz, position 100.0000 Hz, linearVelocity 100.0000 Hz [INFO] Device: MTi-300-2A8G4, with ID: 0378267E opened. [INFO] xsensmt: Putting device into configuration mode. [INFO] xsensmt: Configuring the device MTi-300-2A8G4. [INFO] xsensmt: Putting device into measurement mode. [INFO] |yarp.dev.PolyDriver|xsens_inertial| Created device . See C++ class yarp::dev::XsensMT for documentation. [INFO] |yarp.os.Port|/icub/xsens_inertial/measures:o| Port /icub/xsens_inertial/measures:o active at tcp://10.0.0.2:10038/ [INFO] |yarp.os.Port|/icub/xsens_inertial/rpc:o| Port /icub/xsens_inertial/rpc:o active at tcp://10.0.0.2:10039/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] |yarp.device.multipleanalogsensorsserver| Subdevice "xsensmt" successfully configured and attached. [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|xsens_inertial| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device left_arm-eb1-imu with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb1-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat) (sensorName l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat))")] [DEBUG] |yarp.dev.PolyDriver|left_arm-eb1-imu| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb1-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat) (sensorName l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat))) (device embObjIMU) (id left_arm-eb1-imu) (robotName icub) [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4957s 907m 994u : CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4957s 910m 6u : CFG: CANdiscovery has detected eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.3.0 Search time was 1 ms [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4957s 910m 118u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4957s 910m 252u : CFG: EOtheInertial3 can be correctly configured [INFO] |yarp.dev.PolyDriver|left_arm-eb1-imu| Created device . See C++ class yarp::dev::embObjIMU for documentation. [INFO] Opening device right_arm-eb3-imu with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.3) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb3-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat) (sensorName r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat))")] [DEBUG] |yarp.dev.PolyDriver|right_arm-eb3-imu| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.3") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb3-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat) (sensorName r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat))) (device embObjIMU) (id right_arm-eb3-imu) (robotName icub) [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4957s 979m 708u : CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 0.0.0. [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4957s 981m 718u : CFG: CANdiscovery has detected eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.3.0 Search time was 1 ms [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4957s 981m 827u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 0.0.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4957s 981m 964u : CFG: EOtheInertial3 can be correctly configured [INFO] |yarp.dev.PolyDriver|right_arm-eb3-imu| Created device . See C++ class yarp::dev::embObjIMU for documentation. [INFO] Opening device alljoints-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/alljoints/inertials")] [DEBUG] |yarp.dev.PolyDriver|alljoints-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id alljoints-inertials_wrapper) (name "/icub/alljoints/inertials") (period 10) (robotName icub) [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|alljoints-inertials_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device alljoints-inertials_remapper with parameters [("robotName" = "icub"), ("OrientationSensorsNames" = "(head_imu_0 l_arm_ft_imu r_arm_ft_imu)")] [DEBUG] |yarp.dev.PolyDriver|alljoints-inertials_remapper| Parameters are (OrientationSensorsNames (head_imu_0 l_arm_ft_imu r_arm_ft_imu)) (device multipleanalogsensorsremapper) (id alljoints-inertials_remapper) (robotName icub) [INFO] |yarp.dev.PolyDriver|alljoints-inertials_remapper| Created device . See C++ class MultipleAnalogSensorsRemapper for documentation. [INFO] Opening device left_arm-mais_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/left_hand/MAIS")] [DEBUG] |yarp.dev.PolyDriver|left_arm-mais_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_arm-mais_wrapper) (name "/icub/left_hand/MAIS") (period 10) (robotName icub) [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|left_arm-mais_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device right_arm-mais_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/right_hand/MAIS")] [DEBUG] |yarp.dev.PolyDriver|right_arm-mais_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_arm-mais_wrapper) (name "/icub/right_hand/MAIS") (period 10) (robotName icub) [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|right_arm-mais_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device left_arm-eb26-j12_15-mais with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.26) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb26-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location CAN1:14))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))")] [DEBUG] |yarp.dev.PolyDriver|left_arm-eb26-j12_15-mais| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.26") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb26-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location "CAN1:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))) (device embObjMais) (id left_arm-eb26-j12_15-mais) (robotName icub) [WARNING] ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName [INFO] The embObjMais device using BOARD left_arm-eb26-j12_15 w/ IP 10.0.1.26 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - MAIS named id_x_hand_mais @ [C, A, N, 1, :, 1, 4, [INFO] |yarp.dev.PolyDriver|left_arm-eb26-j12_15-mais| Created device . See C++ class yarp::dev::embObjMais for documentation. [INFO] Opening device right_arm-eb29-j12_15-mais with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.29) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb29-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location CAN1:14))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))")] [DEBUG] |yarp.dev.PolyDriver|right_arm-eb29-j12_15-mais| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.29") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb29-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location "CAN1:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))) (device embObjMais) (id right_arm-eb29-j12_15-mais) (robotName icub) [WARNING] ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName [INFO] The embObjMais device using BOARD right_arm-eb29-j12_15 w/ IP 10.0.1.29 has the following service config: [INFO] - acquisitionrate = 10 [INFO] - MAIS named id_x_hand_mais @ [C, A, N, 1, :, 1, 4, [INFO] |yarp.dev.PolyDriver|right_arm-eb29-j12_15-mais| Created device . See C++ class yarp::dev::embObjMais for documentation. [INFO] Opening device left_arm-skin_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("total_taxels" = "1344"), ("device" = "skinWrapper"), ("ports" = "(left_hand left_forearm left_arm)"), ("left_hand" = "0 191 0 191"), ("left_forearm" = "192 575 0 383"), ("left_arm" = "576 1343 0 767")] [DEBUG] |yarp.dev.PolyDriver|left_arm-skin_wrapper| Parameters are (device skinWrapper) (id left_arm-skin_wrapper) (left_arm 576 1343 0 767) (left_forearm 192 575 0 383) (left_hand 0 191 0 191) (period 20) (ports (left_hand left_forearm left_arm)) (robotName icub) (total_taxels 1344) [DEBUG] |yarp.dev.PolyDriver|left_arm-skin_wrapper| Parameters are (channels 1344) (device analogServer) (id left_arm-skin_wrapper) (left_arm 576 1343 0 767) (left_forearm 192 575 0 383) (left_hand 0 191 0 191) (name "/icub/skin") (period 20) (ports (left_hand left_forearm left_arm)) (robotName icub) [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [DEBUG] |yarp.devices.AnalogWrapper| --> 0 191 0 191 [DEBUG] |yarp.devices.AnalogWrapper| opening port left_hand [DEBUG] |yarp.devices.AnalogWrapper| --> 192 575 0 383 [DEBUG] |yarp.devices.AnalogWrapper| opening port left_forearm [DEBUG] |yarp.devices.AnalogWrapper| --> 576 1343 0 767 [DEBUG] |yarp.devices.AnalogWrapper| opening port left_arm [INFO] |yarp.os.Port|/icub/skin/left_hand/rpc:i| Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10040/ [INFO] |yarp.os.Port|/icub/skin/left_forearm/rpc:i| Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10041/ [INFO] |yarp.os.Port|/icub/skin/left_arm/rpc:i| Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10042/ [INFO] |yarp.dev.PolyDriver|left_arm-skin_wrapper| Created wrapper . See C++ class AnalogWrapper for documentation. [INFO] |yarp.dev.PolyDriver|left_arm-skin_wrapper| Created device . See C++ class skinWrapper for documentation. [INFO] Opening device left_arm-eb24-j4_7-skin with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.24) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb24-j4_7") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("patches" [group] = "(skinCanAddrsPatch1 14 13 12 11 10 9 8)"), ("defaultCfgBoard" [group] = "(period 50) (skinType 8) (noLoad 0xf0) (diagnostic false)"), ("defaultCfgTriangle" [group] = "(enabled true) (shift 2) (cdcOffset 0x2200)"), ("specialCfgTriangles" [group] = "(numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 0x2000) (triangleSetCfg2 1 14 8 11 1 2 0x2200) (triangleSetCfg3 1 13 0 15 1 2 0x2200) (triangleSetCfg4 1 12 0 1 1 2 0x2200) (triangleSetCfg5 1 12 3 3 1 2 0x2200) (triangleSetCfg6 1 12 6 6 1 2 0x2200) (triangleSetCfg7 1 12 8 9 1 2 0x2200) (triangleSetCfg8 1 12 12 13 1 2 0x2200) (triangleSetCfg9 1 11 1 4 1 2 0x2200) (triangleSetCfg10 1 11 8 13 1 2 0x2200) (triangleSetCfg11 1 10 0 1 1 2 0x2200) (triangleSetCfg12 1 10 6 6 1 2 0x2200) (triangleSetCfg13 1 10 8 15 1 2 0x2200) (triangleSetCfg14 1 9 0 8 1 2 0x2200) (triangleSetCfg15 1 9 12 13 1 2 0x2200) (triangleSetCfg16 1 8 0 0 1 2 0x2200) (triangleSetCfg17 1 8 8 9 1 2 0x2200) (triangleSetCfg18 1 8 10 11 1 2 0x2200) (triangleSetCfg19 1 8 13 13 1 2 0x2200) (triangleSetCfg20 1 8 15 15 1 2 0x2200)")] [DEBUG] |yarp.dev.PolyDriver|left_arm-eb24-j4_7-skin| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.24") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb24-j4_7) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (defaultCfgBoard (period 50) (skinType 8) (noLoad 240) (diagnostic false)) (defaultCfgTriangle (enabled true) (shift 2) (cdcOffset 8704)) (device embObjSkin) (id left_arm-eb24-j4_7-skin) (patches (skinCanAddrsPatch1 14 13 12 11 10 9 8)) (robotName icub) (specialCfgTriangles (numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 8192) (triangleSetCfg2 1 14 8 11 1 2 8704) (triangleSetCfg3 1 13 0 15 1 2 8704) (triangleSetCfg4 1 12 0 1 1 2 8704) (triangleSetCfg5 1 12 3 3 1 2 8704) (triangleSetCfg6 1 12 6 6 1 2 8704) (triangleSetCfg7 1 12 8 9 1 2 8704) (triangleSetCfg8 1 12 12 13 1 2 8704) (triangleSetCfg9 1 11 1 4 1 2 8704) (triangleSetCfg10 1 11 8 13 1 2 8704) (triangleSetCfg11 1 10 0 1 1 2 8704) (triangleSetCfg12 1 10 6 6 1 2 8704) (triangleSetCfg13 1 10 8 15 1 2 8704) (triangleSetCfg14 1 9 0 8 1 2 8704) (triangleSetCfg15 1 9 12 13 1 2 8704) (triangleSetCfg16 1 8 0 0 1 2 8704) (triangleSetCfg17 1 8 8 9 1 2 8704) (triangleSetCfg18 1 8 10 11 1 2 8704) (triangleSetCfg19 1 8 13 13 1 2 8704) (triangleSetCfg20 1 8 15 15 1 2 8704)) [WARNING] ServiceParser::parseService(SKIN) has received an invalid SERVICE group: using defaults [INFO] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=4958s 610m 912u : CFG: CANdiscovery started the search for 7 eobrd_mtb boards on (can1map, can2map) = (0x7f00, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=4958s 611m 34u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=4958s 611m 179u : CFG: EOtheSKIN can be correctly configured on 1 skin patches for boards on (can1map, can2map) = (0x7f00, 0x0000) with target can protocol ver 0.0 and application ver 0.0 [WARNING] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=4958s 611m 861u : SYS: the RX phase of the control loop has last more than wanted. RX execution time 461[usec]. Latest previous execution times[usec] (..., Tx=23);(RX=19, DO=137, TX=111); [WARNING] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=4958s 616m 916u : SYS: the TX phase of the control loop has last more than wanted. TX execution time 350[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=23); (Rx=80, DO=137, ...). Num of CAN frames[CAN1,CAN2]=[7 0] [WARNING] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=4958s 627m 31u : SYS: the TX phase of the control loop has last more than wanted. TX execution time 462[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=111); (Rx=80, DO=137, ...). Num of CAN frames[CAN1,CAN2]=[7 0] [INFO] |yarp.dev.PolyDriver|left_arm-eb24-j4_7-skin| Created device . See C++ class EmbObjSkin for documentation. [INFO] Opening device right_arm-skin_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("total_taxels" = "1344"), ("device" = "skinWrapper"), ("ports" = "(right_hand right_forearm right_arm)"), ("right_hand" = "0 191 0 191"), ("right_forearm" = "192 575 0 383"), ("right_arm" = "576 1343 0 767")] [DEBUG] |yarp.dev.PolyDriver|right_arm-skin_wrapper| Parameters are (device skinWrapper) (id right_arm-skin_wrapper) (period 20) (ports (right_hand right_forearm right_arm)) (right_arm 576 1343 0 767) (right_forearm 192 575 0 383) (right_hand 0 191 0 191) (robotName icub) (total_taxels 1344) [DEBUG] |yarp.dev.PolyDriver|right_arm-skin_wrapper| Parameters are (channels 1344) (device analogServer) (id right_arm-skin_wrapper) (name "/icub/skin") (period 20) (ports (right_hand right_forearm right_arm)) (right_arm 576 1343 0 767) (right_forearm 192 575 0 383) (right_hand 0 191 0 191) (robotName icub) [WARNING] |yarp.devices.AnalogWrapper| The 'AnalogWrapper' device is deprecated. [WARNING] |yarp.devices.AnalogWrapper| Possible alternatives, depending on the specific type sensor data, are: [WARNING] |yarp.devices.AnalogWrapper| 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. [WARNING] |yarp.devices.AnalogWrapper| The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. [WARNING] |yarp.devices.AnalogWrapper| Please update your scripts. [DEBUG] |yarp.devices.AnalogWrapper| --> 0 191 0 191 [DEBUG] |yarp.devices.AnalogWrapper| opening port right_hand [DEBUG] |yarp.devices.AnalogWrapper| --> 192 575 0 383 [DEBUG] |yarp.devices.AnalogWrapper| opening port right_forearm [DEBUG] |yarp.devices.AnalogWrapper| --> 576 1343 0 767 [DEBUG] |yarp.devices.AnalogWrapper| opening port right_arm [INFO] |yarp.os.Port|/icub/skin/right_hand/rpc:i| Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10043/ [INFO] |yarp.os.Port|/icub/skin/right_forearm/rpc:i| Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10044/ [INFO] |yarp.os.Port|/icub/skin/right_arm/rpc:i| Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10045/ [INFO] |yarp.dev.PolyDriver|right_arm-skin_wrapper| Created wrapper . See C++ class AnalogWrapper for documentation. [INFO] |yarp.dev.PolyDriver|right_arm-skin_wrapper| Created device . See C++ class skinWrapper for documentation. [INFO] Opening device right_arm-eb27-j4_7-skin with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.27) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb27-j4_7") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("patches" [group] = "(skinCanAddrsPatch1 14 13 12 11 10 9 8)"), ("defaultCfgBoard" [group] = "(period 50) (skinType 8) (noLoad 0xf0) (diagnostic false)"), ("defaultCfgTriangle" [group] = "(enabled true) (shift 2) (cdcOffset 0x2200)"), ("specialCfgTriangles" [group] = "(numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 0x2000) (triangleSetCfg2 1 14 8 11 1 2 0x2200) (triangleSetCfg3 1 13 0 15 1 2 0x2200) (triangleSetCfg4 1 12 0 1 1 2 0x2200) (triangleSetCfg5 1 12 3 3 1 2 0x2200) (triangleSetCfg6 1 12 6 6 1 2 0x2200) (triangleSetCfg7 1 12 8 9 1 2 0x2200) (triangleSetCfg8 1 12 12 13 1 2 0x2200) (triangleSetCfg9 1 11 1 4 1 2 0x2200) (triangleSetCfg10 1 11 8 13 1 2 0x2200) (triangleSetCfg11 1 9 0 1 1 2 0x2200) (triangleSetCfg12 1 9 6 6 1 2 0x2200) (triangleSetCfg13 1 9 8 15 1 2 0x2200) (triangleSetCfg14 1 10 0 8 1 2 0x2200) (triangleSetCfg15 1 10 12 13 1 2 0x2200) (triangleSetCfg16 1 8 0 0 1 2 0x2200) (triangleSetCfg17 1 8 8 9 1 2 0x2200) (triangleSetCfg18 1 8 10 11 1 2 0x2200) (triangleSetCfg19 1 8 13 13 1 2 0x2200) (triangleSetCfg20 1 8 15 15 1 2 0x2200)")] [DEBUG] |yarp.dev.PolyDriver|right_arm-eb27-j4_7-skin| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.27") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb27-j4_7) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (defaultCfgBoard (period 50) (skinType 8) (noLoad 240) (diagnostic false)) (defaultCfgTriangle (enabled true) (shift 2) (cdcOffset 8704)) (device embObjSkin) (id right_arm-eb27-j4_7-skin) (patches (skinCanAddrsPatch1 14 13 12 11 10 9 8)) (robotName icub) (specialCfgTriangles (numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 8192) (triangleSetCfg2 1 14 8 11 1 2 8704) (triangleSetCfg3 1 13 0 15 1 2 8704) (triangleSetCfg4 1 12 0 1 1 2 8704) (triangleSetCfg5 1 12 3 3 1 2 8704) (triangleSetCfg6 1 12 6 6 1 2 8704) (triangleSetCfg7 1 12 8 9 1 2 8704) (triangleSetCfg8 1 12 12 13 1 2 8704) (triangleSetCfg9 1 11 1 4 1 2 8704) (triangleSetCfg10 1 11 8 13 1 2 8704) (triangleSetCfg11 1 9 0 1 1 2 8704) (triangleSetCfg12 1 9 6 6 1 2 8704) (triangleSetCfg13 1 9 8 15 1 2 8704) (triangleSetCfg14 1 10 0 8 1 2 8704) (triangleSetCfg15 1 10 12 13 1 2 8704) (triangleSetCfg16 1 8 0 0 1 2 8704) (triangleSetCfg17 1 8 8 9 1 2 8704) (triangleSetCfg18 1 8 10 11 1 2 8704) (triangleSetCfg19 1 8 13 13 1 2 8704) (triangleSetCfg20 1 8 15 15 1 2 8704)) [WARNING] ServiceParser::parseService(SKIN) has received an invalid SERVICE group: using defaults [INFO] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=4959s 413m 670u : CFG: CANdiscovery started the search for 7 eobrd_mtb boards on (can1map, can2map) = (0x7f00, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. [WARNING] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=4959s 413m 789u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms [DEBUG] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=4959s 413m 934u : CFG: EOtheSKIN can be correctly configured on 1 skin patches for boards on (can1map, can2map) = (0x7f00, 0x0000) with target can protocol ver 0.0 and application ver 0.0 [WARNING] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=4959s 414m 618u : SYS: the RX phase of the control loop has last more than wanted. RX execution time 458[usec]. Latest previous execution times[usec] (..., Tx=23);(RX=19, DO=152, TX=111); [WARNING] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=4959s 418m 673u : SYS: the TX phase of the control loop has last more than wanted. TX execution time 349[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=23); (Rx=80, DO=141, ...). Num of CAN frames[CAN1,CAN2]=[7 0] [WARNING] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=4959s 428m 788u : SYS: the TX phase of the control loop has last more than wanted. TX execution time 463[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=23); (Rx=80, DO=140, ...). Num of CAN frames[CAN1,CAN2]=[7 0] [INFO] |yarp.dev.PolyDriver|right_arm-eb27-j4_7-skin| Created device . See C++ class EmbObjSkin for documentation. [INFO] Opening device left_arm-FT_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/left_arm/FT")] [DEBUG] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_arm-FT_wrapper) (name "/icub/left_arm/FT") (period 10) (robotName icub) [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device right_arm-FT_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/right_arm/FT")] [DEBUG] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_arm-FT_wrapper) (name "/icub/right_arm/FT") (period 10) (robotName icub) [DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete [INFO] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. [INFO] Opening device left_arm-eb1-j0_3-strain with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb1-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id l_arm_ft) (framename l_arm_ft) (type eoas_strain) (location CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors l_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))")] [DEBUG] |yarp.dev.PolyDriver|left_arm-eb1-j0_3-strain| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb1-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id l_arm_ft) (framename l_arm_ft) (type eoas_strain) (location "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors l_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))) (device embObjFTsensor) (id left_arm-eb1-j0_3-strain) (robotName icub) [WARNING] ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4959s 862m 95u : CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.3.0. [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4959s 864m 13u : CFG: CANdiscovery has detected eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.3.0 Search time was 1 ms [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4959s 864m 125u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.3.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4959s 864m 247u : CFG: EOtheSTRAIN can be correctly configured for board at addr:13 and port:1 with can protocol ver 2.0 and application ver 2.3. Strain number is:0 [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4959s 867m 95u : CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.3.0. [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4959s 869m 13u : CFG: CANdiscovery has detected eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.3.0 Search time was 1 ms [INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4959s 869m 125u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.3.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=4959s 869m 254u : CFG: EOtheTemperatures can be correctly configured [INFO] |yarp.dev.PolyDriver|left_arm-eb1-j0_3-strain| Created device . See C++ class yarp::dev::embObjFTsensor for documentation. [INFO] Opening device right_arm-eb3-j0_3-strain with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.3) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb3-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id r_arm_ft) (framename r_arm_ft) (type eoas_strain) (location CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors r_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))")] [DEBUG] |yarp.dev.PolyDriver|right_arm-eb3-j0_3-strain| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.3") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb3-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id r_arm_ft) (framename r_arm_ft) (type eoas_strain) (location "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors r_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))) (device embObjFTsensor) (id right_arm-eb3-j0_3-strain) (robotName icub) [WARNING] ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4960s 957m 700u : CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.3.0. [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4960s 959m 719u : CFG: CANdiscovery has detected eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.3.0 Search time was 2 ms [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4960s 959m 828u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.3.0. Search time was 2 ms [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4960s 959m 949u : CFG: EOtheSTRAIN can be correctly configured for board at addr:13 and port:1 with can protocol ver 2.0 and application ver 2.3. Strain number is:0 [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4960s 963m 810u : CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.3.0. [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4960s 965m 725u : CFG: CANdiscovery has detected eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.3.0 Search time was 1 ms [INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4960s 965m 835u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.3.0. Search time was 1 ms [DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=4960s 965m 964u : CFG: EOtheTemperatures can be correctly configured [INFO] |yarp.dev.PolyDriver|right_arm-eb3-j0_3-strain| Created device . See C++ class yarp::dev::embObjFTsensor for documentation. [INFO] Opening device left_arm-VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "( 0 3 0 3 )"), ("SecondSetOfJoints" = "( 4 6 0 2 )"), ("channels" = "7"), ("name" = "/icub/joint_vsens/left_arm:i")] [DEBUG] |yarp.dev.PolyDriver|left_arm-VFTserver| Parameters are (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id left_arm-VFTserver) (name "/icub/joint_vsens/left_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) [DEBUG] |yarp.device.virtualAnalogServer| (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id left_arm-VFTserver) (name "/icub/joint_vsens/left_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) [DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer [INFO] |yarp.os.Port|/icub/joint_vsens/left_arm:i| Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10046/ [INFO] |yarp.dev.PolyDriver|left_arm-VFTserver| Created wrapper . See C++ class VirtualAnalogWrapper for documentation. [INFO] Opening device right_arm-VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "( 0 3 0 3 )"), ("SecondSetOfJoints" = "( 4 6 0 2 )"), ("channels" = "7"), ("name" = "/icub/joint_vsens/right_arm:i")] [DEBUG] |yarp.dev.PolyDriver|right_arm-VFTserver| Parameters are (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id right_arm-VFTserver) (name "/icub/joint_vsens/right_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) [DEBUG] |yarp.device.virtualAnalogServer| (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id right_arm-VFTserver) (name "/icub/joint_vsens/right_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) [DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer [INFO] |yarp.os.Port|/icub/joint_vsens/right_arm:i| Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10047/ [INFO] |yarp.dev.PolyDriver|right_arm-VFTserver| Created wrapper . See C++ class VirtualAnalogWrapper for documentation. [INFO] Opening device torso-VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints)"), ("FirstSetOfJoints" = "( 0 2 0 2 )"), ("channels" = "3"), ("name" = "/icub/joint_vsens/torso:i")] [DEBUG] |yarp.dev.PolyDriver|torso-VFTserver| Parameters are (FirstSetOfJoints (0 2 0 2)) (channels 3) (device virtualAnalogServer) (id torso-VFTserver) (name "/icub/joint_vsens/torso:i") (networks (FirstSetOfJoints)) (period 10) (robotName icub) [DEBUG] |yarp.device.virtualAnalogServer| (FirstSetOfJoints (0 2 0 2)) (channels 3) (device virtualAnalogServer) (id torso-VFTserver) (name "/icub/joint_vsens/torso:i") (networks (FirstSetOfJoints)) (period 10) (robotName icub) [DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer [INFO] |yarp.os.Port|/icub/joint_vsens/torso:i| Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10048/ [INFO] |yarp.dev.PolyDriver|torso-VFTserver| Created wrapper . See C++ class VirtualAnalogWrapper for documentation. [INFO] Opening device left_arm-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 16) (deviceName Left_Arm_Calibrator)"), ("HOME" [group] = "(positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 58559 22639 48830 51983 -1500 450 11679 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 3140 1150 255 480 255 491 255 494 780) (calibration5 0 0 0 0 0 0 0 3295 3450 0 18 0 18 0 11 198) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 -9.2 -17.1 -2.7 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 35 50 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)"), ("CALIB_ORDER" = "(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)")] [DEBUG] |yarp.dev.PolyDriver|left_arm-calibrator| Parameters are (CALIBRATION (calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 58559 22639 48830 51983 -1500 450 11679 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 3140 1150 255 480 255 491 255 494 780) (calibration5 0 0 0 0 0 0 0 3295 3450 0 18 0 18 0 11 198) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 -9.19999999999999928946 -17.1000000000000014211 -2.70000000000000017764 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 35 50 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)) (CALIB_ORDER (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 16) (deviceName Left_Arm_Calibrator)) (HOME (positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)) (device parametricCalibratorEth) (id left_arm-calibrator) (robotName icub) [WARNING] Left_Arm_Calibrator : skipping calibration!! This option was set in general.xml file. [WARNING] Left_Arm_Calibrator : BE CAREFUL USING THE ROBOT IN THIS CONFIGURATION! See 'skipCalibration' param in config file [INFO] |yarp.dev.PolyDriver|left_arm-calibrator| Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] Opening device right_arm-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 16) (deviceName Right_Arm_Calibrator)"), ("HOME" [group] = "(positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 35535 33135 24960 25983 1500 11700 55950 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 1720 2180 241 510 255 510 255 510 785) (calibration5 0 0 0 0 0 0 0 1945 3420 40 0 0 23 0 0 210) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 1.0 -9.2 -14.2 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 35 50 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 5 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)"), ("CALIB_ORDER" = "(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)")] [DEBUG] |yarp.dev.PolyDriver|right_arm-calibrator| Parameters are (CALIBRATION (calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 35535 33135 24960 25983 1500 11700 55950 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 1720 2180 241 510 255 510 255 510 785) (calibration5 0 0 0 0 0 0 0 1945 3420 40 0 0 23 0 0 210) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 1.0 -9.19999999999999928946 -14.1999999999999992895 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 35 50 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 5 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)) (CALIB_ORDER (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 16) (deviceName Right_Arm_Calibrator)) (HOME (positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)) (device parametricCalibratorEth) (id right_arm-calibrator) (robotName icub) [WARNING] Right_Arm_Calibrator : skipping calibration!! This option was set in general.xml file. [WARNING] Right_Arm_Calibrator : BE CAREFUL USING THE ROBOT IN THIS CONFIGURATION! See 'skipCalibration' param in config file [INFO] |yarp.dev.PolyDriver|right_arm-calibrator| Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] Opening device torso-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 3) (deviceName Torso_Calibrator)"), ("HOME" [group] = "(positionHome 0 0 -20) (velocityHome 10 10 10)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12) (calibration1 17759 20300 43551) (calibration2 0 0 0) (calibration3 0 0 0) (calibration4 0 0 0) (calibration5 0 0 0) (calibrationZero 0 0 0) (calibrationDelta 0 0 0) (startupPosition 0 0 0) (startupVelocity 10 10 10) (startupMaxPwm 8500 8500 8500) (startupPosThreshold 2 2 2)"), ("CALIB_ORDER" = "(0 1 2)")] [DEBUG] |yarp.dev.PolyDriver|torso-calibrator| Parameters are (CALIBRATION (calibrationType 12 12 12) (calibration1 17759 20300 43551) (calibration2 0 0 0) (calibration3 0 0 0) (calibration4 0 0 0) (calibration5 0 0 0) (calibrationZero 0 0 0) (calibrationDelta 0 0 0) (startupPosition 0 0 0) (startupVelocity 10 10 10) (startupMaxPwm 8500 8500 8500) (startupPosThreshold 2 2 2)) (CALIB_ORDER (0 1 2)) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 3) (deviceName Torso_Calibrator)) (HOME (positionHome 0 0 -20) (velocityHome 10 10 10)) (device parametricCalibratorEth) (id torso-calibrator) (robotName icub) [WARNING] Torso_Calibrator : skipping calibration!! This option was set in general.xml file. [WARNING] Torso_Calibrator : BE CAREFUL USING THE ROBOT IN THIS CONFIGURATION! See 'skipCalibration' param in config file [INFO] |yarp.dev.PolyDriver|torso-calibrator| Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] Opening device head-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 6) (deviceName HeadV3_Calibrator)"), ("HOME" [group] = "(positionHome 0 0 0 0 0 0) (velocityHome 10 10 10 10 10 10)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 5 5) (calibration1 52543 64079 33231 52175 3000 3000) (calibration2 0 0 0 0 8192 8192) (calibration3 0 0 0 0 0 0) (calibration4 0 0 0 0 0 0) (calibration5 0 0 0 0 0 0) (calibrationZero 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 -6 0) (startupPosition 0 0 0 0 0 0) (startupVelocity 10 10 20 20 20 20) (startupMaxPwm 3000 3000 3000 3000 0 0) (startupPosThreshold 90 90 2 2 2 2)"), ("CALIB_ORDER" = "(0 1 2) (3) (4 5)")] [DEBUG] |yarp.dev.PolyDriver|head-calibrator| Parameters are (CALIBRATION (calibrationType 12 12 12 12 5 5) (calibration1 52543 64079 33231 52175 3000 3000) (calibration2 0 0 0 0 8192 8192) (calibration3 0 0 0 0 0 0) (calibration4 0 0 0 0 0 0) (calibration5 0 0 0 0 0 0) (calibrationZero 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 -6 0) (startupPosition 0 0 0 0 0 0) (startupVelocity 10 10 20 20 20 20) (startupMaxPwm 3000 3000 3000 3000 0 0) (startupPosThreshold 90 90 2 2 2 2)) (CALIB_ORDER (0 1 2) (3) (4 5)) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 6) (deviceName HeadV3_Calibrator)) (HOME (positionHome 0 0 0 0 0 0) (velocityHome 10 10 10 10 10 10)) (device parametricCalibratorEth) (id head-calibrator) (robotName icub) [WARNING] HeadV3_Calibrator : skipping calibration!! This option was set in general.xml file. [WARNING] HeadV3_Calibrator : BE CAREFUL USING THE ROBOT IN THIS CONFIGURATION! See 'skipCalibration' param in config file [INFO] |yarp.dev.PolyDriver|head-calibrator| Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] Opening device face-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 1) (deviceName FaceV3_Calibrator)"), ("HOME" [group] = "(positionHome 0) (velocityHome 10)"), ("CALIBRATION" [group] = "(calibrationType 12) (calibration1 -3110) (calibration2 0) (calibration3 0) (calibration4 0) (calibration5 0) (calibrationZero 0) (calibrationDelta 0) (startupPosition 0) (startupVelocity 10) (startupMaxPwm 3360) (startupPosThreshold 90)"), ("CALIB_ORDER" = "(0)")] [DEBUG] |yarp.dev.PolyDriver|face-calibrator| Parameters are (CALIBRATION (calibrationType 12) (calibration1 -3110) (calibration2 0) (calibration3 0) (calibration4 0) (calibration5 0) (calibrationZero 0) (calibrationDelta 0) (startupPosition 0) (startupVelocity 10) (startupMaxPwm 3360) (startupPosThreshold 90)) (CALIB_ORDER (0)) (GENERAL (skipCalibration true) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 1) (deviceName FaceV3_Calibrator)) (HOME (positionHome 0) (velocityHome 10)) (device parametricCalibratorEth) (id face-calibrator) (robotName icub) [WARNING] FaceV3_Calibrator : skipping calibration!! This option was set in general.xml file. [WARNING] FaceV3_Calibrator : BE CAREFUL USING THE ROBOT IN THIS CONFIGURATION! See 'skipCalibration' param in config file [INFO] |yarp.dev.PolyDriver|face-calibrator| Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO] Entering action level 5 of phase startup [INFO] Executing attach action, level 5 on device left_arm-mc_remapper with parameters [("networks" = "(left_arm_joints1 left_arm_joints2 left_arm_joints3 left_arm_joints4)"), ("left_arm_joints1" = "left_arm-eb1-j0_3-mc"), ("left_arm_joints2" = "left_arm-eb24-j4_7-mc"), ("left_arm_joints3" = "left_arm-eb25-j8_11-mc"), ("left_arm_joints4" = "left_arm-eb26-j12_15-mc")] [INFO] Executing attach action, level 5 on device right_arm-mc_remapper with parameters [("networks" = "(right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4)"), ("right_arm_joints1" = "right_arm-eb3-j0_3-mc"), ("right_arm_joints2" = "right_arm-eb27-j4_7-mc"), ("right_arm_joints3" = "right_arm-eb28-j8_11-mc"), ("right_arm_joints4" = "right_arm-eb29-j12_15-mc")] [INFO] Executing attach action, level 5 on device head-mc_remapper with parameters [("networks" = "(head_joints1 head_joints2)"), ("head_joints1" = "head-eb20-j0_1-mc"), ("head_joints2" = "head-eb21-j2_5-mc")] [INFO] Executing attach action, level 5 on device face-mc_remapper with parameters [("networks" = "(face_joints)"), ("face_joints" = "face-eb22-j0-mc")] [INFO] face-mc_remapper is not an IWrapper. Trying IMultipleWrapper [INFO] Executing attach action, level 5 on device torso-mc_remapper with parameters [("networks" = "(torso_joints)"), ("torso_joints" = "torso-eb5-j0_2-mc")] [INFO] torso-mc_remapper is not an IWrapper. Trying IMultipleWrapper [INFO] Executing attach action, level 5 on device head-imuFilter with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "head-inertial")] [INFO] head-imuFilter is not an IWrapper. Trying IMultipleWrapper [INFO] PassThroughInertial: attach finished with success [INFO] Executing attach action, level 5 on device head-inertials_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "head-inertial")] [INFO] head-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icub/head/inertials/measures:o| Port /icub/head/inertials/measures:o active at tcp://10.0.0.2:10049/ [INFO] |yarp.os.Port|/icub/head/inertials/rpc:o| Port /icub/head/inertials/rpc:o active at tcp://10.0.0.2:10050/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 5 on device alljoints-inertials_remapper with parameters [("networks" = "(head_imu left_arm_imu right_arm_imu)"), ("head_imu" = "head-inertial"), ("left_arm_imu" = "left_arm-eb1-imu"), ("right_arm_imu" = "right_arm-eb3-imu")] [INFO] Executing attach action, level 5 on device left_arm-mais_wrapper with parameters [("networks" = "(leftMais)"), ("leftMais" = "left_arm-eb26-j12_15-mais")] [INFO] left_arm-mais_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icub/left_hand/MAIS/measures:o| Port /icub/left_hand/MAIS/measures:o active at tcp://10.0.0.2:10051/ [INFO] |yarp.os.Port|/icub/left_hand/MAIS/rpc:o| Port /icub/left_hand/MAIS/rpc:o active at tcp://10.0.0.2:10052/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 5 on device right_arm-mais_wrapper with parameters [("networks" = "(leftMais)"), ("leftMais" = "right_arm-eb29-j12_15-mais")] [INFO] right_arm-mais_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icub/right_hand/MAIS/measures:o| Port /icub/right_hand/MAIS/measures:o active at tcp://10.0.0.2:10053/ [INFO] |yarp.os.Port|/icub/right_hand/MAIS/rpc:o| Port /icub/right_hand/MAIS/rpc:o active at tcp://10.0.0.2:10054/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 5 on device left_arm-skin_wrapper with parameters [("networks" = "(FirstSetOfSkins)"), ("FirstSetOfSkins" = "left_arm-eb24-j4_7-skin")] [INFO] left_arm-skin_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icub/skin/left_hand| Port /icub/skin/left_hand active at tcp://10.0.0.2:10055/ [INFO] |yarp.os.Port|/icub/skin/left_forearm| Port /icub/skin/left_forearm active at tcp://10.0.0.2:10056/ [INFO] |yarp.os.Port|/icub/skin/left_arm| Port /icub/skin/left_arm active at tcp://10.0.0.2:10057/ [INFO] Executing attach action, level 5 on device right_arm-skin_wrapper with parameters [("networks" = "(FirstSetOfSkins)"), ("FirstSetOfSkins" = "right_arm-eb27-j4_7-skin")] [INFO] right_arm-skin_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icub/skin/right_hand| Port /icub/skin/right_hand active at tcp://10.0.0.2:10058/ [INFO] |yarp.os.Port|/icub/skin/right_forearm| Port /icub/skin/right_forearm active at tcp://10.0.0.2:10059/ [INFO] |yarp.os.Port|/icub/skin/right_arm| Port /icub/skin/right_arm active at tcp://10.0.0.2:10060/ [INFO] Executing attach action, level 5 on device left_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "left_arm-eb1-j0_3-strain")] [INFO] left_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icub/left_arm/FT/measures:o| Port /icub/left_arm/FT/measures:o active at tcp://10.0.0.2:10061/ [INFO] |yarp.os.Port|/icub/left_arm/FT/rpc:o| Port /icub/left_arm/FT/rpc:o active at tcp://10.0.0.2:10062/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 5 on device right_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "right_arm-eb3-j0_3-strain")] [INFO] right_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icub/right_arm/FT/measures:o| Port /icub/right_arm/FT/measures:o active at tcp://10.0.0.2:10063/ [INFO] |yarp.os.Port|/icub/right_arm/FT/rpc:o| Port /icub/right_arm/FT/rpc:o active at tcp://10.0.0.2:10064/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing attach action, level 5 on device left_arm-VFTserver with parameters [("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "left_arm-eb1-j0_3-mc"), ("SecondSetOfJoints" = "left_arm-eb24-j4_7-mc")] [INFO] Executing attach action, level 5 on device right_arm-VFTserver with parameters [("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "right_arm-eb3-j0_3-mc"), ("SecondSetOfJoints" = "right_arm-eb27-j4_7-mc")] [INFO] Executing attach action, level 5 on device torso-VFTserver with parameters [("networks" = "(FirstSetOfJoints)"), ("FirstSetOfJoints" = "torso-eb5-j0_2-mc")] [INFO] torso-VFTserver is not an IWrapper. Trying IMultipleWrapper [INFO] All actions for action level 5 of startup phase started. Waiting for unfinished actions. [INFO] All actions for action level 5 of startup phase finished. [INFO] Entering action level 6 of phase startup [INFO] Executing attach action, level 6 on device head-imuFilter_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "head-imuFilter")] [INFO] head-imuFilter_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/imuFilter/measures:o| Port /imuFilter/measures:o active at tcp://10.0.0.2:10065/ [INFO] |yarp.os.Port|/imuFilter/rpc:o| Port /imuFilter/rpc:o active at tcp://10.0.0.2:10066/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] All actions for action level 6 of startup phase started. Waiting for unfinished actions. [INFO] All actions for action level 6 of startup phase finished. [INFO] Entering action level 10 of phase startup [INFO] Executing attach action, level 10 on device left_arm-mc_nws_yarp with parameters [("device" = "left_arm-mc_remapper")] [INFO] Executing attach action, level 10 on device right_arm-mc_nws_yarp with parameters [("device" = "right_arm-mc_remapper")] [INFO] Executing attach action, level 10 on device head-mc_nws_yarp with parameters [("device" = "head-mc_remapper")] [INFO] Executing attach action, level 10 on device face-mc_nws_yarp with parameters [("device" = "face-mc_remapper")] [INFO] Executing attach action, level 10 on device torso-mc_nws_yarp with parameters [("device" = "torso-mc_remapper")] [INFO] Executing attach action, level 10 on device alljoints-inertials_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "alljoints-inertials_remapper")] [INFO] alljoints-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper [INFO] |yarp.os.Port|/icub/alljoints/inertials/measures:o| Port /icub/alljoints/inertials/measures:o active at tcp://10.0.0.2:10067/ [INFO] |yarp.os.Port|/icub/alljoints/inertials/rpc:o| Port /icub/alljoints/inertials/rpc:o active at tcp://10.0.0.2:10068/ [DEBUG] |yarp.device.multipleanalogsensorsserver| Attach complete [INFO] Executing calibrate action, level 10 on device left_arm-calibrator with parameters [("target" = "left_arm-mc_remapper")] [DEBUG] left_arm-calibrator starting calibration of device left_arm-mc_remapper [INFO] Executing calibrate action, level 10 on device right_arm-calibrator with parameters [("target" = "right_arm-mc_remapper")] [INFO] Left_Arm_Calibrator : starting calibration [DEBUG] right_arm-calibrator starting calibration of device right_arm-mc_remapper [INFO] Right_Arm_Calibrator : starting calibration [INFO] Executing calibrate action, level 10 on device torso-calibrator with parameters [("target" = "torso-mc_remapper")] [INFO] Executing calibrate action, level 10 on device head-calibrator with parameters [("target" = "head-mc_remapper")] [DEBUG] Right_Arm_Calibrator : Joints calibration order: 0 1 2 3 4 5 6 7 8 9 11 13 10 12 14 15 [DEBUG] torso-calibrator starting calibration of device torso-mc_remapper [WARNING] Right_Arm_Calibrator : skipCalibration flag is on! Setting safe pid but skipping calibration. [INFO] Torso_Calibrator : starting calibration [DEBUG] Left_Arm_Calibrator : Joints calibration order: 0 1 2 3 4 5 6 7 8 9 11 13 10 12 14 15 [DEBUG] Torso_Calibrator : Joints calibration order: 0 1 2 [WARNING] Left_Arm_Calibrator : skipCalibration flag is on! Setting safe pid but skipping calibration. [WARNING] Torso_Calibrator : skipCalibration flag is on! Setting safe pid but skipping calibration. [DEBUG] head-calibrator starting calibration of device head-mc_remapper [INFO] HeadV3_Calibrator : starting calibration [DEBUG] HeadV3_Calibrator : Joints calibration order: 0 1 2 3 4 5 [WARNING] HeadV3_Calibrator : skipCalibration flag is on! Setting safe pid but skipping calibration. [INFO] Executing calibrate action, level 10 on device face-calibrator with parameters [("target" = "face-mc_remapper")] [DEBUG] face-calibrator starting calibration of device face-mc_remapper [INFO] All actions for action level 10 of startup phase started. Waiting for unfinished actions. [INFO] FaceV3_Calibrator : starting calibration [DEBUG] FaceV3_Calibrator : Joints calibration order: 0 [WARNING] FaceV3_Calibrator : skipCalibration flag is on! Setting safe pid but skipping calibration. [DEBUG] FaceV3_Calibrator : joint 0 has max_output already limited to a safe value: 3300 [DEBUG] face-calibrator finished calibration of device face-mc_remapper [DEBUG] torso-calibrator finished calibration of device torso-mc_remapper [DEBUG] HeadV3_Calibrator : skipping startupMaxPWM=0 of joint 4 [DEBUG] HeadV3_Calibrator : skipping startupMaxPWM=0 of joint 5 [DEBUG] head-calibrator finished calibration of device head-mc_remapper [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 5 [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 5 [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 6 [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 6 [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 7 [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 7 [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 8 [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 8 [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 9 [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 9 [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 11 [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 11 [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 13 [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 13 [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 10 [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 10 [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 12 [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 12 [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 14 [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 14 [DEBUG] Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 15 [DEBUG] left_arm-calibrator finished calibration of device left_arm-mc_remapper [DEBUG] Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 15 [DEBUG] right_arm-calibrator finished calibration of device right_arm-mc_remapper [INFO] All actions for action level 10 of startup phase finished. [INFO] Entering action level 15 of phase startup [INFO] Executing attach action, level 15 on device left_arm-cartesian with parameters [("networks" = "(torso left_arm)"), ("torso" = "torso-mc_remapper"), ("left_arm" = "left_arm-mc_remapper")] [INFO] ***** Attaching drivers to cartesian controller icub/cartesianController/left_arm ***** [INFO] Received list of 2 driver(s) [INFO] Acquiring info on driver torso... [INFO] driver torso successfully open [INFO] Acquiring info on driver left_arm... [INFO] driver left_arm successfully open [INFO] icub/cartesianController/left_arm: IControlMode available [INFO] icub/cartesianController/left_arm: IEncodersTimed interface will be used [INFO] icub/cartesianController/left_arm: IPidControl available [INFO] icub/cartesianController/left_arm: IPositionDirect available [INFO] icub/cartesianController/left_arm: IPositionDirect interface will be used [INFO] icub/cartesianController/left_arm: multiple joints control will be used [INFO] icub/cartesianController/left_arm: aligning joints bounds ... [INFO] part #0: torso [INFO] joint #0: [-19.9897, 69.9886] deg [INFO] joint #1: [-29.9873, 29.9873] deg [INFO] joint #2: [-49.9879, 49.9879] deg [INFO] part #1: left_arm [INFO] joint #3: [-95.4879, 7.98708] deg [INFO] joint #4: [0.0109864, 159.989] deg [INFO] joint #5: [-31.9868, 79.9917] deg [INFO] joint #6: [15.0129, 105.991] deg [INFO] joint #7: [-59.991, 59.991] deg [INFO] joint #8: [-69.9886, 24.9885] deg [INFO] joint #9: [-14.9909, 34.9915] deg [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] Starting icub/cartesianController/left_arm at 10 ms [INFO] icub/cartesianController/left_arm started successfully [INFO] Executing attach action, level 15 on device right_arm-cartesian with parameters [("networks" = "(torso right_arm)"), ("torso" = "torso-mc_remapper"), ("right_arm" = "right_arm-mc_remapper")] [INFO] ***** Attaching drivers to cartesian controller icub/cartesianController/right_arm ***** [INFO] Received list of 2 driver(s) [INFO] Acquiring info on driver torso... [INFO] driver torso successfully open [INFO] Acquiring info on driver right_arm... [INFO] driver right_arm successfully open [INFO] icub/cartesianController/right_arm: IControlMode available [INFO] icub/cartesianController/right_arm: IEncodersTimed interface will be used [INFO] icub/cartesianController/right_arm: IPidControl available [INFO] icub/cartesianController/right_arm: IPositionDirect available [INFO] icub/cartesianController/right_arm: IPositionDirect interface will be used [INFO] icub/cartesianController/right_arm: multiple joints control will be used [INFO] icub/cartesianController/right_arm: aligning joints bounds ... [INFO] part #0: torso [INFO] joint #0: [-19.9897, 69.9886] deg [INFO] joint #1: [-29.9873, 29.9873] deg [INFO] joint #2: [-49.9879, 49.9879] deg [INFO] part #1: right_arm [INFO] joint #3: [-95.4879, 7.98708] deg [INFO] joint #4: [0.0109864, 159.989] deg [INFO] joint #5: [-31.9868, 79.9917] deg [INFO] joint #6: [15.0129, 105.991] deg [INFO] joint #7: [-59.991, 59.991] deg [INFO] joint #8: [-69.9886, 24.9885] deg [INFO] joint #9: [-14.9909, 34.9915] deg [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] Starting icub/cartesianController/right_arm at 10 ms [INFO] icub/cartesianController/right_arm started successfully [INFO] All actions for action level 15 of startup phase started. Waiting for unfinished actions. [INFO] All actions for action level 15 of startup phase finished. [INFO] startup phase finished. [INFO] run phase starting... [DEBUG] yarprobotinterface running happily [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO] icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO] icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet ^C[INFO] |yarp.os.RFModule| [try 1 of 3] Trying to shut down. [WARNING] Interrupt # 1 # received. [INFO] Interrupt received. Stopping all running threads. [INFO] |yarp.os.RFModule| RFModule closing. [INFO] interrupt1 phase starting... [INFO] Entering action level 1 of phase interrupt1 [INFO] Executing park action, level 1 on device left_arm-calibrator with parameters [("target" = "left_arm-mc_remapper")] [DEBUG] left_arm-calibrator starting park device left_arm-mc_remapper [INFO] Executing park action, level 1 on device right_arm-calibrator with parameters [("target" = "right_arm-mc_remapper")] [WARNING] Left_Arm_Calibrator : skipCalibration flag is on!! Faking park!! [DEBUG] left_arm-calibrator finished park device left_arm-mc_remapper [DEBUG] right_arm-calibrator starting park device right_arm-mc_remapper [INFO] Executing park action, level 1 on device torso-calibrator with parameters [("target" = "torso-mc_remapper")] [WARNING] Right_Arm_Calibrator : skipCalibration flag is on!! Faking park!! [DEBUG] right_arm-calibrator finished park device right_arm-mc_remapper [DEBUG] torso-calibrator starting park device torso-mc_remapper [INFO] Executing park action, level 1 on device head-calibrator with parameters [("target" = "head-mc_remapper")] [WARNING] Torso_Calibrator : skipCalibration flag is on!! Faking park!! [DEBUG] torso-calibrator finished park device torso-mc_remapper [DEBUG] head-calibrator starting park device head-mc_remapper [INFO] Executing park action, level 1 on device face-calibrator with parameters [("target" = "face-mc_remapper")] [WARNING] HeadV3_Calibrator : skipCalibration flag is on!! Faking park!! [DEBUG] head-calibrator finished park device head-mc_remapper [DEBUG] face-calibrator starting park device face-mc_remapper [INFO] All actions for action level 1 of interrupt1 phase started. Waiting for unfinished actions. [WARNING] FaceV3_Calibrator : skipCalibration flag is on!! Faking park!! [DEBUG] face-calibrator finished park device face-mc_remapper [INFO] All actions for action level 1 of interrupt1 phase finished. [INFO] interrupt1 phase finished. [INFO] shutdown phase starting... [INFO] Entering action level 5 of phase shutdown [INFO] Executing detach action, level 5 on device head-imuFilter with parameters [] [INFO] Executing detach action, level 5 on device head-inertials_wrapper with parameters [] [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [INFO] Executing detach action, level 5 on device left_arm-mais_wrapper with parameters [] [ERROR] |yarp.device.multipleanalogsensorsserver| Failure in reading data from sensor head_imu_0 of type ThreeAxisGyroscope with code MAS_ERROR, no data will be sent on the port. [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [INFO] Executing detach action, level 5 on device right_arm-mais_wrapper with parameters [] [ERROR] |yarp.device.multipleanalogsensorsserver| Failure in reading data from sensor head_imu_0 of type ThreeAxisGyroscope with code MAS_ERROR, no data will be sent on the port. [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [INFO] Executing detach action, level 5 on device left_arm-skin_wrapper with parameters [] [INFO] Executing detach action, level 5 on device right_arm-skin_wrapper with parameters [] [INFO] Executing detach action, level 5 on device left_arm-FT_wrapper with parameters [] [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [INFO] Executing detach action, level 5 on device right_arm-FT_wrapper with parameters [] [ERROR] |yarp.device.multipleanalogsensorsserver| Failure in reading data from sensor head_imu_0 of type ThreeAxisGyroscope with code MAS_ERROR, no data will be sent on the port. [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [INFO] Executing detach action, level 5 on device left_arm-VFTserver with parameters [] [INFO] Executing detach action, level 5 on device right_arm-VFTserver with parameters [] [INFO] Executing detach action, level 5 on device torso-VFTserver with parameters [] [INFO] All actions for action level 5 of shutdown phase started. Waiting for unfinished actions. [INFO] All actions for action level 5 of shutdown phase finished. [INFO] Entering action level 6 of phase shutdown [INFO] Executing detach action, level 6 on device head-imuFilter_wrapper with parameters [] [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [INFO] All actions for action level 6 of shutdown phase started. Waiting for unfinished actions. [INFO] All actions for action level 6 of shutdown phase finished. [INFO] Entering action level 15 of phase shutdown [INFO] Executing detach action, level 15 on device left_arm-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device right_arm-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device head-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device face-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device torso-mc_nws_yarp with parameters [] [INFO] Executing detach action, level 15 on device left_arm-cartesian with parameters [] [INFO] Stopping icub/cartesianController/left_arm [INFO] Executing detach action, level 15 on device right_arm-cartesian with parameters [] [INFO] Stopping icub/cartesianController/right_arm [INFO] Executing detach action, level 15 on device alljoints-inertials_wrapper with parameters [] [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [INFO] All actions for action level 15 of shutdown phase started. Waiting for unfinished actions. [INFO] All actions for action level 15 of shutdown phase finished. [INFO] Entering action level 20 of phase shutdown [INFO] Executing detach action, level 20 on device left_arm-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device right_arm-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device head-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device face-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device torso-mc_remapper with parameters [] [INFO] Executing detach action, level 20 on device alljoints-inertials_remapper with parameters [] [INFO] All actions for action level 20 of shutdown phase started. Waiting for unfinished actions. [INFO] All actions for action level 20 of shutdown phase finished. [INFO] Closing device face-calibrator [INFO] Closing device head-calibrator [INFO] Closing device torso-calibrator [INFO] Closing device right_arm-calibrator [INFO] Closing device left_arm-calibrator [INFO] Closing device torso-VFTserver [INFO] Closing device right_arm-VFTserver [INFO] Closing device left_arm-VFTserver [INFO] Closing device right_arm-eb3-j0_3-strain [INFO] Closing device left_arm-eb1-j0_3-strain [INFO] Closing device right_arm-FT_wrapper [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete [INFO] Closing device left_arm-FT_wrapper [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete [INFO] Closing device right_arm-eb27-j4_7-skin [INFO] Closing device right_arm-skin_wrapper [INFO] Closing device left_arm-eb24-j4_7-skin [INFO] Closing device left_arm-skin_wrapper [INFO] Closing device right_arm-eb29-j12_15-mais [INFO] Closing device left_arm-eb26-j12_15-mais [INFO] Closing device right_arm-mais_wrapper [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete [INFO] Closing device left_arm-mais_wrapper [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete [INFO] Closing device alljoints-inertials_remapper [INFO] Closing device alljoints-inertials_wrapper [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete [INFO] Closing device right_arm-eb3-imu [INFO] Closing device left_arm-eb1-imu [INFO] Closing device xsens_inertial [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [DEBUG] xsensmt: Closing Xsens port /dev/ttyXsens. [DEBUG] xsensmt: Freeing Xsens control object. [DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete [INFO] Closing device head-inertial [INFO] Closing device head-inertials_wrapper [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete [INFO] Closing device head-imuFilter [INFO] Closing device head-imuFilter_wrapper [DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete [DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete [INFO] Closing device right_arm-eb29-j12_15-mc [INFO] Closing device right_arm-eb28-j8_11-mc [INFO] Closing device right_arm-eb27-j4_7-mc [INFO] Closing device right_arm-eb3-j0_3-mc [INFO] Closing device left_arm-eb26-j12_15-mc [INFO] Closing device left_arm-eb25-j8_11-mc [INFO] Closing device left_arm-eb24-j4_7-mc [INFO] Closing device left_arm-eb1-j0_3-mc [INFO] Closing device torso-eb5-j0_2-mc [INFO] Closing device face-eb22-j0-mc [INFO] Closing device head-eb21-j2_5-mc [INFO] Closing device head-eb20-j0_1-mc [INFO] Closing device right_arm-cartesian [INFO] Closing device left_arm-cartesian [INFO] Closing device torso-mc_remapper [INFO] Closing device face-mc_remapper [INFO] Closing device head-mc_remapper [INFO] Closing device right_arm-mc_remapper [INFO] Closing device left_arm-mc_remapper [INFO] Closing device torso-mc_nws_yarp [INFO] Closing device face-mc_nws_yarp [INFO] Closing device head-mc_nws_yarp [INFO] Closing device right_arm-mc_nws_yarp [INFO] Closing device left_arm-mc_nws_yarp [INFO] shutdown phase finished. [INFO] |yarp.os.RFModule| RFModule finished.