2,505364 Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/ergoCubSN000/ergocub_all.xml 2,509010 yarprobotinterface: using xml parser for DTD v3.x 2,509026 Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/ergoCubSN000/ergocub_all.xml 2,509033 Yarprobotinterface was started using the following enable_tags: 2,509038 Yarprobotinterface was started using the following disable_tags: 2,515381 List of all enable attributes found in the include tags: 2,515401 List of all disable attributes found in the include tags: 2,515408 Preprocessor complete in: 0.012831 s 2,515413 Invalid syntax while loading at line 4 . "robot" element should contain the "build" attribute [unsigned int]. Assuming 0 2,545838 Invalid syntax while loading at line 4 . "robot" element should contain the "portprefix" attribute. Using "name" attribute 2,586593 ************************************************************************************* * 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 * ************************************************************************************* 2,617218 Port /ergoCubSN000/yarprobotinterface active at tcp://10.0.2.2:10008/ 2,647889 startup phase starting... 2,678349 Opening device right_hand_as_wrapper4 with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/right_hand/POS4:o")] 2,719213 Parameters are (device analogServer) (id right_hand_as_wrapper4) (name "/ergocub/right_hand/POS4:o") (period 10) (robotName ergoCubSN000) 2,749808 The 'AnalogWrapper' device is deprecated. 2,780465 Possible alternatives, depending on the specific type sensor data, are: 2,811086 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 2,841626 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 2,882369 Please update your scripts. 2,913043 No ROS group found in config file ... skipping ROS initialization. 2,943675 Port /ergocub/right_hand/POS4:o/rpc:i active at tcp://10.0.2.2:10009/ 2,974247 : no ROS initialization required 3,004701 Created wrapper . See C++ class AnalogWrapper for documentation. 3,045597 Opening device right_hand-pos4 with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.22) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb22-j7_10") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (SENSORS (location CAN1:1 CAN1:1 CAN1:1 CAN1:1) (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (boardType mtb4c mtb4c mtb4c mtb4c) (connector CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2) (CALIBRATION (type TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg) (rotation ROT:plus180 ROT:zero ROT:zero ROT:zero) (offset -184.0 -294 -247 -65) (invertDirection true true false false)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))")] 3,076210 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.22") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb22-j7_10) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (SENSORS (location "CAN1:1" "CAN1:1" "CAN1:1" "CAN1:1") (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_oc" "POS:hand_index_oc" "POS:hand_middle_oc" "POS:hand_ring_pinky_oc") (boardType mtb4c mtb4c mtb4c mtb4c) (connector "CONN:J3_SDA3" "CONN:J3_SDA0" "CONN:J3_SDA1" "CONN:J3_SDA2") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg" "TYPE:decideg" "TYPE:decideg") (rotation "ROT:plus180" "ROT:zero" "ROT:zero" "ROT:zero") (offset -184.0 -294 -247 -65) (invertDirection true true false false)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (device embObjPOS) (id right_hand-pos4) (robotName ergoCubSN000) 3,106879 embObjPOS::open(): preparing ETH resource 3,137530 eth::parser::print(pc104Data) for PC104: 3,178483 PC104/PC104IpAddress:PC104IpPort = 10.0.1.104:12345 3,209164 PC104/PC104TXrate = 1 3,239849 PC104/PC104RXrate = 2 3,270335 EthSender is a PeriodicThread with txrate = 1 ms 3,300931 EthReceiver is a PeriodicThread with rxrate = 2 ms 3,341751 in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE= 3,372463 eth::parser::print(boardData) for BOARD right_arm-eb22-j7_10 3,402909 ETH_BOARD/ETH_BOARD_PROPERTIES: 3,433621 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.22 3,464334 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 3,505301 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 3,536032 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 3,566519 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 3,597286 ETH_BOARD/ETH_BOARD_SETTINGS: 3,627985 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb22-j7_10 3,668830 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 3,699447 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 3,730165 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 3,750622 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.22 (right_arm-eb22-j7_10) with timeout = 0.02 sec and period of missing report = 60 sec 3,771053 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.22 3,781218 embObjPOS::open(): browsing xml files which describe the service 3,801516 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 3,811851 plus180 yyyyyyyyyyyyyyyyyyy 15 3,832223 plus180 xxxxxxxxxxxxxxxxxxx 1 3,852519 zero yyyyyyyyyyyyyyyyyyy 15 3,883049 zero xxxxxxxxxxxxxxxxxxx 0 3,893267 zero yyyyyyyyyyyyyyyyyyy 15 3,913703 zero xxxxxxxxxxxxxxxxxxx 0 3,923919 zero yyyyyyyyyyyyyyyyyyy 15 3,944355 zero xxxxxxxxxxxxxxxxxxx 0 3,964665 embObjPOS::open(): verify the presence of the board and if its protocol version is correct 3,984957 from BOARD 10.0.1.22 (right_arm-eb22-j7_10), src LOCAL, adr 0, time 226s 202m 832u: (code 0x00000034, par16 0x0001 par64 0x000000000000000e) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . 3,995015 EthResource::verifyBoardPresence() found BOARD right_arm-eb22-j7_10 with IP 10.0.1.22 after 0.00359011 seconds 4,015521 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb22-j7_10 with IP 10.0.1.22 4,035990 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb22-j7_10 with IP 10.0.1.22 : config mode + cleared all its regulars 4,056429 EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb22-j7_10 with IP 10.0.1.22 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 4,076843 EthResource::askBoardVersion() found BOARD right_arm-eb22-j7_10 @ IP 10.0.1.22 of type mc4plus with FW = ver 3.70 built on 2023 Apr 17 14:0 4,097274 embObjPOS::open(): verify and activate the POS service 4,128005 from BOARD 10.0.1.22 (right_arm-eb22-j7_10) @ 226s 227m 510u: CAN discovery has started for 1 eobrd_mtb4c boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 2.0 and application ver 2.0.0. 4,148246 from BOARD 10.0.1.22 (right_arm-eb22-j7_10) @ 226s 228m 58u: CAN discovery has detected a eobrd_mtb4c board in CAN1 addr 1 with can protocol ver 2.0 and application ver 2.0.0 Search time was 0 ms 4,158399 from BOARD 10.0.1.22 (right_arm-eb22-j7_10) @ 226s 228m 222u: CAN discovery is OK for 1 eobrd_mtb4c boards with target can protocol ver 2.0 and application ver 2.0.0. Search time was 0 ms 4,188944 from BOARD 10.0.1.22 (right_arm-eb22-j7_10), src LOCAL, adr 0, time 226s 228m 467u: (code 0x0500004d, par16 0x0001 par64 0x0000000002000200) -> CFG: EOthePOS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . 4,209320 embObjPOS::open(): configure the POS service 4,229824 embObjPOS::open(): impose the network variable which the ETH bord must stream up 4,250158 embObjPOS::open(): start the POS service 4,270408 embObjPOS::open(): start streaming of POS data 4,300861 from BOARD 10.0.1.22 (right_arm-eb22-j7_10), src LOCAL, adr 0, time 226s 249m 204u: (code 0x0000000d, par16 0x017b par64 0x0006000000830008) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . 4,321289 Created device . See C++ class yarp::dev::embObjPOS for documentation. 4,341730 Opening device left_hand_as_wrapper4 with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/left_hand/POS4:o")] 4,362220 Parameters are (device analogServer) (id left_hand_as_wrapper4) (name "/ergocub/left_hand/POS4:o") (period 10) (robotName ergoCubSN000) 4,382547 The 'AnalogWrapper' device is deprecated. 4,402988 Possible alternatives, depending on the specific type sensor data, are: 4,433676 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 4,454123 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 4,474526 Please update your scripts. 4,494951 No ROS group found in config file ... skipping ROS initialization. 4,515456 Port /ergocub/left_hand/POS4:o/rpc:i active at tcp://10.0.2.2:10010/ 4,535939 : no ROS initialization required 4,566588 Created wrapper . See C++ class AnalogWrapper for documentation. 4,587049 Opening device left_hand-pos4 with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.23) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb23-j7_10") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (SENSORS (location CAN1:1 CAN1:1 CAN1:1 CAN1:1) (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (boardType mtb4c mtb4c mtb4c mtb4c) (connector CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2) (CALIBRATION (type TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg) (rotation ROT:plus180 ROT:zero ROT:zero ROT:zero) (offset -273 -261 -259 -296) (invertDirection true false false true)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))")] 4,607491 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.23") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb23-j7_10) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (SENSORS (location "CAN1:1" "CAN1:1" "CAN1:1" "CAN1:1") (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_oc" "POS:hand_index_oc" "POS:hand_middle_oc" "POS:hand_ring_pinky_oc") (boardType mtb4c mtb4c mtb4c mtb4c) (connector "CONN:J3_SDA3" "CONN:J3_SDA0" "CONN:J3_SDA1" "CONN:J3_SDA2") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg" "TYPE:decideg" "TYPE:decideg") (rotation "ROT:plus180" "ROT:zero" "ROT:zero" "ROT:zero") (offset -273 -261 -259 -296) (invertDirection true false false true)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (device embObjPOS) (id left_hand-pos4) (robotName ergoCubSN000) 4,627919 embObjPOS::open(): preparing ETH resource 4,648357 eth::parser::print(boardData) for BOARD left_arm-eb23-j7_10 4,668895 ETH_BOARD/ETH_BOARD_PROPERTIES: 4,689204 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.23 4,709548 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 4,740149 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 4,760592 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 4,781028 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 4,801518 ETH_BOARD/ETH_BOARD_SETTINGS: 4,821926 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb23-j7_10 4,842365 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 4,873056 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 4,893385 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 4,913617 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.23 (left_arm-eb23-j7_10) with timeout = 0.02 sec and period of missing report = 60 sec 4,933942 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.23 4,954195 embObjPOS::open(): browsing xml files which describe the service 4,974311 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 5,004764 plus180 yyyyyyyyyyyyyyyyyyy 15 5,025035 plus180 xxxxxxxxxxxxxxxxxxx 1 5,045252 zero yyyyyyyyyyyyyyyyyyy 15 5,065486 zero xxxxxxxxxxxxxxxxxxx 0 5,096032 zero yyyyyyyyyyyyyyyyyyy 15 5,106080 zero xxxxxxxxxxxxxxxxxxx 0 5,136580 zero yyyyyyyyyyyyyyyyyyy 15 5,156950 zero xxxxxxxxxxxxxxxxxxx 0 5,177391 embObjPOS::open(): verify the presence of the board and if its protocol version is correct 5,197894 from BOARD 10.0.1.23 (left_arm-eb23-j7_10), src LOCAL, adr 0, time 226s 266m 669u: (code 0x00000034, par16 0x0001 par64 0x000000000000000e) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . 5,228297 EthResource::verifyBoardPresence() found BOARD left_arm-eb23-j7_10 with IP 10.0.1.23 after 0.00293088 seconds 5,238352 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb23-j7_10 with IP 10.0.1.23 5,258659 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb23-j7_10 with IP 10.0.1.23 : config mode + cleared all its regulars 5,289315 EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb23-j7_10 with IP 10.0.1.23 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 5,299392 EthResource::askBoardVersion() found BOARD left_arm-eb23-j7_10 @ IP 10.0.1.23 of type mc4plus with FW = ver 3.70 built on 2023 Apr 17 14:0 5,329648 embObjPOS::open(): verify and activate the POS service 5,360183 from BOARD 10.0.1.23 (left_arm-eb23-j7_10) @ 226s 290m 267u: CAN discovery has started for 1 eobrd_mtb4c boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 2.0 and application ver 2.0.0. 5,370237 from BOARD 10.0.1.23 (left_arm-eb23-j7_10) @ 226s 290m 813u: CAN discovery has detected a eobrd_mtb4c board in CAN1 addr 1 with can protocol ver 2.0 and application ver 2.0.0 Search time was 0 ms 5,400770 from BOARD 10.0.1.23 (left_arm-eb23-j7_10) @ 226s 290m 978u: CAN discovery is OK for 1 eobrd_mtb4c boards with target can protocol ver 2.0 and application ver 2.0.0. Search time was 0 ms 5,420948 from BOARD 10.0.1.23 (left_arm-eb23-j7_10), src LOCAL, adr 0, time 226s 291m 226u: (code 0x0500004d, par16 0x0001 par64 0x0000000002000200) -> CFG: EOthePOS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . 5,431053 embObjPOS::open(): configure the POS service 5,461660 embObjPOS::open(): impose the network variable which the ETH bord must stream up 5,492194 embObjPOS::open(): start the POS service 5,502250 embObjPOS::open(): start streaming of POS data 5,522398 from BOARD 10.0.1.23 (left_arm-eb23-j7_10), src LOCAL, adr 0, time 226s 311m 490u: (code 0x0000000d, par16 0x0177 par64 0x0006000000810008) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . 5,552974 Created device . See C++ class yarp::dev::embObjPOS for documentation. 5,563249 Opening device right_hand_as_wrapper2 with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/right_hand/POS2:o")] 5,593948 Parameters are (device analogServer) (id right_hand_as_wrapper2) (name "/ergocub/right_hand/POS2:o") (period 10) (robotName ergoCubSN000) 5,624375 The 'AnalogWrapper' device is deprecated. 5,634429 Possible alternatives, depending on the specific type sensor data, are: 5,654621 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 5,685224 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 5,695309 Please update your scripts. 5,725855 No ROS group found in config file ... skipping ROS initialization. 5,766689 Port /ergocub/right_hand/POS2:o/rpc:i active at tcp://10.0.2.2:10011/ 5,787155 : no ROS initialization required 5,828028 Created wrapper . See C++ class AnalogWrapper for documentation. 5,858663 Opening device right_hand-pos2 with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.24) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb24-j11_12") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (SENSORS (location CAN1:2 CAN1:2) (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_add POS:hand_index_add) (boardType mtb4c mtb4c) (connector CONN:J3_SDA2 CONN:J3_SDA3) (CALIBRATION (type TYPE:decideg TYPE:decideg) (rotation ROT:zero ROT:zero) (offset -200.0 -270.0) (invertDirection false false)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))")] 5,889319 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.24") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb24-j11_12) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (SENSORS (location "CAN1:2" "CAN1:2") (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_add" "POS:hand_index_add") (boardType mtb4c mtb4c) (connector "CONN:J3_SDA2" "CONN:J3_SDA3") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg") (rotation "ROT:zero" "ROT:zero") (offset -200.0 -270.0) (invertDirection false false)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (device embObjPOS) (id right_hand-pos2) (robotName ergoCubSN000) 5,919771 embObjPOS::open(): preparing ETH resource 5,960562 eth::parser::print(boardData) for BOARD right_arm-eb24-j11_12 5,990934 ETH_BOARD/ETH_BOARD_PROPERTIES: 6,021269 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.24 6,051804 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 6,092608 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 6,123157 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 6,153750 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 6,184439 ETH_BOARD/ETH_BOARD_SETTINGS: 6,225199 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb24-j11_12 6,255877 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 6,286488 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 6,317076 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 6,347691 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.24 (right_arm-eb24-j11_12) with timeout = 0.02 sec and period of missing report = 60 sec 6,378188 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.24 6,418973 embObjPOS::open(): browsing xml files which describe the service 6,449573 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 6,480241 zero yyyyyyyyyyyyyyyyyyy 15 6,510841 zero xxxxxxxxxxxxxxxxxxx 0 6,551721 zero yyyyyyyyyyyyyyyyyyy 15 6,582377 zero xxxxxxxxxxxxxxxxxxx 0 6,612955 embObjPOS::open(): verify the presence of the board and if its protocol version is correct 6,643619 from BOARD 10.0.1.24 (right_arm-eb24-j11_12), src LOCAL, adr 0, time 226s 334m 787u: (code 0x00000034, par16 0x0001 par64 0x000000000000000e) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . 6,674302 EthResource::verifyBoardPresence() found BOARD right_arm-eb24-j11_12 with IP 10.0.1.24 after 0.00283504 seconds 6,715147 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb24-j11_12 with IP 10.0.1.24 6,745876 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb24-j11_12 with IP 10.0.1.24 : config mode + cleared all its regulars 6,776595 EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb24-j11_12 with IP 10.0.1.24 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 6,807237 EthResource::askBoardVersion() found BOARD right_arm-eb24-j11_12 @ IP 10.0.1.24 of type mc4plus with FW = ver 3.70 built on 2023 Apr 17 14:0 6,848133 embObjPOS::open(): verify and activate the POS service 6,878619 from BOARD 10.0.1.24 (right_arm-eb24-j11_12) @ 226s 356m 12u: CAN discovery has started for 1 eobrd_mtb4c boards on (can1map, can2map) = (0x0004, 0x0000) with target can protocol ver 2.0 and application ver 2.0.0. 6,909282 from BOARD 10.0.1.24 (right_arm-eb24-j11_12) @ 226s 356m 557u: CAN discovery has detected a eobrd_mtb4c board in CAN1 addr 2 with can protocol ver 2.0 and application ver 2.0.0 Search time was 0 ms 6,940023 embObjPOS::open(): configure the POS service 6,970637 from BOARD 10.0.1.24 (right_arm-eb24-j11_12) @ 226s 356m 721u: CAN discovery is OK for 1 eobrd_mtb4c boards with target can protocol ver 2.0 and application ver 2.0.0. Search time was 0 ms 7,011410 from BOARD 10.0.1.24 (right_arm-eb24-j11_12), src LOCAL, adr 0, time 226s 356m 967u: (code 0x0500004d, par16 0x0002 par64 0x0000000002000200) -> CFG: EOthePOS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . 7,041761 embObjPOS::open(): impose the network variable which the ETH bord must stream up 7,072032 embObjPOS::open(): start the POS service 7,102310 embObjPOS::open(): start streaming of POS data 7,142702 Created device . See C++ class yarp::dev::embObjPOS for documentation. 7,172917 Opening device left_hand_as_wrapper2 with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/left_hand/POS2:o")] 7,203130 Parameters are (device analogServer) (id left_hand_as_wrapper2) (name "/ergocub/left_hand/POS2:o") (period 10) (robotName ergoCubSN000) 7,233516 The 'AnalogWrapper' device is deprecated. 7,274292 Possible alternatives, depending on the specific type sensor data, are: 7,304891 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 7,335375 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 7,366064 Please update your scripts. 7,396700 No ROS group found in config file ... skipping ROS initialization. 7,437548 Port /ergocub/left_hand/POS2:o/rpc:i active at tcp://10.0.2.2:10012/ 7,468264 : no ROS initialization required 7,498906 Created wrapper . See C++ class AnalogWrapper for documentation. 7,529524 Opening device left_hand-pos2 with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("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-j11_12") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (SENSORS (location CAN1:2 CAN1:2) (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_add POS:hand_index_add) (boardType mtb4c mtb4c) (connector CONN:J3_SDA2 CONN:J3_SDA3) (CALIBRATION (type TYPE:decideg TYPE:decideg) (rotation ROT:zero ROT:zero) (offset -230.0 -325.0) (invertDirection true true)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))")] 7,560143 Parameters are (DEBUG (embBoardsConnected 1)) (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-j11_12) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (SENSORS (location "CAN1:2" "CAN1:2") (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_add" "POS:hand_index_add") (boardType mtb4c mtb4c) (connector "CONN:J3_SDA2" "CONN:J3_SDA3") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg") (rotation "ROT:zero" "ROT:zero") (offset -230.0 -325.0) (invertDirection true true)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (device embObjPOS) (id left_hand-pos2) (robotName ergoCubSN000) 7,600928 embObjPOS::open(): preparing ETH resource 7,631559 eth::parser::print(boardData) for BOARD left_arm-eb25-j11_12 7,662317 ETH_BOARD/ETH_BOARD_PROPERTIES: 7,692866 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.25 7,723429 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 7,764304 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 7,794731 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 7,825284 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 7,856007 ETH_BOARD/ETH_BOARD_SETTINGS: 7,896886 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb25-j11_12 7,927479 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 7,958046 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 7,988500 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 8,018840 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.25 (left_arm-eb25-j11_12) with timeout = 0.02 sec and period of missing report = 60 sec 8,059666 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.25 8,090397 embObjPOS::open(): browsing xml files which describe the service 8,120853 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 8,151514 zero yyyyyyyyyyyyyyyyyyy 15 8,192291 zero xxxxxxxxxxxxxxxxxxx 0 8,222857 zero yyyyyyyyyyyyyyyyyyy 15 8,253599 zero xxxxxxxxxxxxxxxxxxx 0 8,284234 embObjPOS::open(): verify the presence of the board and if its protocol version is correct 8,314541 from BOARD 10.0.1.25 (left_arm-eb25-j11_12), src LOCAL, adr 0, time 226s 398m 105u: (code 0x00000034, par16 0x0001 par64 0x000000000000000e) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . 8,355444 EthResource::verifyBoardPresence() found BOARD left_arm-eb25-j11_12 with IP 10.0.1.25 after 0.00370407 seconds 8,386133 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb25-j11_12 with IP 10.0.1.25 8,416560 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb25-j11_12 with IP 10.0.1.25 : config mode + cleared all its regulars 8,447154 EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb25-j11_12 with IP 10.0.1.25 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 8,477771 EthResource::askBoardVersion() found BOARD left_arm-eb25-j11_12 @ IP 10.0.1.25 of type mc4plus with FW = ver 3.70 built on 2023 Apr 17 14:0 8,518571 embObjPOS::open(): verify and activate the POS service 8,549260 from BOARD 10.0.1.25 (left_arm-eb25-j11_12) @ 226s 422m 255u: CAN discovery has started for 1 eobrd_mtb4c boards on (can1map, can2map) = (0x0004, 0x0000) with target can protocol ver 2.0 and application ver 2.0.0. 8,579901 from BOARD 10.0.1.25 (left_arm-eb25-j11_12) @ 226s 422m 800u: CAN discovery has detected a eobrd_mtb4c board in CAN1 addr 2 with can protocol ver 2.0 and application ver 2.0.0 Search time was 0 ms 8,610217 from BOARD 10.0.1.25 (left_arm-eb25-j11_12) @ 226s 422m 965u: CAN discovery is OK for 1 eobrd_mtb4c boards with target can protocol ver 2.0 and application ver 2.0.0. Search time was 0 ms 8,650792 from BOARD 10.0.1.25 (left_arm-eb25-j11_12), src LOCAL, adr 0, time 226s 423m 213u: (code 0x0500004d, par16 0x0002 par64 0x0000000002000200) -> CFG: EOthePOS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . 8,681600 embObjPOS::open(): configure the POS service 8,712237 embObjPOS::open(): impose the network variable which the ETH bord must stream up 8,742760 embObjPOS::open(): start the POS service 8,773416 embObjPOS::open(): start streaming of POS data 8,814205 Created device . See C++ class yarp::dev::embObjPOS for documentation. 8,844877 Opening device left_leg-mc_nws_yarp with parameters [("robotName" = "ergoCubSN000"), ("period" = "0.002"), ("name" = "/ergocub/left_leg")] 8,875533 Parameters are (device controlBoard_nws_yarp) (id left_leg-mc_nws_yarp) (name "/ergocub/left_leg") (period 0.00200000000000000004163) (robotName ergoCubSN000) 8,906188 Port /ergocub/left_leg/rpc:i active at tcp://10.0.2.2:10013/ 8,936484 Port /ergocub/left_leg/command:i active at tcp://10.0.2.2:10014/ 8,977470 Port /ergocub/left_leg/state:o active at tcp://10.0.2.2:10015/ 9,008104 Port /ergocub/left_leg/stateExt:o active at tcp://10.0.2.2:10016/ 9,038769 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 9,069460 Opening device right_leg-mc_nws_yarp with parameters [("robotName" = "ergoCubSN000"), ("period" = "0.002"), ("name" = "/ergocub/right_leg")] 9,100109 Parameters are (device controlBoard_nws_yarp) (id right_leg-mc_nws_yarp) (name "/ergocub/right_leg") (period 0.00200000000000000004163) (robotName ergoCubSN000) 9,140976 Port /ergocub/right_leg/rpc:i active at tcp://10.0.2.2:10017/ 9,171662 Port /ergocub/right_leg/command:i active at tcp://10.0.2.2:10018/ 9,202361 Port /ergocub/right_leg/state:o active at tcp://10.0.2.2:10019/ 9,232877 Port /ergocub/right_leg/stateExt:o active at tcp://10.0.2.2:10020/ 9,273590 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 9,304353 Opening device left_leg-mc_remapper with parameters [("robotName" = "ergoCubSN000"), ("networks" = "(left_leg_joints1 left_leg_joints2)"), ("left_leg_joints1" = "( 0 3 0 3 )"), ("left_leg_joints2" = "( 4 5 0 1 )"), ("joints" = "6")] 9,335109 Parameters are (device controlboardremapper) (id left_leg-mc_remapper) (joints 6) (left_leg_joints1 (0 3 0 3)) (left_leg_joints2 (4 5 0 1)) (networks (left_leg_joints1 left_leg_joints2)) (robotName ergoCubSN000) 9,365881 Created device . See C++ class ControlBoardRemapper for documentation. 9,396668 Opening device right_leg-mc_remapper with parameters [("robotName" = "ergoCubSN000"), ("networks" = "(right_leg_joints1 right_leg_joints2)"), ("right_leg_joints1" = "( 0 3 0 3 )"), ("right_leg_joints2" = "( 4 5 0 1 )"), ("joints" = "6")] 9,427342 Parameters are (device controlboardremapper) (id right_leg-mc_remapper) (joints 6) (networks (right_leg_joints1 right_leg_joints2)) (right_leg_joints1 (0 3 0 3)) (right_leg_joints2 (4 5 0 1)) (robotName ergoCubSN000) 9,468416 Created device . See C++ class ControlBoardRemapper for documentation. 9,498936 Opening device right_arm-mc_nws_yarp with parameters [("robotName" = "ergoCubSN000"), ("period" = "0.002"), ("name" = "/ergocub/right_arm")] 9,529690 Parameters are (device controlBoard_nws_yarp) (id right_arm-mc_nws_yarp) (name "/ergocub/right_arm") (period 0.00200000000000000004163) (robotName ergoCubSN000) 9,560495 Port /ergocub/right_arm/rpc:i active at tcp://10.0.2.2:10021/ 9,601460 Port /ergocub/right_arm/command:i active at tcp://10.0.2.2:10022/ 9,632198 Port /ergocub/right_arm/state:o active at tcp://10.0.2.2:10023/ 9,662838 Port /ergocub/right_arm/stateExt:o active at tcp://10.0.2.2:10024/ 9,693617 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 9,724268 Opening device right_arm-mc_remapper with parameters [("robotName" = "ergoCubSN000"), ("axesNames" = "(r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc)"), ("joints" = "13")] 9,765143 Parameters are (axesNames (r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_yaw r_wrist_roll r_wrist_pitch r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc)) (device controlboardremapper) (id right_arm-mc_remapper) (joints 13) (robotName ergoCubSN000) 9,795826 Created device . See C++ class ControlBoardRemapper for documentation. 9,826282 Opening device left_arm-mc_nws_yarp with parameters [("robotName" = "ergoCubSN000"), ("period" = "0.002"), ("name" = "/ergocub/left_arm")] 9,856930 Parameters are (device controlBoard_nws_yarp) (id left_arm-mc_nws_yarp) (name "/ergocub/left_arm") (period 0.00200000000000000004163) (robotName ergoCubSN000) 9,887569 Port /ergocub/left_arm/rpc:i active at tcp://10.0.2.2:10025/ 9,928505 Port /ergocub/left_arm/command:i active at tcp://10.0.2.2:10026/ 9,959280 Port /ergocub/left_arm/state:o active at tcp://10.0.2.2:10027/ 9,990121 Port /ergocub/left_arm/stateExt:o active at tcp://10.0.2.2:10028/ 10,020797 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 10,051443 Opening device left_arm-mc_remapper with parameters [("robotName" = "ergoCubSN000"), ("axesNames" = "(l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,l_elbow,l_wrist_yaw,l_wrist_roll,l_wrist_pitch,l_thumb_add,l_thumb_oc,l_index_add,l_index_oc,l_middle_oc,l_ring_pinky_oc)"), ("joints" = "13")] 10,092514 Parameters are (axesNames (l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_yaw l_wrist_roll l_wrist_pitch l_thumb_add l_thumb_oc l_index_add l_index_oc l_middle_oc l_ring_pinky_oc)) (device controlboardremapper) (id left_arm-mc_remapper) (joints 13) (robotName ergoCubSN000) 10,123104 Created device . See C++ class ControlBoardRemapper for documentation. 10,153706 Opening device torso-mc_nws_yarp with parameters [("robotName" = "ergoCubSN000"), ("period" = "0.002"), ("name" = "/ergocub/torso")] 10,184503 Parameters are (device controlBoard_nws_yarp) (id torso-mc_nws_yarp) (name "/ergocub/torso") (period 0.00200000000000000004163) (robotName ergoCubSN000) 10,215176 Port /ergocub/torso/rpc:i active at tcp://10.0.2.2:10029/ 10,256227 Port /ergocub/torso/command:i active at tcp://10.0.2.2:10030/ 10,287018 Port /ergocub/torso/state:o active at tcp://10.0.2.2:10031/ 10,317732 Port /ergocub/torso/stateExt:o active at tcp://10.0.2.2:10032/ 10,348474 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 10,379243 Opening device torso-mc_remapper with parameters [("robotName" = "ergoCubSN000"), ("networks" = "(torso_joints)"), ("torso_joints" = "( 0 2 0 2 )"), ("joints" = "3")] 10,420225 Parameters are (device controlboardremapper) (id torso-mc_remapper) (joints 3) (networks (torso_joints)) (robotName ergoCubSN000) (torso_joints (0 2 0 2)) 10,450795 Created device . See C++ class ControlBoardRemapper for documentation. 10,481241 Opening device head-mc_nws_yarp with parameters [("robotName" = "ergoCubSN000"), ("period" = "0.002"), ("name" = "/ergocub/head")] 10,511800 Parameters are (device controlBoard_nws_yarp) (id head-mc_nws_yarp) (name "/ergocub/head") (period 0.00200000000000000004163) (robotName ergoCubSN000) 10,542388 Port /ergocub/head/rpc:i active at tcp://10.0.2.2:10033/ 10,583295 Port /ergocub/head/command:i active at tcp://10.0.2.2:10034/ 10,613763 Port /ergocub/head/state:o active at tcp://10.0.2.2:10035/ 10,644536 Port /ergocub/head/stateExt:o active at tcp://10.0.2.2:10036/ 10,675198 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 10,705926 Opening device head-mc_remapper with parameters [("robotName" = "ergoCubSN000"), ("networks" = "(head_joints1 head_joints2)"), ("head_joints1" = "( 0 1 0 1 )"), ("head_joints2" = "( 2 3 0 1 )"), ("joints" = "4")] 10,746910 Parameters are (device controlboardremapper) (head_joints1 (0 1 0 1)) (head_joints2 (2 3 0 1)) (id head-mc_remapper) (joints 4) (networks (head_joints1 head_joints2)) (robotName ergoCubSN000) 10,777692 Created device . See C++ class ControlBoardRemapper for documentation. 10,808460 305 10,838944 lution 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 -40 -20) (jntPosMax +22 +20) (jntVelMax 1000 1000) (motorOverloadCurrents 5000 5000) (motorNominalCurrents 2000 2000) (motorPeakCurrents 3000 3000) (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 -150 +150) (kd 0 0) (ki -15 +15) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)\")]") 10,869545 307 10,910268 ) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 150) (kd 0 0) (ki -15 15) (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 ergoCubSN000)") 10,940848 eth::parser::print(boardData) for BOARD head-eb20-j0_1 10,971490 ETH_BOARD/ETH_BOARD_PROPERTIES: 11,002233 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.20 11,042984 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 11,073763 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 11,104495 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 11,134984 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 11,165838 ETH_BOARD/ETH_BOARD_SETTINGS: 11,206780 ETH_BOARD/ETH_BOARD_SETTINGS/Name = head-eb20-j0_1 11,237523 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 11,268353 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 11,298988 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 11,329421 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 11,370243 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.20 11,401017 embObjMC BOARD head-eb20-j0_1 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 11,431795 embObjMC BOARD head-eb20-j0_1 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 11,462373 EthResource::verifyBoardPresence() found BOARD head-eb20-j0_1 with IP 10.0.1.20 after 0.0192611 seconds 11,493092 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb20-j0_1 with IP 10.0.1.20 11,534047 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb20-j0_1 with IP 10.0.1.20 : config mode + cleared all its regulars 11,564627 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 = 2 every cycle 11,595410 EthResource::askBoardVersion() found BOARD head-eb20-j0_1 @ IP 10.0.1.20 of type mc4plus with FW = ver 3.70 built on 2023 Apr 17 14:0 11,626107 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 227s 462m 404u: (code 0x05000015, par16 0x2000 par64 0x0000000000000000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 11,656706 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 227s 463m 847u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . 11,697677 embObjMotionControl:serviceVerifyActivate OK! 11,728214 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 11,758451 334 11,789074 )) (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 -45 -30) (jntPosMax +45 +30) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (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 1100 557) (kd 0 0) (ki 0 2798) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)\"), (\"OTHER_CONTROL_PARAMETERS\" [group] = \"(deadZone 0.0495 0.0495)\")]") 11,829751 336 11,860548 00000000023315 0.0495000000000000023315)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1100 557) (kd 0 0) (ki 0 2798) (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-eb21-j2_3-mc) (robotName ergoCubSN000)") 11,891195 eth::parser::print(boardData) for BOARD head-eb21-j2_3 11,921889 ETH_BOARD/ETH_BOARD_PROPERTIES: 11,952647 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.21 11,983464 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 12,024360 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 12,055129 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 12,085909 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 12,116510 ETH_BOARD/ETH_BOARD_SETTINGS: 12,156927 ETH_BOARD/ETH_BOARD_SETTINGS/Name = head-eb21-j2_3 12,187365 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 12,218120 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 12,248901 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 12,279711 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.21 (head-eb21-j2_3) with timeout = 0.02 sec and period of missing report = 60 sec 12,320660 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.21 12,351525 embObjMC BOARD head-eb21-j2_3 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 12,382280 EthResource::verifyBoardPresence() found BOARD head-eb21-j2_3 with IP 10.0.1.21 after 0.00969934 seconds 12,413031 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb21-j2_3 with IP 10.0.1.21 12,443864 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb21-j2_3 with IP 10.0.1.21 : config mode + cleared all its regulars 12,484921 EthResource::setTimingOfRunningCycle() for BOARD head-eb21-j2_3 with IP 10.0.1.21 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 12,515508 EthResource::askBoardVersion() found BOARD head-eb21-j2_3 @ IP 10.0.1.21 of type mc4plus with FW = ver 3.70 built on 2023 Apr 17 14:0 12,546030 from BOARD 10.0.1.21 (head-eb21-j2_3), src LOCAL, adr 0, time 228s 611m 404u: (code 0x05000015, par16 0x2000 par64 0x0000000000000000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 12,576664 from BOARD 10.0.1.21 (head-eb21-j2_3), src LOCAL, adr 0, time 228s 612m 840u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . 12,607167 embObjMotionControl:serviceVerifyActivate OK! 12,648099 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 12,678865 362 12,709547 = \"(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) (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 eomc_act_foc eomc_act_foc) (port CAN1:2:0 CAN1:3:0 CAN1:1:0)) (ENCODER1 (type amo amo amo) (port CONN:P7 CONN:P8 CONN:P6) (position atjoint atjoint atjoint) (resolution 1048576 1048576 1048576) (tolerance 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie) (port CAN1:2:0 CAN1:3:0 CAN1:1:0) (position atmotor atmotor atmotor) (resolution 14400 14400 14400) (tolerance 3.6 3.6 3.6))))\"), (\"LIMITS\" [group] = \"(jntPosMax 23 45 43) (jntPosMin -23 -18 -43) (jntVelMax 120 120 120) (motorNominalCurrents 3770 3770 5000) (motorPeakCurrents 14000 14000 10000) (motorOverloadCurrents 18000 18000 15000) (motorPwmLimit 16000 16000 16000)\"), (\"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 10000 10000 -1500) (kd 0 0 0) (ki 8000 5000 -1000) (maxOutput 10000 10000 8000) (maxInt 10000 5000 1000) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputCo 363 12,740326 ntrolUnits dutycycle_percent) (kp 0 0 0) (kd 0 0 0) (ki 0 0 0) (maxOutput 25 25 25) (maxInt 1.56 1.56 1.56) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 1 1 1) (kbemf 0.0016 0.003 -0.003) (filterType 0 0 0) (ktau 0.63 0.63 -0.63)\"), (\"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)\"), (\"OTHER_CONTROL_PARAMETERS\" [group] = \"(deadZone 0.0049 0.0049 0.0049)\")]") 12,771089 365 12,812172 false) (verbose false) (MotioncontrolVersion 6) (Joints 3) (AxisMap 0 1 2) (AxisName torso_roll torso_pitch torso_yaw) (AxisType revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J 100.0 160.0 -100.0) (Gearbox_E2J 1 1 1) (useMotorSpeedFbk 1 1 1) (MotorType MOOG_C2900576 MOOG_C2900576 MOOG_C2900576) (Verbose 0)) (IMPEDANCE (stiffness 0 0 0) (damping 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) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 25 65 45) (hardwareJntPosMin -25 -20 -45) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 23 45 43) (jntPosMin -23 -18 -43) (jntVelMax 120 120 120) (motorNominalCurrents 3770 3770 5000) (motorPeakCurrents 14000 14000 10000) (motorOverloadCurrents 18000 18000 15000) (motorPwmLimit 16000 16000 16000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 10000 10000 -1500) (kd 0 0 0) (ki 8000 5000 -1000) (maxOutput 10000 10000 8000) (maxInt 10000 5000 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 eomc_act_foc eomc_act_foc) (port \"CAN1:2:0\" \"CAN1:3:0\" \"CAN1:1:0\")) (ENCODER1 (type amo amo amo) (port \"CONN:P7\" \"CONN:P8\" \"CONN:P6\") (position atjoint atjoint atjoint) (resolution 1048576 1048576 1048576) (tolerance 0.702999999999999958256 0.702999999999999958256 0.7 366 12,842881 02999999999999958256)) (ENCODER2 (type roie roie roie) (port \"CAN1:2:0\" \"CAN1:3:0\" \"CAN1:1:0\") (position atmotor atmotor atmotor) (resolution 14400 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0) (kd 0 0 0) (ki 0 0 0) (maxOutput 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 1 1 1) (kbemf 0.00160000000000000007667 0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau 0.630000000000000004441 0.630000000000000004441 -0.630000000000000004441)) (device embObjMotionControl) (id torso-eb5-j0_2-mc) (robotName ergoCubSN000)") 12,873679 eth::parser::print(boardData) for BOARD torso-eb5-j0_2 12,904395 ETH_BOARD/ETH_BOARD_PROPERTIES: 12,935114 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.5 12,976006 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 13,006700 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 13,037483 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 13,068229 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 13,098971 ETH_BOARD/ETH_BOARD_SETTINGS: 13,139892 ETH_BOARD/ETH_BOARD_SETTINGS/Name = torso-eb5-j0_2 13,170645 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 13,201367 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 13,232211 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 13,262944 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 13,303911 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.5 13,334632 embObjMC BOARD torso-eb5-j0_2 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 13,365502 viscousPos parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0) (kd 0 0 0) (ki 0 0 0) (maxOutput 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 1 1 1) (kbemf 0.00160000000000000007667 0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau 0.630000000000000004441 0.630000000000000004441 -0.630000000000000004441) 13,396284 viscousNeg parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0) (kd 0 0 0) (ki 0 0 0) (maxOutput 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 1 1 1) (kbemf 0.00160000000000000007667 0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau 0.630000000000000004441 0.630000000000000004441 -0.630000000000000004441) 13,426998 coulombPos parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0) (kd 0 0 0) (ki 0 0 0) (maxOutput 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 1 1 1) (kbemf 0.00160000000000000007667 0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau 0.630000000000000004441 0.630000000000000004441 -0.630000000000000004441) 13,468054 coulombNeg parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0) (kd 0 0 0) (ki 0 0 0) (maxOutput 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 1 1 1) (kbemf 0.00160000000000000007667 0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau 0.630000000000000004441 0.630000000000000004441 -0.630000000000000004441) 13,498873 EthResource::verifyBoardPresence() found BOARD torso-eb5-j0_2 with IP 10.0.1.5 after 0.000864744 seconds 13,529636 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD torso-eb5-j0_2 with IP 10.0.1.5 13,560503 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD torso-eb5-j0_2 with IP 10.0.1.5 : config mode + cleared all its regulars 13,591298 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 = 2 every cycle 13,632225 EthResource::askBoardVersion() found BOARD torso-eb5-j0_2 @ IP 10.0.1.5 of type ems4 with FW = ver 3.67 built on 2023 Apr 17 14:0 13,662956 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 230s 778m 548u: (code 0x05000015, par16 0x3000 par64 0x000000000fff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 13,693628 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 230s 778m 718u: CAN discovery has started for 3 eobrd_foc boards on (can1map, can2map) = (0x000e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. 13,724225 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 230s 779m 491u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 13,754783 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 230s 779m 645u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 13,795812 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 230s 779m 799u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 13,826498 embObjMotionControl:serviceVerifyActivate OK! 13,857285 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 230s 779m 962u: CAN discovery 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 13,888091 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 230s 780m 517u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 13,918859 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 0, 9, 9, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 2, 3, 1, ,, , M, i, s, s, i, n, g, :, , 1, 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 1, 7, 7, 9, 9, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 4, 5, 9, 9, 0, , u, s, 13,949546 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 0, 6, 9, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 2, 0, 1, ,, , M, i, s, s, i, n, g, :, , 1, 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 1, 7, 8, 0, 8, 4, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 4, 6, 8, 4, 3, , u, s, 13,990571 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 1, 5, 6, 7, ,, , R, e, c, e, i, v, e, d, :, , 1, 6, 9, 9, ,, , M, i, s, s, i, n, g, :, , 1, 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 1, 7, 8, 5, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 1, 1, 2, 4, , u, s, 14,021232 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 1, 3, 5, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 2, 6, 7, ,, , M, i, s, s, i, n, g, :, , 1, 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 1, 7, 8, 6, 7, 0, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 2, 7, 0, 0, , u, s, 14,052005 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 2, 1, 4, 1, ,, , R, e, c, e, i, v, e, d, :, , 2, 2, 7, 4, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 1, 7, 8, 5, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 3, 0, 9, 0, , u, s, 14,082725 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 0, 3, 5, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 1, 6, 8, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 1, 7, 7, 9, 2, 3, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 4, 7, 2, 3, 3, , u, s, 14,123622 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 2, 3, 3, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 2, 3, 4, ,, , M, i, s, s, i, n, g, :, , 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 4, 7, 9, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 1, 9, 9, 0, , u, s, 14,154325 theNVmanager::Impl::wait() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 14,185108 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.5 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 14,215786 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 2, 0, 3, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 2, 0, 4, ,, , M, i, s, s, i, n, g, :, , 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 4, 8, 8, 4, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 2, 8, 4, 3, , u, s, 14,246603 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 1, 7, 0, 1, ,, , R, e, c, e, i, v, e, d, :, , 1, 7, 0, 2, ,, , M, i, s, s, i, n, g, :, , 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 3, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 7, 1, 2, 4, , u, s, 14,287668 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 2, 6, 8, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 2, 7, 0, ,, , M, i, s, s, i, n, g, :, , 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 2, 7, 0, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 8, 7, 0, 0, , u, s, 14,318381 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 2, 2, 7, 5, ,, , R, e, c, e, i, v, e, d, :, , 2, 2, 7, 7, ,, , M, i, s, s, i, n, g, :, , 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 3, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 9, 0, 9, 0, , u, s, 14,349132 theNVmanager::Impl::wait() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 14,379925 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.5 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 14,410632 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 1, 6, 9, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 1, 7, 1, ,, , M, i, s, s, i, n, g, :, , 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 4, 7, 2, 3, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 0, 5, 3, 2, 3, 3, , u, s, 14,441334 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 4, 0, 9, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 5, 4, 5, ,, , M, i, s, s, i, n, g, :, , 1, 3, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 4, 6, 0, 8, 4, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 7, 3, 4, 8, 4, 3, , u, s, 14,482344 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 1, 9, 0, 7, ,, , R, e, c, e, i, v, e, d, :, , 2, 0, 4, 3, ,, , M, i, s, s, i, n, g, :, , 1, 3, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 4, 6, 5, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 7, 3, 9, 1, 2, 4, , u, s, 14,513032 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 4, 7, 5, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 6, 1, 1, ,, , M, i, s, s, i, n, g, :, , 1, 3, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 4, 6, 6, 7, 0, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 7, 4, 0, 7, 0, 0, , u, s, 14,543765 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 2, 4, 8, 2, ,, , R, e, c, e, i, v, e, d, :, , 2, 6, 1, 8, ,, , M, i, s, s, i, n, g, :, , 1, 3, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 4, 6, 7, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 7, 4, 1, 0, 9, 0, , u, s, 14,574531 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x01000001 -> IND = 0, TAG = eoprot_tag_mc_joint_config 14,605288 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 3, 7, 5, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 5, 1, 2, ,, , M, i, s, s, i, n, g, :, , 1, 3, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 4, 5, 9, 2, 3, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 7, 3, 5, 2, 3, 3, , u, s, 14,646270 theNVmanager::Impl::setcheck() had an error while calling check() in BOARD torso-eb5-j0_2 with IP 10.0.1.5 at attempt # 1 14,677075 theNVmanager::Impl::Data::alert(): themap is empty() 14,707796 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 4, 3, 9, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 5, 7, 6, ,, , M, i, s, s, i, n, g, :, , 1, 3, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 4, 5, 9, 9, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 7, 3, 5, 9, 9, 0, , u, s, 14,738576 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 6, 7, 9, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 8, 9, 1, ,, , M, i, s, s, i, n, g, :, , 2, 1, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 8, 7, 4, 7, 0, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 3, 0, 0, 7, 0, 0, , u, s, 14,769348 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 2, 6, 8, 6, ,, , R, e, c, e, i, v, e, d, :, , 2, 8, 9, 8, ,, , M, i, s, s, i, n, g, :, , 2, 1, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 8, 7, 5, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 3, 0, 1, 0, 9, 0, , u, s, 14,810308 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 5, 8, 0, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 7, 9, 2, ,, , M, i, s, s, i, n, g, :, , 2, 1, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 8, 6, 9, 2, 3, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 2, 9, 5, 2, 3, 3, , u, s, 14,841065 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 6, 4, 4, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 8, 5, 6, ,, , M, i, s, s, i, n, g, :, , 2, 1, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 8, 6, 9, 9, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 2, 9, 5, 9, 9, 0, , u, s, 14,871878 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 6, 1, 4, ,, , R, e, c, e, i, v, e, d, :, , 8, 9, 8, 2, 6, ,, , M, i, s, s, i, n, g, :, , 2, 1, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 8, 7, 0, 8, 4, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 2, 9, 6, 8, 4, 3, , u, s, 14,902571 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 2, 1, 1, 1, ,, , R, e, c, e, i, v, e, d, :, , 2, 3, 2, 4, ,, , M, i, s, s, i, n, g, :, , 2, 1, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 8, 7, 3, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 3, 0, 1, 1, 2, 4, , u, s, 14,933483 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 1, 5, ,, , R, e, c, e, i, v, e, d, :, , 1, 6, ,, , M, i, s, s, i, n, g, :, , 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 2, 7, 9, 6, 2, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 2, 8, 5, 0, 5, 4, 0, , u, s, 14,974571 theNVmanager::Impl::Data::alert(): themap is empty() 15,005290 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 0, 3, 0, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 0, 8, 7, ,, , M, i, s, s, i, n, g, :, , 5, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 7, 0, 2, 8, 4, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 8, 1, 8, 8, 4, 3, , u, s, 15,036049 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 2, 5, 2, 8, ,, , R, e, c, e, i, v, e, d, :, , 2, 5, 8, 5, ,, , M, i, s, s, i, n, g, :, , 5, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 7, 0, 7, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 8, 2, 3, 1, 2, 4, , u, s, 15,066706 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x01000001 -> IND = 0, TAG = eoprot_tag_mc_joint_config 15,097334 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 0, 9, 6, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 1, 5, 3, ,, , M, i, s, s, i, n, g, :, , 5, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 7, 0, 8, 7, 0, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 8, 2, 4, 7, 0, 0, , u, s, 15,138248 theNVmanager::Impl::setcheck() had an error while calling check() in BOARD torso-eb5-j0_2 with IP 10.0.1.5 at attempt # 2 15,169033 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 3, 1, 0, 3, ,, , R, e, c, e, i, v, e, d, :, , 3, 1, 6, 0, ,, , M, i, s, s, i, n, g, :, , 5, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 7, 0, 9, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 8, 2, 5, 0, 9, 0, , u, s, 15,199807 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 8, 9, 9, 9, 7, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 0, 5, 4, ,, , M, i, s, s, i, n, g, :, , 5, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 7, 0, 3, 2, 3, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 8, 1, 9, 2, 3, 3, , u, s, 15,230505 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 0, 6, 0, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 1, 1, 8, ,, , M, i, s, s, i, n, g, :, , 5, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 7, 0, 1, 9, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 3, 8, 1, 9, 9, 9, 0, , u, s, 15,261293 theNVmanager::Impl::Data::alert(): themap is empty() 15,302319 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 3, 9, 1, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 4, 2, 7, ,, , M, i, s, s, i, n, g, :, , 3, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 3, 6, 3, 9, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 4, 3, 7, 9, 9, 0, , u, s, 15,333133 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x01000001 -> IND = 0, TAG = eoprot_tag_mc_joint_config 15,363934 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 3, 6, 1, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 3, 9, 7, ,, , M, i, s, s, i, n, g, :, , 3, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 3, 6, 4, 8, 4, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 4, 3, 8, 8, 4, 3, , u, s, 15,394773 theNVmanager::Impl::setcheck() had an error while calling check() in BOARD torso-eb5-j0_2 with IP 10.0.1.5 at attempt # 3 15,425439 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 2, 8, 5, 8, ,, , R, e, c, e, i, v, e, d, :, , 2, 8, 9, 5, ,, , M, i, s, s, i, n, g, :, , 3, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 3, 6, 7, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 4, 4, 3, 1, 2, 4, , u, s, 15,466493 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 4, 2, 6, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 4, 6, 3, ,, , M, i, s, s, i, n, g, :, , 3, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 3, 6, 8, 7, 0, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 4, 4, 4, 7, 0, 0, , u, s, 15,497294 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 3, 4, 3, 3, ,, , R, e, c, e, i, v, e, d, :, , 3, 4, 7, 0, ,, , M, i, s, s, i, n, g, :, , 3, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 3, 6, 9, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 4, 4, 5, 0, 9, 0, , u, s, 15,527983 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 3, 2, 7, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 3, 6, 4, ,, , M, i, s, s, i, n, g, :, , 3, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 3, 6, 3, 2, 3, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 4, 3, 9, 2, 3, 3, , u, s, 15,558542 eth::EthMonitorPresence: BOARD 10.0.1.5 (torso-eb5-j0_2) has been silent for 0.687438 sec (its timeout is 0.02 sec) 15,589231 eth::EthMonitorPresence: BOARD 10.0.1.20 (head-eb20-j0_1) has been silent for 0.621608 sec (its timeout is 0.02 sec) 15,660689 eth::EthMonitorPresence: BOARD 10.0.1.22 (right_arm-eb22-j7_10) has been silent for 0.621638 sec (its timeout is 0.02 sec) 15,660732 eth::EthMonitorPresence: BOARD 10.0.1.25 (left_arm-eb25-j11_12) has been silent for 0.621597 sec (its timeout is 0.02 sec) 15,660745 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x01000001 -> IND = 0, TAG = eoprot_tag_mc_joint_config 15,660756 theNVmanager::Impl::setcheck() had an error while calling check() in BOARD torso-eb5-j0_2 with IP 10.0.1.5 at attempt # 4 15,660767 theNVmanager::Impl::Data::alert(): themap is empty() 15,670903 eth::EthMonitorPresence: BOARD 10.0.1.5 (torso-eb5-j0_2) has shown after being lost for 0.687799 sec 15,670945 eth::EthMonitorPresence: BOARD 10.0.1.20 (head-eb20-j0_1) has shown after being lost for 0.621953 sec 15,670958 eth::EthMonitorPresence: BOARD 10.0.1.22 (right_arm-eb22-j7_10) has shown after being lost for 0.62198 sec 15,670968 eth::EthMonitorPresence: BOARD 10.0.1.25 (left_arm-eb25-j11_12) has shown after being lost for 0.621938 sec 15,670986 theNVmanager::Impl::Data::alert(): themap is empty() 15,670996 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 3, 6, 8, 1, ,, , R, e, c, e, i, v, e, d, :, , 3, 8, 1, 3, ,, , M, i, s, s, i, n, g, :, , 1, 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 8, 6, 5, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 5, 1, 3, 1, 0, 9, 0, , u, s, 15,681154 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 5, 7, 4, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 7, 0, 7, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 8, 5, 7, 2, 3, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 5, 1, 2, 5, 2, 3, 3, , u, s, 15,681200 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 6, 3, 8, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 7, 7, 1, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 8, 5, 7, 9, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 5, 1, 2, 5, 9, 9, 0, , u, s, 15,681217 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x01000001 -> IND = 0, TAG = eoprot_tag_mc_joint_config 15,681228 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 6, 0, 8, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 7, 4, 1, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 8, 5, 8, 8, 4, 3, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 5, 1, 2, 6, 8, 4, 3, , u, s, 15,681243 theNVmanager::Impl::setcheck() had an error while calling check() in BOARD torso-eb5-j0_2 with IP 10.0.1.5 at attempt # 5 15,681253 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 3, 1, 0, 6, ,, , R, e, c, e, i, v, e, d, :, , 3, 2, 3, 9, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 8, 6, 3, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 5, 1, 3, 1, 1, 2, 4, , u, s, 15,691422 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 0, 6, 7, 4, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 8, 0, 7, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 4, 8, 6, 4, 7, 0, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 3, 5, 1, 3, 2, 7, 0, 0, , u, s, 15,691467 theNVmanager::Impl::Data::alert(): themap is empty() 15,691486 theNVmanager::Impl::setcheck() has set and verified ID ID32 = 0x01000001 -> IND = 0, TAG = eoprot_tag_mc_joint_config in BOARD torso-eb5-j0_2 with IP 10.0.1.5 at attempt # 6 15,691499 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 235s 4m 700u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 15,691509 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 235s 4m 813u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 15,691519 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 1, time 235s 16m 603u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 15,701612 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 1, time 235s 16m 716u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 15,701661 eth::EthMonitorPresence: BOARD 10.0.1.5 (torso-eb5-j0_2) has been silent for 0.0785558 sec (its timeout is 0.02 sec) 15,701674 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x01010101 -> IND = 1, TAG = eoprot_tag_mc_motor_config 15,701686 theNVmanager::Impl::setcheck() had an error while calling check() in BOARD torso-eb5-j0_2 with IP 10.0.1.5 at attempt # 1 15,701697 theNVmanager::Impl::Data::alert(): themap is empty() 15,711839 eth::EthMonitorPresence: BOARD 10.0.1.5 (torso-eb5-j0_2) has shown after being lost for 0.0786531 sec 15,711888 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 1, time 235s 97m 448u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 15,711901 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 1, time 235s 97m 562u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 15,711913 theNVmanager::Impl::setcheck() has set and verified ID ID32 = 0x01010101 -> IND = 1, TAG = eoprot_tag_mc_motor_config in BOARD torso-eb5-j0_2 with IP 10.0.1.5 at attempt # 2 15,711924 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 2, time 235s 110m 517u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 15,711934 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 2, time 235s 110m 632u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 15,722026 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 15,722078 487 15,722100 ) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (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 foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P8) (position atjoint atjoint) (resolution -16384 16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))\"), (\"LIMITS\" [group] = \"(jntPosMax 14 130) (jntPosMin -88 0) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 12000 12000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.3 0.3) (damping 0.05 0.05)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp 4000 1000) (kd 0 0) (ki 1000 1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 3 1.8) (kd 0 0) (ki 6 4) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.0043 0.0037) (filterType 0 0) (ktau 0.86 0.7)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 320 488 15,722149 00 32000) (maxInt 32000 32000) (kff 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)\"), (\"TRQ_PID_OUTPUT_CURR\" [group] = \"(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 150 100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.0001 0.0001) (filterType 0 0) (ktau 250 200)\"), (\"OTHER_CONTROL_PARAMETERS\" [group] = \"(deadZone 0.0049 0.0049)\"), (\"KALMAN_FILTER\" [group] = \"(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)\")]") 15,722181 490 15,722207 2.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.0 100.0) (Gearbox_E2J 64 64) (useMotorSpeedFbk 1 1) (MotorType MOOG-BL-C2900576 MOOG-BL-C2900576) (Verbose 0)) (IMPEDANCE (stiffness 0.299999999999999988898 0.299999999999999988898) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 35 150) (hardwareJntPosMin -170 -15) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 14 130) (jntPosMin -88 0) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 12000 12000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp 4000 1000) (kd 0 0) (ki 1000 1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 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 foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\")) (ENCODER1 (type amo amo) (port \"CONN:P6\" \"CONN:P8\") (position atjoint atjoint) (resolution -16384 16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port \"CAN1:1:0\" \"CAN1:2:0\") (position atmotor atmoto 491 15,732274 r) (resolution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 3 1.80000000000000004441) (kd 0 0) (ki 6 4) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.00430000000000000000278 0.00370000000000000016376) (filterType 0 0) (ktau 0.859999999999999986677 0.699999999999999955591)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 150 100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000100000000000000004792 0.000100000000000000004792) (filterType 0 0) (ktau 250 200)) (device embObjMotionControl) (id left_arm-eb2-j0_1-mc) (robotName ergoCubSN000)") 15,732316 eth::parser::print(boardData) for BOARD left_arm-eb2-j0_1 15,732332 ETH_BOARD/ETH_BOARD_PROPERTIES: 15,732343 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.2 15,732353 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 15,732363 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 15,742572 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 15,742612 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 15,742624 ETH_BOARD/ETH_BOARD_SETTINGS: 15,742640 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb2-j0_1 15,742651 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 15,742661 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 15,742671 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 15,752887 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.2 (left_arm-eb2-j0_1) with timeout = 0.02 sec and period of missing report = 60 sec 15,752928 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.2 15,752941 viscousPos parameter not found for board left_arm-eb2-j0_1 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 150 100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000100000000000000004792 0.000100000000000000004792) (filterType 0 0) (ktau 250 200) 15,752956 viscousNeg parameter not found for board left_arm-eb2-j0_1 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 150 100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000100000000000000004792 0.000100000000000000004792) (filterType 0 0) (ktau 250 200) 15,752969 coulombPos parameter not found for board left_arm-eb2-j0_1 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 150 100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000100000000000000004792 0.000100000000000000004792) (filterType 0 0) (ktau 250 200) 15,752982 coulombNeg parameter not found for board left_arm-eb2-j0_1 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 150 100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000100000000000000004792 0.000100000000000000004792) (filterType 0 0) (ktau 250 200) 15,763010 EthResource::verifyBoardPresence() found BOARD left_arm-eb2-j0_1 with IP 10.0.1.2 after 0.00296926 seconds 15,763050 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb2-j0_1 with IP 10.0.1.2 15,763062 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb2-j0_1 with IP 10.0.1.2 : config mode + cleared all its regulars 15,763074 EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb2-j0_1 with IP 10.0.1.2 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 15,763086 EthResource::askBoardVersion() found BOARD left_arm-eb2-j0_1 @ IP 10.0.1.2 of type ems4 with FW = ver 3.67 built on 2023 Apr 17 14:0 15,763096 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 0, time 236s 583m 380u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 15,773240 from BOARD 10.0.1.2 (left_arm-eb2-j0_1) @ 236s 583m 576u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. 15,773290 from BOARD 10.0.1.2 (left_arm-eb2-j0_1) @ 236s 584m 157u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 15,773304 from BOARD 10.0.1.2 (left_arm-eb2-j0_1) @ 236s 584m 311u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 15,773315 from BOARD 10.0.1.2 (left_arm-eb2-j0_1) @ 236s 584m 473u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms 15,773327 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 0, time 236s 584m 853u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 15,773338 embObjMotionControl:serviceVerifyActivate OK! 15,773347 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 0, time 236s 629m 525u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 15,783299 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 0, time 236s 629m 640u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 15,783342 eth::EthMonitorPresence: BOARD 10.0.1.2 (left_arm-eb2-j0_1) has been silent for 0.299708 sec (its timeout is 0.02 sec) 15,783355 theNVmanager::Impl::ask() had a timeout for BOARD left_arm-eb2-j0_1 IP 10.0.1.2 and nv ID32 = 0x01010001 -> IND = 0, TAG = eoprot_tag_mc_motor_config 15,783367 theNVmanager::Impl::setcheck() had an error while calling check() in BOARD left_arm-eb2-j0_1 with IP 10.0.1.2 at attempt # 1 15,783377 theNVmanager::Impl::Data::alert(): themap is empty() 15,783387 eth::EthMonitorPresence: BOARD 10.0.1.2 (left_arm-eb2-j0_1) has shown after being lost for 0.299803 sec 15,793552 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 0, time 236s 931m 532u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 15,793621 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 0, time 236s 931m 646u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 15,793634 theNVmanager::Impl::setcheck() has set and verified ID ID32 = 0x01010001 -> IND = 0, TAG = eoprot_tag_mc_motor_config in BOARD left_arm-eb2-j0_1 with IP 10.0.1.2 at attempt # 2 15,793647 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 1, time 236s 944m 434u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 15,793657 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 1, time 236s 944m 548u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 15,793668 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 15,793683 536 15,803746 t none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (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 foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P8) (position atjoint atjoint) (resolution 16384 16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))\"), (\"LIMITS\" [group] = \"(jntPosMax 80 105) (jntPosMin -50 -3) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 9000 9000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.2 0.1) (damping 0.05 0.05)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp 1000 -1000) (kd 0 0) (ki 1000 -1000) (maxOutput 8000 8000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 2.5 -3) (kd 0 0) (ki 3.5 -4) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.003 -0.0023) (filterType 0 0) (ktau 0.9 -0.7)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000 537 15,803819 ) (maxInt 32000 32000) (kff 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)\"), (\"TRQ_PID_OUTPUT_CURR\" [group] = \"(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.0001 -0.0002) (filterType 0 0) (ktau 50 -300)\"), (\"OTHER_CONTROL_PARAMETERS\" [group] = \"(deadZone 0.0049 0.0049)\"), (\"KALMAN_FILTER\" [group] = \"(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)\")]") 15,803850 539 15,803875 000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.0 -100.0) (Gearbox_E2J 32 32) (useMotorSpeedFbk 1 1) (MotorType MOOG-BL-C2900575 MOOG-BL-C2900575) (Verbose 0)) (IMPEDANCE (stiffness 0.200000000000000011102 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 82 120) (hardwareJntPosMin -52 -5) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 80 105) (jntPosMin -50 -3) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 9000 9000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp 1000 -1000) (kd 0 0) (ki 1000 -1000) (maxOutput 8000 8000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 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 foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\")) (ENCODER1 (type amo amo) (port \"CONN:P6\" \"CONN:P8\") (position atjoint atjoint) (resolution 16384 16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port \"CAN1:1:0\" \"CAN1:2:0\") (position atmotor atmotor) (resoluti 540 15,803950 on 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 2.5 -3) (kd 0 0) (ki 3.5 -4) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.00300000000000000006245 -0.00229999999999999996114) (filterType 0 0) (ktau 0.900000000000000022204 -0.699999999999999955591)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000100000000000000004792 -0.000200000000000000009584) (filterType 0 0) (ktau 50 -300)) (device embObjMotionControl) (id left_arm-eb4-j2_3-mc) (robotName ergoCubSN000)") 15,803965 eth::parser::print(boardData) for BOARD left_arm-eb4-j2_3 15,813935 ETH_BOARD/ETH_BOARD_PROPERTIES: 15,813974 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.4 15,813986 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 15,813996 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 15,814006 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 15,814015 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 15,824196 ETH_BOARD/ETH_BOARD_SETTINGS: 15,824247 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb4-j2_3 15,824270 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 15,824283 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 15,824293 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 15,824303 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.4 (left_arm-eb4-j2_3) with timeout = 0.02 sec and period of missing report = 60 sec 15,834436 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.4 15,834478 viscousPos parameter not found for board left_arm-eb4-j2_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000100000000000000004792 -0.000200000000000000009584) (filterType 0 0) (ktau 50 -300) 15,834494 viscousNeg parameter not found for board left_arm-eb4-j2_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000100000000000000004792 -0.000200000000000000009584) (filterType 0 0) (ktau 50 -300) 15,834508 coulombPos parameter not found for board left_arm-eb4-j2_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000100000000000000004792 -0.000200000000000000009584) (filterType 0 0) (ktau 50 -300) 15,834521 coulombNeg parameter not found for board left_arm-eb4-j2_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000100000000000000004792 -0.000200000000000000009584) (filterType 0 0) (ktau 50 -300) 15,834532 EthResource::verifyBoardPresence() found BOARD left_arm-eb4-j2_3 with IP 10.0.1.4 after 0.00191426 seconds 15,844683 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb4-j2_3 with IP 10.0.1.4 15,844726 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb4-j2_3 with IP 10.0.1.4 : config mode + cleared all its regulars 15,844739 EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb4-j2_3 with IP 10.0.1.4 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 15,844752 EthResource::askBoardVersion() found BOARD left_arm-eb4-j2_3 @ IP 10.0.1.4 of type ems4 with FW = ver 3.67 built on 2023 Apr 17 14:0 15,844762 from BOARD 10.0.1.4 (left_arm-eb4-j2_3), src LOCAL, adr 0, time 238s 47m 374u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 15,844775 from BOARD 10.0.1.4 (left_arm-eb4-j2_3) @ 238s 47m 570u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. 15,844786 from BOARD 10.0.1.4 (left_arm-eb4-j2_3) @ 238s 48m 151u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 15,854941 from BOARD 10.0.1.4 (left_arm-eb4-j2_3) @ 238s 48m 304u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 15,854993 from BOARD 10.0.1.4 (left_arm-eb4-j2_3) @ 238s 48m 466u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms 15,855008 from BOARD 10.0.1.4 (left_arm-eb4-j2_3), src LOCAL, adr 0, time 238s 48m 845u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 15,855030 embObjMotionControl:serviceVerifyActivate OK! 15,855041 from BOARD 10.0.1.4 (left_arm-eb4-j2_3), src LOCAL, adr 0, time 238s 93m 226u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 15,855052 from BOARD 10.0.1.4 (left_arm-eb4-j2_3), src LOCAL, adr 0, time 238s 93m 339u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 15,865228 theNVmanager::Impl::ask() had a timeout for BOARD left_arm-eb4-j2_3 IP 10.0.1.4 and nv ID32 = 0x01010001 -> IND = 0, TAG = eoprot_tag_mc_motor_config 15,865270 theNVmanager::Impl::setcheck() had an error while calling check() in BOARD left_arm-eb4-j2_3 with IP 10.0.1.4 at attempt # 1 15,865283 eth::EthMonitorPresence: BOARD 10.0.1.4 (left_arm-eb4-j2_3) has been silent for 0.172739 sec (its timeout is 0.02 sec) 15,865294 theNVmanager::Impl::Data::alert(): themap is empty() 15,865304 eth::EthMonitorPresence: BOARD 10.0.1.4 (left_arm-eb4-j2_3) has shown after being lost for 0.172951 sec 15,865314 from BOARD 10.0.1.4 (left_arm-eb4-j2_3), src LOCAL, adr 0, time 238s 267m 943u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 15,875485 from BOARD 10.0.1.4 (left_arm-eb4-j2_3), src LOCAL, adr 0, time 238s 268m 60u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 15,875535 theNVmanager::Impl::setcheck() has set and verified ID ID32 = 0x01010001 -> IND = 0, TAG = eoprot_tag_mc_motor_config in BOARD left_arm-eb4-j2_3 with IP 10.0.1.4 at attempt # 2 15,875549 from BOARD 10.0.1.4 (left_arm-eb4-j2_3), src LOCAL, adr 1, time 238s 280m 664u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 15,875561 from BOARD 10.0.1.4 (left_arm-eb4-j2_3), src LOCAL, adr 1, time 238s 280m 778u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 15,875571 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 15,875587 585 15,885741 ram1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type amc)) (CANBOARDS (type amcbldc) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 1) (minor 2) (build 12))) (JOINTMAPPING (ACTUATOR (type foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0)) (ENCODER1 (type aea aea aea) (port CONN:J5_X1 CONN:J5_X2 CONN:J5_X3) (position atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.4 0.4 0.4)) (ENCODER2 (type none none none) (port CAN1:1:0 CAN1:2:0 CAN1:3:0) (position atmotor atmotor atmotor) (resolution 0 0 0) (tolerance 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 90 50 30) (jntPosMin -90 -60 -30) (jntVelMax 90 90 90) (motorNominalCurrents 200 200 200) (motorPeakCurrents 200 200 200) (motorOverloadCurrents 350 350 350) (motorPwmLimit 16000 16000 16000)\"), (\"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 none none none) (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 current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -50 -50) (kd -8 -8 -8) (ki -220 -220 -220) (maxOutput 500 500 500) (maxInt 200 200 200) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 2 2 2) (kd 0 0 0) (ki 500 500 500) (shift 0 0 0) (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) ( 586 15,916453 shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)\")]") 15,957499 588 15,988315 sMap 0 1 2) (AxisName l_wrist_yaw l_wrist_roll l_wrist_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 -384.439999999999997726 -384.439999999999997726 -384.439999999999997726) (Gearbox_E2J 1.77800000000000002487 1.77800000000000002487 1.77800000000000002487) (useMotorSpeedFbk 0 0 0) (MotorType FAULHABER FAULHABER FAULHABER) (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 92 52 32) (hardwareJntPosMin -92 -62 -32) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 90 50 30) (jntPosMin -90 -60 -30) (jntVelMax 90 90 90) (motorNominalCurrents 200 200 200) (motorPeakCurrents 200 200 200) (motorOverloadCurrents 350 350 350) (motorPwmLimit 16000 16000 16000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -50 -50) (kd -8 -8 -8) (ki -220 -220 -220) (maxOutput 500 500 500) (maxInt 200 200 200) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type amc)) (CANBOARDS (type amcbldc) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 1) (minor 2) (build 12))) (JOINTMAPPING (ACTUATOR (type foc foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\")) (ENCODER1 (type aea aea aea) (port \"CONN:J5_X1\" \"CONN:J5_X2\" \"CONN:J5_X3\") (position atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.400000000000000022204 0.400000000000000022204 0.400000000000000022204)) (ENCODER2 (type none none none) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\") (position atmotor atmotor atmotor) (resolution 0 0 0) (tolerance 0 0 0))))) (TIMEOUTS (velocity 100 100 100)) (device embObjMotionControl) (id left_arm-eb3 589 16,019008 1-j4_6-mc) (robotName ergoCubSN000)") 16,049877 eth::parser::print(boardData) for BOARD left_arm-eb31-j4_6 16,080622 ETH_BOARD/ETH_BOARD_PROPERTIES: 16,121404 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.31 16,152193 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 16,182935 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = amc 16,213417 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 16,244128 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 16,285131 ETH_BOARD/ETH_BOARD_SETTINGS: 16,315729 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb31-j4_6 16,346457 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 16,377178 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 16,407876 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 16,448862 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.31 (left_arm-eb31-j4_6) with timeout = 0.02 sec and period of missing report = 60 sec 16,479639 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type amc with IP = 10.0.1.31 16,510314 embObjMC BOARD left_arm-eb31-j4_6 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 16,540687 embObjMC BOARD left_arm-eb31-j4_6 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 16,571265 Verbose parameter not found for board left_arm-eb31-j4_6 in bottle AMCBLDC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14) 16,611892 In left_arm-eb31-j4_6 there isn't AMCBLDC . Verbose filed. For default it is enabled 16,642519 AutoCalibration parameter not found for board left_arm-eb31-j4_6 in bottle AMCBLDC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14) 16,673168 In left_arm-eb31-j4_6 there isn't AMCBLDC . AutoCalibration filed. For default it is disabled 16,703799 EthResource::verifyBoardPresence() found BOARD left_arm-eb31-j4_6 with IP 10.0.1.31 after 0.0525424 seconds 16,744530 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb31-j4_6 with IP 10.0.1.31 16,775200 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb31-j4_6 with IP 10.0.1.31 : config mode + cleared all its regulars 16,805803 EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb31-j4_6 with IP 10.0.1.31 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 16,836417 EthResource::askBoardVersion() found BOARD left_arm-eb31-j4_6 @ IP 10.0.1.31 of type amc with FW = ver 102.3 built on 2023 Apr 17 14:0 16,866710 from BOARD 10.0.1.31 (left_arm-eb31-j4_6), src LOCAL, adr 0, time 239s 62m 732u: (code 0x05000015, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 16,907198 from BOARD 10.0.1.31 (left_arm-eb31-j4_6) @ 239s 62m 788u: CAN discovery has started for 3 eobrd_amcbldc boards on (can1map, can2map) = (0x000e, 0x0000) with target can protocol ver 2.0 and application ver 1.2.12. 16,937656 from BOARD 10.0.1.31 (left_arm-eb31-j4_6) @ 239s 63m 461u: CAN discovery has detected a eobrd_amcbldc board in CAN1 addr 1 with can protocol ver 2.0 and application ver 1.2.12 Search time was 0 ms 16,968086 from BOARD 10.0.1.31 (left_arm-eb31-j4_6) @ 239s 63m 511u: CAN discovery has detected a eobrd_amcbldc board in CAN1 addr 2 with can protocol ver 2.0 and application ver 1.2.12 Search time was 0 ms 16,998574 from BOARD 10.0.1.31 (left_arm-eb31-j4_6) @ 239s 63m 561u: CAN discovery has detected a eobrd_amcbldc board in CAN1 addr 3 with can protocol ver 2.0 and application ver 1.2.12 Search time was 0 ms 17,039191 from BOARD 10.0.1.31 (left_arm-eb31-j4_6) @ 239s 63m 614u: CAN discovery is OK for 3 eobrd_amcbldc boards with target can protocol ver 2.0 and application ver 1.2.12. Search time was 0 ms 17,069717 embObjMotionControl:serviceVerifyActivate OK! 17,100357 from BOARD 10.0.1.31 (left_arm-eb31-j4_6), src LOCAL, adr 0, time 239s 63m 814u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 17,130812 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0207391 sec (its timeout is 0.02 sec) 17,161283 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.043493 sec 17,202119 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.020596 sec (its timeout is 0.02 sec) 17,232583 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.0371072 sec 17,263103 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0205672 sec (its timeout is 0.02 sec) 17,293751 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.0370166 sec 17,334388 from BOARD 10.0.1.31 (left_arm-eb31-j4_6), src LOCAL, adr 0, time 239s 221m 725u: (code 0x04000001, par16 0x0006 par64 0x0000008000007d00) -> DEBUG: tag01 + CURRENT PID 17,364917 from BOARD 10.0.1.31 (left_arm-eb31-j4_6), src LOCAL, adr 0, time 239s 221m 773u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 17,395590 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0206339 sec (its timeout is 0.02 sec) 17,426060 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.0247986 sec 17,456544 from BOARD 10.0.1.31 (left_arm-eb31-j4_6), src LOCAL, adr 1, time 239s 258m 729u: (code 0x04000001, par16 0x0006 par64 0x0000008000007d00) -> DEBUG: tag01 + CURRENT PID 17,497322 from BOARD 10.0.1.31 (left_arm-eb31-j4_6), src LOCAL, adr 1, time 239s 258m 778u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 17,527797 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0205598 sec (its timeout is 0.02 sec) 17,558285 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.0267406 sec 17,588943 from BOARD 10.0.1.31 (left_arm-eb31-j4_6), src LOCAL, adr 2, time 239s 297m 850u: (code 0x04000001, par16 0x0006 par64 0x0000008000007d00) -> DEBUG: tag01 + CURRENT PID 17,619436 from BOARD 10.0.1.31 (left_arm-eb31-j4_6), src LOCAL, adr 2, time 239s 297m 899u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 17,660077 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0206416 sec (its timeout is 0.02 sec) 17,690737 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.024781 sec 17,721206 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 17,751675 643 17,792486 aint 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_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (POS (location CAN1:1) (SENSORS (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (boardType mtb4c mtb4c mtb4c mtb4c) (connector CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2) (CALIBRATION (type TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg) (rotation ROT:plus180 ROT:zero ROT:zero ROT:zero) (offset -190.0 -305.0 -230.0 -55.0) (invertDirection true true false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P4 CONN:P3 CONN:P2)) (ENCODER1 (type pos pos pos pos) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 5 5 5 5)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P5 CONN:P4 CONN:P3 CONN:P2) (position atmotor atmotor atmotor atmotor) (resolution 1600 1600 1600 1600) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMin 4 4 4 4) (jntPosMax 72 85 85 85) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (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 644 17,822953 _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 -30 -30 -30 -30) (kd 0 0 0 0) (ki -10 -10 -10 -10) (maxOutput 3360 3360 3360 3360) (maxInt 1000 1000 1000 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\")]") 17,853441 646 17,884042 straint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 90 90) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -26000 -26000 -26000 -26000) (rotorPosMax -100 -100 -100 -100) (jntPosMin 4 4 4 4) (jntPosMax 72 85 85 85) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (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 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -30 -30 -30 -30) (kd 0 0 0 0) (ki -10 -10 -10 -10) (maxOutput 3360 3360 3360 3360) (maxInt 1000 1000 1000 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (POS (location \"CAN1:1\") (SENSORS (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port \"POS:hand_thumb_oc\" \"POS:hand_index_oc\" \"POS:hand_middle_oc\" \"POS:hand_ring_pinky_oc\") (boardType mtb4c mtb4c mtb4c mtb4c) (connector \"CONN:J3_SDA3\" \"CONN:J3_SDA0\" \"CONN:J3_SDA1\" \"CONN:J3_SDA2\") (CALIBRATION (type \"TYPE:decideg\" \"TYPE:decideg\" \"TYPE:decideg\" \"TYPE:decideg\") (rotation \"ROT:plus180\" \"ROT:zero\" \"ROT:zero\" \"ROT:zero\") (offset -190.0 -305.0 -230.0 -55.0) (invertDirection true true false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P5\" \"CONN:P4\" \"CONN:P3\" \"CONN:P2\")) (ENCODER1 (type pos pos pos pos) (port \"POS:hand_thumb_oc\" \"POS:hand_index_oc\" \"POS:hand_middle_oc\" \"POS:hand_ring_pinky_oc\") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) 647 17,914578 (tolerance 5 5 5 5)) (ENCODER2 (type qenc qenc qenc qenc) (port \"CONN:P5\" \"CONN:P4\" \"CONN:P3\" \"CONN:P2\") (position atmotor atmotor atmotor atmotor) (resolution 1600 1600 1600 1600) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id left_arm-eb23-j7_10-mc) (robotName ergoCubSN000)") 17,955201 embObjMC BOARD left_arm-eb23-j7_10 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 17,985890 embObjMC BOARD left_arm-eb23-j7_10 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 18,016479 from BOARD 10.0.1.23 (left_arm-eb23-j7_10), src LOCAL, adr 0, time 239s 820m 296u: (code 0x05000015, par16 0x4000 par64 0x0000000000000000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 18,046950 from BOARD 10.0.1.23 (left_arm-eb23-j7_10), src LOCAL, adr 0, time 239s 821m 653u: (code 0x05000054, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plusfaps-based motion. more info will follow + . 18,087788 embObjMotionControl:serviceVerifyActivate OK! 18,118326 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 18,148809 from BOARD 10.0.1.23 (left_arm-eb23-j7_10), src LOCAL, adr 0, time 239s 959m 493u: (code 0x0000000d, par16 0x0179 par64 0x0006009b00990059) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . 18,179403 656 18,209926 or 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (POS (location CAN1:2) (SENSORS (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_add POS:hand_index_add) (boardType mtb4c mtb4c) (connector CONN:J3_SDA2 CONN:J3_SDA3) (CALIBRATION (type TYPE:decideg TYPE:decideg) (rotation ROT:zero ROT:zero) (offset -200.0 -295.0) (invertDirection false true))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port CONN:P5 CONN:P2)) (ENCODER1 (type pos pos) (port POS:hand_thumb_add POS:hand_index_add) (position atjoint atjoint) (resolution 65535 65535) (tolerance 5 5)) (ENCODER2 (type none none) (port CONN:P2 CONN:P5) (position atmotor atmotor) (resolution -1600 1600) (tolerance 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMin 0 8) (jntPosMax 85 21) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (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 -60 -150) (kd 0 0) (ki -20 -30) (maxOutput 3360 3360) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)\")]") 18,250561 658 18,281216 PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -60 -150) (kd 0 0) (ki -20 -30) (maxOutput 3360 3360) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (POS (location \"CAN1:2\") (SENSORS (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port \"POS:hand_thumb_add\" \"POS:hand_index_add\") (boardType mtb4c mtb4c) (connector \"CONN:J3_SDA2\" \"CONN:J3_SDA3\") (CALIBRATION (type \"TYPE:decideg\" \"TYPE:decideg\") (rotation \"ROT:zero\" \"ROT:zero\") (offset -200.0 -295.0) (invertDirection false true))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port \"CONN:P5\" \"CONN:P2\")) (ENCODER1 (type pos pos) (port \"POS:hand_thumb_add\" \"POS:hand_index_add\") (position atjoint atjoint) (resolution 65535 65535) (tolerance 5 5)) (ENCODER2 (type none none) (port \"CONN:P2\" \"CONN:P5\") (position atmotor atmotor) (resolution -1600 1600) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (device embObjMotionControl) (id left_arm-eb25-j11_12-mc) (robotName ergoCubSN000)") 18,311755 embObjMC BOARD left_arm-eb25-j11_12 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 18,342256 embObjMC BOARD left_arm-eb25-j11_12 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 18,383030 from BOARD 10.0.1.25 (left_arm-eb25-j11_12), src LOCAL, adr 0, time 239s 987m 185u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 18,413561 from BOARD 10.0.1.25 (left_arm-eb25-j11_12), src LOCAL, adr 0, time 239s 988m 605u: (code 0x05000054, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plusfaps-based motion. more info will follow + . 18,444028 embObjMotionControl:serviceVerifyActivate OK! 18,474579 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 18,505226 666 18,545846 ts 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (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 foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P8) (position atjoint atjoint) (resolution 16384 -16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))\"), (\"LIMITS\" [group] = \"(jntPosMax 14 130) (jntPosMin -88 0) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 12000 12000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.3 0.3) (damping 0.05 0.05)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp -4000 -1000) (kd 0 0) (ki -1000 -1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 0 0)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(c 667 18,576395 ontrolLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp -3 -2) (kd 0 0) (ki -6 -4) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.004 -0.004) (filterType 0 0) (ktau -0.86 -0.72)\"), (\"TRQ_PID_OUTPUT_CURR\" [group] = \"(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 -100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.0001 -0.0001) (filterType 0 0) (ktau -250 -200)\"), (\"OTHER_CONTROL_PARAMETERS\" [group] = \"(deadZone 0.0049 0.0049)\"), (\"KALMAN_FILTER\" [group] = \"(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)\")]") 18,607027 669 18,637485 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.0 -160.0) (Gearbox_E2J 64 64) (useMotorSpeedFbk 1 1) (MotorType MOOG-BL-C2900576 MOOG-BL-C2900576) (Verbose 0)) (IMPEDANCE (stiffness 0.299999999999999988898 0.299999999999999988898) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 35 150) (hardwareJntPosMin -170 -15) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 14 130) (jntPosMin -88 0) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 12000 12000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp -4000 -1000) (kd 0 0) (ki -1000 -1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 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 foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\")) (ENCODER1 (type amo amo) (port \"CONN:P6\" \"CONN:P8\") (position atjoint atjoint) (resolution 16384 -16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port \"CAN1:1:0\" \"CAN1:2:0\") (position atmoto 670 18,667986 r atmotor) (resolution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp -3 -2) (kd 0 0) (ki -6 -4) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.00400000000000000008327 -0.00400000000000000008327) (filterType 0 0) (ktau -0.859999999999999986677 -0.719999999999999973355)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 -100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000100000000000000004792 -0.000100000000000000004792) (filterType 0 0) (ktau -250 -200)) (device embObjMotionControl) (id right_arm-eb1-j0_1-mc) (robotName ergoCubSN000)") 18,708781 eth::parser::print(boardData) for BOARD right_arm-eb1-j0_1 18,739246 ETH_BOARD/ETH_BOARD_PROPERTIES: 18,769773 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.1 18,800400 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 18,841040 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 18,871626 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 18,902235 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 18,932708 ETH_BOARD/ETH_BOARD_SETTINGS: 18,973414 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb1-j0_1 19,004040 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 19,034512 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 19,064977 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 19,095645 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.1 (right_arm-eb1-j0_1) with timeout = 0.02 sec and period of missing report = 60 sec 19,136284 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.1 19,166745 viscousPos parameter not found for board right_arm-eb1-j0_1 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 -100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000100000000000000004792 -0.000100000000000000004792) (filterType 0 0) (ktau -250 -200) 19,197371 viscousNeg parameter not found for board right_arm-eb1-j0_1 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 -100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000100000000000000004792 -0.000100000000000000004792) (filterType 0 0) (ktau -250 -200) 19,227833 coulombPos parameter not found for board right_arm-eb1-j0_1 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 -100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000100000000000000004792 -0.000100000000000000004792) (filterType 0 0) (ktau -250 -200) 19,258327 coulombNeg parameter not found for board right_arm-eb1-j0_1 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 -100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000100000000000000004792 -0.000100000000000000004792) (filterType 0 0) (ktau -250 -200) 19,299181 EthResource::verifyBoardPresence() found BOARD right_arm-eb1-j0_1 with IP 10.0.1.1 after 0.0019443 seconds 19,329634 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb1-j0_1 with IP 10.0.1.1 19,360099 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb1-j0_1 with IP 10.0.1.1 : config mode + cleared all its regulars 19,390776 EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb1-j0_1 with IP 10.0.1.1 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 19,431390 EthResource::askBoardVersion() found BOARD right_arm-eb1-j0_1 @ IP 10.0.1.1 of type ems4 with FW = ver 3.67 built on 2023 Apr 17 14:0 19,461856 from BOARD 10.0.1.1 (right_arm-eb1-j0_1), src LOCAL, adr 0, time 239s 654m 380u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 19,492530 from BOARD 10.0.1.1 (right_arm-eb1-j0_1) @ 239s 654m 576u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. 19,523005 from BOARD 10.0.1.1 (right_arm-eb1-j0_1) @ 239s 655m 159u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 19,553467 from BOARD 10.0.1.1 (right_arm-eb1-j0_1) @ 239s 655m 313u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 19,594257 embObjMotionControl:serviceVerifyActivate OK! 19,624742 from BOARD 10.0.1.1 (right_arm-eb1-j0_1) @ 239s 655m 475u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms 19,655201 from BOARD 10.0.1.1 (right_arm-eb1-j0_1), src LOCAL, adr 0, time 239s 655m 856u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 19,685880 from BOARD 10.0.1.1 (right_arm-eb1-j0_1), src LOCAL, adr 0, time 239s 699m 134u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 19,716435 from BOARD 10.0.1.1 (right_arm-eb1-j0_1), src LOCAL, adr 0, time 239s 699m 248u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 19,757056 from BOARD 10.0.1.1 (right_arm-eb1-j0_1), src LOCAL, adr 1, time 239s 710m 954u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 19,787717 from BOARD 10.0.1.1 (right_arm-eb1-j0_1), src LOCAL, adr 1, time 239s 711m 71u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 19,818277 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 19,848751 707 19,889502 int none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (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 foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P8) (position atjoint atjoint) (resolution -16384 -16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))\"), (\"LIMITS\" [group] = \"(jntPosMax 80 105) (jntPosMin -50 -3) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 9000 9000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.2 0.1) (damping 0.05 0.05)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp -1000 1000) (kd 0 0) (ki -1000 1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp -2.5 3) (kd 0 0) (ki -3.5 4) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.003 0.0023) (filterType 0 0) (ktau -0.9 0.7)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 3 708 19,919973 2000) (maxInt 32000 32000) (kff 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)\"), (\"TRQ_PID_OUTPUT_CURR\" [group] = \"(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.0001 0.0002) (filterType 0 0) (ktau -50 300)\"), (\"OTHER_CONTROL_PARAMETERS\" [group] = \"(deadZone 0.0049 0.0049)\"), (\"KALMAN_FILTER\" [group] = \"(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)\")]") 19,950440 710 19,981001 00000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.0 100.0) (Gearbox_E2J 32 32) (useMotorSpeedFbk 1 1) (MotorType MOOG-BL-C2900575 MOOG-BL-C2900575) (Verbose 0)) (IMPEDANCE (stiffness 0.200000000000000011102 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 82 120) (hardwareJntPosMin -52 -5) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 80 105) (jntPosMin -50 -3) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 9000 9000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp -1000 1000) (kd 0 0) (ki -1000 1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 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 foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\")) (ENCODER1 (type amo amo) (port \"CONN:P6\" \"CONN:P8\") (position atjoint atjoint) (resolution -16384 -16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port \"CAN1:1:0\" \"CAN1:2:0\") (position atmotor atmotor) (reso 711 20,021702 lution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp -2.5 3) (kd 0 0) (ki -3.5 4) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.00300000000000000006245 0.00229999999999999996114) (filterType 0 0) (ktau -0.900000000000000022204 0.699999999999999955591)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000100000000000000004792 0.000200000000000000009584) (filterType 0 0) (ktau -50 300)) (device embObjMotionControl) (id right_arm-eb3-j2_3-mc) (robotName ergoCubSN000)") 20,052158 eth::parser::print(boardData) for BOARD right_arm-eb3-j2_3 20,082775 ETH_BOARD/ETH_BOARD_PROPERTIES: 20,113330 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.3 20,143790 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 20,184494 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 20,215055 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 20,245531 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 20,276062 ETH_BOARD/ETH_BOARD_SETTINGS: 20,306628 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb3-j2_3 20,347267 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 20,377784 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 20,408379 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 20,438848 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.3 (right_arm-eb3-j2_3) with timeout = 0.02 sec and period of missing report = 60 sec 20,479557 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.3 20,510098 viscousPos parameter not found for board right_arm-eb3-j2_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000100000000000000004792 0.000200000000000000009584) (filterType 0 0) (ktau -50 300) 20,540567 viscousNeg parameter not found for board right_arm-eb3-j2_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000100000000000000004792 0.000200000000000000009584) (filterType 0 0) (ktau -50 300) 20,571046 coulombPos parameter not found for board right_arm-eb3-j2_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000100000000000000004792 0.000200000000000000009584) (filterType 0 0) (ktau -50 300) 20,601645 coulombNeg parameter not found for board right_arm-eb3-j2_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000100000000000000004792 0.000200000000000000009584) (filterType 0 0) (ktau -50 300) 20,642280 EthResource::verifyBoardPresence() found BOARD right_arm-eb3-j2_3 with IP 10.0.1.3 after 0.00290585 seconds 20,672751 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb3-j2_3 with IP 10.0.1.3 20,703347 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb3-j2_3 with IP 10.0.1.3 : config mode + cleared all its regulars 20,733820 EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb3-j2_3 with IP 10.0.1.3 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 20,774512 EthResource::askBoardVersion() found BOARD right_arm-eb3-j2_3 @ IP 10.0.1.3 of type ems4 with FW = ver 3.67 built on 2023 Apr 17 14:0 20,805165 from BOARD 10.0.1.3 (right_arm-eb3-j2_3), src LOCAL, adr 0, time 241s 23m 379u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 20,835628 from BOARD 10.0.1.3 (right_arm-eb3-j2_3) @ 241s 23m 576u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. 20,866124 from BOARD 10.0.1.3 (right_arm-eb3-j2_3) @ 241s 24m 156u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.12 Search time was 0 ms 20,896865 embObjMotionControl:serviceVerifyActivate OK! 20,937500 from BOARD 10.0.1.3 (right_arm-eb3-j2_3) @ 241s 24m 309u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.12 Search time was 0 ms 20,967965 from BOARD 10.0.1.3 (right_arm-eb3-j2_3) @ 241s 24m 471u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms 20,998462 from BOARD 10.0.1.3 (right_arm-eb3-j2_3), src LOCAL, adr 0, time 241s 24m 850u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 21,028925 from BOARD 10.0.1.3 (right_arm-eb3-j2_3), src LOCAL, adr 0, time 241s 68m 860u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 21,069543 from BOARD 10.0.1.3 (right_arm-eb3-j2_3), src LOCAL, adr 0, time 241s 68m 974u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 21,100190 from BOARD 10.0.1.3 (right_arm-eb3-j2_3), src LOCAL, adr 1, time 241s 80m 654u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 21,130660 from BOARD 10.0.1.3 (right_arm-eb3-j2_3), src LOCAL, adr 1, time 241s 80m 767u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 21,161142 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 21,191741 748 21,232371 param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type amc)) (CANBOARDS (type amcbldc) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 1) (minor 2) (build 12))) (JOINTMAPPING (ACTUATOR (type foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0)) (ENCODER1 (type aea aea aea) (port CONN:J5_X1 CONN:J5_X2 CONN:J5_X3) (position atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.4 0.4 0.4)) (ENCODER2 (type none none none) (port CAN1:1:0 CAN1:2:0 CAN1:3:0) (position atmotor atmotor atmotor) (resolution 0 0 0) (tolerance 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 90 50 30) (jntPosMin -90 -60 -30) (jntVelMax 90 90 90) (motorNominalCurrents 200 200 200) (motorPeakCurrents 200 200 200) (motorOverloadCurrents 350 350 350) (motorPwmLimit 16000 16000 16000)\"), (\"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 none none none) (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 current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -50 -50) (kd -8 -8 -8) (ki -220 -220 -220) (maxOutput 500 500 500) (maxInt 200 200 200) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 2 2 2) (kd 0 0 0) (ki 500 500 500) (shift 0 0 0) (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) 749 21,262830 (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)\")]") 21,293374 751 21,323839 xisMap 0 1 2) (AxisName r_wrist_yaw r_wrist_roll r_wrist_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 -384.439999999999997726 -384.439999999999997726 -384.439999999999997726) (Gearbox_E2J 1.77800000000000002487 1.77800000000000002487 1.77800000000000002487) (useMotorSpeedFbk 0 0 0) (MotorType FAULHABER FAULHABER FAULHABER) (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 92 52 32) (hardwareJntPosMin -92 -62 -32) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 90 50 30) (jntPosMin -90 -60 -30) (jntVelMax 90 90 90) (motorNominalCurrents 200 200 200) (motorPeakCurrents 200 200 200) (motorOverloadCurrents 350 350 350) (motorPwmLimit 16000 16000 16000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -50 -50) (kd -8 -8 -8) (ki -220 -220 -220) (maxOutput 500 500 500) (maxInt 200 200 200) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type amc)) (CANBOARDS (type amcbldc) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 1) (minor 2) (build 12))) (JOINTMAPPING (ACTUATOR (type foc foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\")) (ENCODER1 (type aea aea aea) (port \"CONN:J5_X1\" \"CONN:J5_X2\" \"CONN:J5_X3\") (position atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.400000000000000022204 0.400000000000000022204 0.400000000000000022204)) (ENCODER2 (type none none none) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\") (position atmotor atmotor atmotor) (resolution 0 0 0) (tolerance 0 0 0))))) (TIMEOUTS (velocity 100 100 100)) (device embObjMotionControl) (id right_arm- 752 21,364475 eb30-j4_6-mc) (robotName ergoCubSN000)") 21,395120 eth::parser::print(boardData) for BOARD right_arm-eb30-j4_6 21,425592 ETH_BOARD/ETH_BOARD_PROPERTIES: 21,456059 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.30 21,486603 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 21,527331 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = amc 21,557807 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 21,588414 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 21,618958 ETH_BOARD/ETH_BOARD_SETTINGS: 21,659572 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb30-j4_6 21,690192 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 21,720656 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 21,751128 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 21,781674 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.30 (right_arm-eb30-j4_6) with timeout = 0.02 sec and period of missing report = 60 sec 21,822363 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type amc with IP = 10.0.1.30 21,852826 embObjMC BOARD right_arm-eb30-j4_6 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 21,883364 embObjMC BOARD right_arm-eb30-j4_6 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 21,913895 Verbose parameter not found for board right_arm-eb30-j4_6 in bottle AMCBLDC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14) 21,954535 In right_arm-eb30-j4_6 there isn't AMCBLDC . Verbose filed. For default it is enabled 21,985085 AutoCalibration parameter not found for board right_arm-eb30-j4_6 in bottle AMCBLDC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14) 22,015622 In right_arm-eb30-j4_6 there isn't AMCBLDC . AutoCalibration filed. For default it is disabled 22,046089 EthResource::verifyBoardPresence() found BOARD right_arm-eb30-j4_6 with IP 10.0.1.30 after 0.0505795 seconds 22,076570 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb30-j4_6 with IP 10.0.1.30 22,117357 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb30-j4_6 with IP 10.0.1.30 : config mode + cleared all its regulars 22,147813 EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb30-j4_6 with IP 10.0.1.30 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 22,178303 EthResource::askBoardVersion() found BOARD right_arm-eb30-j4_6 @ IP 10.0.1.30 of type amc with FW = ver 101.3 built on 2023 Apr 17 14:0 22,208886 from BOARD 10.0.1.30 (right_arm-eb30-j4_6), src LOCAL, adr 0, time 241s 641m 409u: (code 0x05000015, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 22,249500 from BOARD 10.0.1.30 (right_arm-eb30-j4_6) @ 241s 641m 466u: CAN discovery has started for 3 eobrd_amcbldc boards on (can1map, can2map) = (0x000e, 0x0000) with target can protocol ver 2.0 and application ver 1.2.12. 22,280045 from BOARD 10.0.1.30 (right_arm-eb30-j4_6) @ 241s 642m 140u: CAN discovery has detected a eobrd_amcbldc board in CAN1 addr 1 with can protocol ver 2.0 and application ver 1.2.12 Search time was 0 ms 22,310574 from BOARD 10.0.1.30 (right_arm-eb30-j4_6) @ 241s 642m 190u: CAN discovery has detected a eobrd_amcbldc board in CAN1 addr 2 with can protocol ver 2.0 and application ver 1.2.12 Search time was 0 ms 22,341042 from BOARD 10.0.1.30 (right_arm-eb30-j4_6) @ 241s 642m 239u: CAN discovery has detected a eobrd_amcbldc board in CAN1 addr 3 with can protocol ver 2.0 and application ver 1.2.12 Search time was 0 ms 22,371512 from BOARD 10.0.1.30 (right_arm-eb30-j4_6) @ 241s 642m 292u: CAN discovery is OK for 3 eobrd_amcbldc boards with target can protocol ver 2.0 and application ver 1.2.12. Search time was 0 ms 22,412281 embObjMotionControl:serviceVerifyActivate OK! 22,442760 from BOARD 10.0.1.30 (right_arm-eb30-j4_6), src LOCAL, adr 0, time 241s 642m 494u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 22,473220 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.0205495 sec (its timeout is 0.02 sec) 22,503826 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0411818 sec 22,544462 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.020601 sec (its timeout is 0.02 sec) 22,574930 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0370471 sec 22,605546 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.0205982 sec (its timeout is 0.02 sec) 22,636010 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0371332 sec 22,666493 from BOARD 10.0.1.30 (right_arm-eb30-j4_6), src LOCAL, adr 0, time 241s 797m 517u: (code 0x04000001, par16 0x0006 par64 0x0000008000007d00) -> DEBUG: tag01 + CURRENT PID 22,707246 from BOARD 10.0.1.30 (right_arm-eb30-j4_6), src LOCAL, adr 0, time 241s 797m 566u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 22,737708 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.0205581 sec (its timeout is 0.02 sec) 22,768174 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0246637 sec 22,798816 from BOARD 10.0.1.30 (right_arm-eb30-j4_6), src LOCAL, adr 1, time 241s 835m 121u: (code 0x04000001, par16 0x0006 par64 0x0000008000007d00) -> DEBUG: tag01 + CURRENT PID 22,839433 from BOARD 10.0.1.30 (right_arm-eb30-j4_6), src LOCAL, adr 1, time 241s 835m 171u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 22,869905 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.0206788 sec (its timeout is 0.02 sec) 22,900435 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0248244 sec 22,930898 from BOARD 10.0.1.30 (right_arm-eb30-j4_6), src LOCAL, adr 2, time 241s 871m 762u: (code 0x04000001, par16 0x0006 par64 0x0000008000007d00) -> DEBUG: tag01 + CURRENT PID 22,961377 from BOARD 10.0.1.30 (right_arm-eb30-j4_6), src LOCAL, adr 2, time 241s 871m 811u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 23,002133 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.0206108 sec (its timeout is 0.02 sec) 23,032599 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0247018 sec 23,063073 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 23,093721 806 23,124217 aint 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_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (POS (location CAN1:1) (SENSORS (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (boardType mtb4c mtb4c mtb4c mtb4c) (connector CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2) (CALIBRATION (type TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg) (rotation ROT:plus180 ROT:zero ROT:zero ROT:zero) (offset -190.0 -305.0 -230.0 -55.0) (invertDirection true true false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P4 CONN:P3 CONN:P2)) (ENCODER1 (type pos pos pos pos) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 5 5 5 5)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P5 CONN:P4 CONN:P3 CONN:P2) (position atmotor atmotor atmotor atmotor) (resolution -1600 1600 1600 1600) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMin 0 0 0 0) (jntPosMax 70 63 85 85) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (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 PO 807 23,164843 S_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 -60 -60 -60 -60) (kd 0 0 0 0) (ki -20 -20 -20 -20) (maxOutput 3360 3360 3360 3360) (maxInt 1000 1000 1000 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\")]") 23,195431 809 23,225898 onstraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 90 90) (hardwareJntPosMin 0 0 0 0) (rotorPosMin 100 -26000 -26000 -26000) (rotorPosMax 26000 -100 -100 -100) (jntPosMin 0 0 0 0) (jntPosMax 70 63 85 85) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (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 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -60 -60 -60 -60) (kd 0 0 0 0) (ki -20 -20 -20 -20) (maxOutput 3360 3360 3360 3360) (maxInt 1000 1000 1000 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (POS (location \"CAN1:1\") (SENSORS (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port \"POS:hand_thumb_oc\" \"POS:hand_index_oc\" \"POS:hand_middle_oc\" \"POS:hand_ring_pinky_oc\") (boardType mtb4c mtb4c mtb4c mtb4c) (connector \"CONN:J3_SDA3\" \"CONN:J3_SDA0\" \"CONN:J3_SDA1\" \"CONN:J3_SDA2\") (CALIBRATION (type \"TYPE:decideg\" \"TYPE:decideg\" \"TYPE:decideg\" \"TYPE:decideg\") (rotation \"ROT:plus180\" \"ROT:zero\" \"ROT:zero\" \"ROT:zero\") (offset -190.0 -305.0 -230.0 -55.0) (invertDirection true true false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P5\" \"CONN:P4\" \"CONN:P3\" \"CONN:P2\")) (ENCODER1 (type pos pos pos pos) (port \"POS:hand_thumb_oc\" \"POS:hand_index_oc\" \"POS:hand_middle_oc\" \"POS:hand_ring_pinky_oc\") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) 810 23,256387 (tolerance 5 5 5 5)) (ENCODER2 (type qenc qenc qenc qenc) (port \"CONN:P5\" \"CONN:P4\" \"CONN:P3\" \"CONN:P2\") (position atmotor atmotor atmotor atmotor) (resolution -1600 1600 1600 1600) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id right_arm-eb22-j7_10-mc) (robotName ergoCubSN000)") 23,297152 embObjMC BOARD right_arm-eb22-j7_10 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 23,327616 embObjMC BOARD right_arm-eb22-j7_10 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 23,358086 from BOARD 10.0.1.22 (right_arm-eb22-j7_10), src LOCAL, adr 0, time 243s 447m 203u: (code 0x05000015, par16 0x4000 par64 0x0000000000000000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 23,388615 from BOARD 10.0.1.22 (right_arm-eb22-j7_10), src LOCAL, adr 0, time 243s 448m 568u: (code 0x05000054, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plusfaps-based motion. more info will follow + . 23,429298 embObjMotionControl:serviceVerifyActivate OK! 23,459778 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 23,490256 818 23,520715 inor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (POS (location CAN1:2) (SENSORS (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_add POS:hand_index_add) (boardType mtb4c mtb4c) (connector CONN:J3_SDA2 CONN:J3_SDA3) (CALIBRATION (type TYPE:decideg TYPE:decideg) (rotation ROT:zero ROT:zero) (offset -200.0 -295.0) (invertDirection false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port CONN:P2 CONN:P5)) (ENCODER1 (type pos pos) (port POS:hand_thumb_add POS:hand_index_add) (position atjoint atjoint) (resolution 65535 65535) (tolerance 5 5)) (ENCODER2 (type none none) (port CONN:P2 CONN:P5) (position atmotor atmotor) (resolution -1600 1600) (tolerance 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMin 0 7) (jntPosMax 85 18) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (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 60 150) (kd 0 0) (ki 20 30) (maxOutput 3360 3360) (maxInt 1000 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)\")]") 23,551186 820 23,591869 (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 60 150) (kd 0 0) (ki 20 30) (maxOutput 3360 3360) (maxInt 1000 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 0))) (POS (location \"CAN1:2\") (SENSORS (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port \"POS:hand_thumb_add\" \"POS:hand_index_add\") (boardType mtb4c mtb4c) (connector \"CONN:J3_SDA2\" \"CONN:J3_SDA3\") (CALIBRATION (type \"TYPE:decideg\" \"TYPE:decideg\") (rotation \"ROT:zero\" \"ROT:zero\") (offset -200.0 -295.0) (invertDirection false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port \"CONN:P2\" \"CONN:P5\")) (ENCODER1 (type pos pos) (port \"POS:hand_thumb_add\" \"POS:hand_index_add\") (position atjoint atjoint) (resolution 65535 65535) (tolerance 5 5)) (ENCODER2 (type none none) (port \"CONN:P2\" \"CONN:P5\") (position atmotor atmotor) (resolution -1600 1600) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (device embObjMotionControl) (id right_arm-eb24-j11_12-mc) (robotName ergoCubSN000)") 23,622330 embObjMC BOARD right_arm-eb24-j11_12 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 23,652811 embObjMC BOARD right_arm-eb24-j11_12 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 23,683290 from BOARD 10.0.1.22 (right_arm-eb22-j7_10), src LOCAL, adr 0, time 243s 577m 204u: (code 0x0000000d, par16 0x017a par64 0x00060018009b0059) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . 23,723985 from BOARD 10.0.1.24 (right_arm-eb24-j11_12), src LOCAL, adr 0, time 243s 634m 214u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 23,754458 from BOARD 10.0.1.24 (right_arm-eb24-j11_12), src LOCAL, adr 0, time 243s 635m 590u: (code 0x05000054, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plusfaps-based motion. more info will follow + . 23,784999 embObjMotionControl:serviceVerifyActivate OK! 23,815531 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 23,846005 829 23,886717 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 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_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type amo amo amo amo) (port CONN:P6 CONN:P8 CONN:P7 CONN:P9) (position atjoint atjoint atjoint atjoint) (resolution 16384 16384 16384 -16384) (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 3.6 3.6 3.6 3.6))))\"), (\"LIMITS\" [group] = \"(jntPosMax 106 108 78 5) (jntPosMin -42 -15 -78 -103) (jntVelMax 240 240 240 240) (motorNominalCurrents 15000 15000 5000 10000) (motorPeakCurrents 20000 20000 10000 15000) (motorOverloadCurrents 30000 30000 15000 20000) (motorPwmLimit 16000 16000 16000 16000)\"), (\"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_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (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)\"), (\"PO 830 23,917279 S_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp -5000 7000 -3000 -10000) (kd 0 0 0 0) (ki -1500 5000 -200 -1500) (maxOutput 12000 12000 12000 16000) (maxInt 1500 5000 750 2000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 25 25 25 25) (maxInt 1.56 1.56 1.56 1.56) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau -0.51 0.56 -0.62 -0.52)\"), (\"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)\"), (\"TRQ_PID_OUTPUT_CURR\" [group] = \"(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -100 150 -0.0 -350) (kd 0 0 0 0) (ki -10 25 -0 -100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf -0.0001 0.0001 -0.0005 -0.0003) (filterType 0 0 0 0) (ktau -40 50 -150 -110)\"), (\"OTHER_CONTROL_PARAMETERS\" [group] = \"(deadZone 0.0049 0.0049 0.0049 0.011)\"), (\"KALMAN_FILTER\" [group] = \"(kalmanFilterEnabled 1 1 1 1) (x0 0 0 0 0) (x1 0 0 0 0) (x2 0 0 0 0) (Q0 0.0001 0.0001 0.0001 0.0001) (Q1 0.01 0.01 0.01 0.01) (Q2 10 10 10 10) (R 0.001 0.001 0.001 0.001) (P0 0.000099 0.000099 0.000099 0.000099)\")]") 23,947752 from BOARD 10.0.1.23 (left_arm-eb23-j7_10), src LOCAL, adr 0, time 244s 309m 831u: (code 0x0200000a, par16 0x0001 par64 0x0000000000000002) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + . 23,978243 833 24,018987 ) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName l_hip_pitch l_hip_roll l_hip_yaw l_knee) (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 -100.0 160.0 -100.0 -100.0) (Gearbox_E2J 64 64 64 64) (useMotorSpeedFbk 1 1 1 1) (MotorType MOOG_C2900580 MOOG_C2900576 MOOG_C2900576 MOOG_C2900580) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (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))) (KALMAN_FILTER (kalmanFilterEnabled 1 1 1 1) (x0 0 0 0 0) (x1 0 0 0 0) (x2 0 0 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10 10 10) (R 0.00100000000000000002082 0.00100000000000000002082 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 110.150000000000005684 111.769999999999996021 81.6500000000000056843 7.75) (hardwareJntPosMin -44.8100000000000022737 -35 -81.6500000000000056843 -105.230000000000003979) (rotorPosMin 0 0 0 0) (rotorPosMa 834 24,049449 x 0 0 0 0) (jntPosMax 106 108 78 5) (jntPosMin -42 -15 -78 -103) (jntVelMax 240 240 240 240) (motorNominalCurrents 15000 15000 5000 10000) (motorPeakCurrents 20000 20000 10000 15000) (motorOverloadCurrents 30000 30000 15000 20000) (motorPwmLimit 16000 16000 16000 16000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179 0.00489999999999999984179 0.0109999999999999993616)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp -5000 7000 -3000 -10000) (kd 0 0 0 0) (ki -1500 5000 -200 -1500) (maxOutput 12000 12000 12000 16000) (maxInt 1500 5000 750 2000) (stictionUp 0 0 0 0) (stictionDown 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 foc foc foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\" \"CAN1:4:0\")) (ENCODER1 (type amo amo amo amo) (port \"CONN:P6\" \"CONN:P8\" \"CONN:P7\" \"CONN:P9\") (position atjoint atjoint atjoint atjoint) (resolution 16384 16384 16384 -16384) (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 3.60000000000000008882 3.60000000000000008882 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 25 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) 835 24,079947 (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau -0.510000000000000008882 0.560000000000000053291 -0.619999999999999995559 -0.520000000000000017764)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -100 150 -0.0 -350) (kd 0 0 0 0) (ki -10 25 0 -100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf -0.000100000000000000004792 0.000100000000000000004792 -0.000500000000000000010408 -0.000299999999999999973719) (filterType 0 0 0 0) (ktau -40 50 -150 -110)) (device embObjMotionControl) (id left_leg-eb8-j0_3-mc) (robotName ergoCubSN000)") 24,110473 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 4, ., , E, x, p, e, c, t, e, d, :, , 2, 8, 9, 7, ,, , R, e, c, e, i, v, e, d, :, , 2, 9, 4, 3, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 0, 3, 8, 5, 1, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 1, 3, 2, 5, 1, 6, , u, s, 24,140932 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 8, 5, 0, 2, ,, , R, e, c, e, i, v, e, d, :, , 8, 5, 4, 8, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 5, 0, 7, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 6, 0, 1, 0, 9, 0, , u, s, 24,181560 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 1, ., , E, x, p, e, c, t, e, d, :, , 2, 1, 8, 3, ,, , R, e, c, e, i, v, e, d, :, , 2, 2, 2, 9, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 0, 4, 6, 8, 7, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 1, 4, 0, 8, 7, 4, , u, s, 24,212098 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, ., , E, x, p, e, c, t, e, d, :, , 3, 5, 6, 9, ,, , R, e, c, e, i, v, e, d, :, , 3, 6, 1, 5, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 0, 4, 5, 4, 2, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 1, 3, 9, 4, 2, 1, , u, s, 24,242568 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 5, 4, 0, 0, ,, , R, e, c, e, i, v, e, d, :, , 9, 5, 4, 4, 6, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 5, 0, 1, 2, 3, 7, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 5, 9, 5, 2, 3, 7, , u, s, 24,273036 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 1, ., , E, x, p, e, c, t, e, d, :, , 2, 3, 7, 7, ,, , R, e, c, e, i, v, e, d, :, , 2, 4, 2, 3, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 0, 4, 2, 9, 6, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 1, 3, 6, 9, 6, 1, , u, s, 24,313731 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, ., , E, x, p, e, c, t, e, d, :, , 1, 4, 9, 0, ,, , R, e, c, e, i, v, e, d, :, , 1, 5, 3, 6, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 0, 3, 1, 6, 5, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 1, 2, 5, 6, 5, 8, , u, s, 24,344199 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 4, 4, 9, 8, ,, , R, e, c, e, i, v, e, d, :, , 4, 5, 4, 4, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 0, 4, 5, 6, 0, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 1, 3, 9, 6, 0, 1, , u, s, 24,374681 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 5, 4, 3, 6, ,, , R, e, c, e, i, v, e, d, :, , 9, 5, 4, 8, 2, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 5, 0, 2, 8, 4, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 5, 9, 6, 8, 4, 8, , u, s, 24,405217 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 5, 4, 6, 7, ,, , R, e, c, e, i, v, e, d, :, , 9, 5, 5, 1, 3, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 5, 0, 1, 9, 9, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 5, 9, 5, 9, 9, 8, , u, s, 24,435693 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 7, 9, 2, 8, ,, , R, e, c, e, i, v, e, d, :, , 7, 9, 7, 4, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 5, 0, 7, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 6, 0, 1, 1, 2, 4, , u, s, 24,476337 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 0, ., , E, x, p, e, c, t, e, d, :, , 1, 0, 5, 7, ,, , R, e, c, e, i, v, e, d, :, , 1, 1, 0, 3, ,, , M, i, s, s, i, n, g, :, , 4, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 3, 9, 7, 7, 4, 4, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 0, 7, 1, 4, 4, 6, , u, s, 24,506934 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 5, 5, 0, 2, ,, , R, e, c, e, i, v, e, d, :, , 9, 5, 5, 4, 9, ,, , M, i, s, s, i, n, g, :, , 4, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 5, 0, 6, 7, 0, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 6, 0, 2, 7, 0, 9, , u, s, 24,537403 eth::EthMonitorPresence: BOARD 10.0.1.1 (right_arm-eb1-j0_1) has been silent for 0.0978303 sec (its timeout is 0.02 sec) 24,567876 eth::EthMonitorPresence: BOARD 10.0.1.2 (left_arm-eb2-j0_1) has been silent for 0.0978241 sec (its timeout is 0.02 sec) 24,608651 eth::EthMonitorPresence: BOARD 10.0.1.3 (right_arm-eb3-j2_3) has been silent for 0.097801 sec (its timeout is 0.02 sec) 24,639123 eth::EthMonitorPresence: BOARD 10.0.1.5 (torso-eb5-j0_2) has been silent for 0.0977929 sec (its timeout is 0.02 sec) 24,669588 eth::EthMonitorPresence: BOARD 10.0.1.24 (right_arm-eb24-j11_12) has been silent for 0.0977848 sec (its timeout is 0.02 sec) 24,700125 eth::EthMonitorPresence: BOARD 10.0.1.25 (left_arm-eb25-j11_12) has been silent for 0.0978303 sec (its timeout is 0.02 sec) 24,730593 eth::parser::print(boardData) for BOARD left_leg-eb8-j0_3 24,771223 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.589824 sec (its timeout is 0.02 sec) 24,801771 ETH_BOARD/ETH_BOARD_PROPERTIES: 24,832243 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.687603 sec (its timeout is 0.02 sec) 24,862712 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.8 24,903391 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 24,933859 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 24,964338 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 24,994914 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 25,025389 ETH_BOARD/ETH_BOARD_SETTINGS: 25,066011 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_leg-eb8-j0_3 25,096594 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 25,127062 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 25,157531 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 25,198225 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.8 (left_leg-eb8-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec 25,228698 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.8 25,259179 eth::EthMonitorPresence: BOARD 10.0.1.1 (right_arm-eb1-j0_1) has shown after being lost for 0.688218 sec 25,289654 eth::EthMonitorPresence: BOARD 10.0.1.2 (left_arm-eb2-j0_1) has shown after being lost for 0.68821 sec 25,330278 eth::EthMonitorPresence: BOARD 10.0.1.3 (right_arm-eb3-j2_3) has shown after being lost for 0.688179 sec 25,360777 eth::EthMonitorPresence: BOARD 10.0.1.5 (torso-eb5-j0_2) has shown after being lost for 0.688171 sec 25,391320 eth::EthMonitorPresence: BOARD 10.0.1.24 (right_arm-eb24-j11_12) has shown after being lost for 0.688162 sec 25,421788 eth::EthMonitorPresence: BOARD 10.0.1.25 (left_arm-eb25-j11_12) has shown after being lost for 0.688208 sec 25,452251 eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.590431 sec 25,492981 eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.688201 sec 25,523440 viscousPos parameter not found for board left_leg-eb8-j0_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -100 150 -0.0 -350) (kd 0 0 0 0) (ki -10 25 0 -100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf -0.000100000000000000004792 0.000100000000000000004792 -0.000500000000000000010408 -0.000299999999999999973719) (filterType 0 0 0 0) (ktau -40 50 -150 -110) 25,553906 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 1, ., , E, x, p, e, c, t, e, d, :, , 2, 3, 1, 2, ,, , R, e, c, e, i, v, e, d, :, , 2, 7, 0, 4, ,, , M, i, s, s, i, n, g, :, , 3, 9, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 3, 0, 4, 8, 7, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 0, 9, 0, 8, 7, 4, , u, s, 25,584395 viscousNeg parameter not found for board left_leg-eb8-j0_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -100 150 -0.0 -350) (kd 0 0 0 0) (ki -10 25 0 -100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf -0.000100000000000000004792 0.000100000000000000004792 -0.000500000000000000010408 -0.000299999999999999973719) (filterType 0 0 0 0) (ktau -40 50 -150 -110) 25,614938 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, ., , E, x, p, e, c, t, e, d, :, , 3, 6, 9, 8, ,, , R, e, c, e, i, v, e, d, :, , 4, 0, 9, 0, ,, , M, i, s, s, i, n, g, :, , 3, 9, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 3, 0, 3, 4, 2, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 0, 8, 9, 4, 2, 1, , u, s, 25,655571 coulombPos parameter not found for board left_leg-eb8-j0_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -100 150 -0.0 -350) (kd 0 0 0 0) (ki -10 25 0 -100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf -0.000100000000000000004792 0.000100000000000000004792 -0.000500000000000000010408 -0.000299999999999999973719) (filterType 0 0 0 0) (ktau -40 50 -150 -110) 25,686042 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 5, 5, 2, 9, ,, , R, e, c, e, i, v, e, d, :, , 9, 5, 9, 2, 1, ,, , M, i, s, s, i, n, g, :, , 3, 9, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 7, 5, 9, 2, 3, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 5, 4, 5, 2, 3, 7, , u, s, 25,716478 coulombNeg parameter not found for board left_leg-eb8-j0_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -100 150 -0.0 -350) (kd 0 0 0 0) (ki -10 25 0 -100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf -0.000100000000000000004792 0.000100000000000000004792 -0.000500000000000000010408 -0.000299999999999999973719) (filterType 0 0 0 0) (ktau -40 50 -150 -110) 25,746952 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 1, ., , E, x, p, e, c, t, e, d, :, , 2, 5, 0, 6, ,, , R, e, c, e, i, v, e, d, :, , 2, 8, 9, 8, ,, , M, i, s, s, i, n, g, :, , 3, 9, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 3, 0, 0, 9, 6, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 0, 8, 6, 9, 6, 1, , u, s, 25,787582 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, ., , E, x, p, e, c, t, e, d, :, , 1, 6, 1, 9, ,, , R, e, c, e, i, v, e, d, :, , 2, 0, 1, 1, ,, , M, i, s, s, i, n, g, :, , 3, 9, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 2, 8, 9, 6, 5, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 0, 7, 5, 6, 5, 8, , u, s, 25,818161 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 4, 6, 2, 6, ,, , R, e, c, e, i, v, e, d, :, , 5, 0, 1, 9, ,, , M, i, s, s, i, n, g, :, , 3, 9, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 3, 0, 1, 6, 0, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 0, 8, 9, 6, 0, 1, , u, s, 25,848639 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 5, 5, 6, 4, ,, , R, e, c, e, i, v, e, d, :, , 9, 5, 9, 5, 7, ,, , M, i, s, s, i, n, g, :, , 3, 9, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 7, 5, 8, 8, 4, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 5, 4, 6, 8, 4, 8, , u, s, 25,879109 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 5, 5, 9, 5, ,, , R, e, c, e, i, v, e, d, :, , 9, 5, 9, 8, 8, ,, , M, i, s, s, i, n, g, :, , 3, 9, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 7, 5, 7, 9, 9, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 5, 4, 5, 9, 9, 8, , u, s, 25,919740 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 8, 0, 5, 6, ,, , R, e, c, e, i, v, e, d, :, , 8, 4, 4, 9, ,, , M, i, s, s, i, n, g, :, , 3, 9, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 7, 6, 3, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 5, 5, 1, 1, 2, 4, , u, s, 25,950208 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 0, ., , E, x, p, e, c, t, e, d, :, , 1, 1, 8, 5, ,, , R, e, c, e, i, v, e, d, :, , 1, 5, 7, 8, ,, , M, i, s, s, i, n, g, :, , 3, 9, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 2, 3, 3, 4, 4, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 0, 2, 1, 4, 4, 2, , u, s, 25,980567 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 5, 6, 3, 1, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 0, 2, 4, ,, , M, i, s, s, i, n, g, :, , 3, 9, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 7, 6, 4, 7, 0, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 5, 5, 2, 7, 0, 9, , u, s, 26,011037 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 4, ., , E, x, p, e, c, t, e, d, :, , 3, 0, 2, 6, ,, , R, e, c, e, i, v, e, d, :, , 3, 4, 1, 9, ,, , M, i, s, s, i, n, g, :, , 3, 9, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 2, 9, 6, 5, 1, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 0, 8, 4, 5, 1, 6, , u, s, 26,041510 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 8, 6, 3, 1, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 2, 4, ,, , M, i, s, s, i, n, g, :, , 3, 9, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 4, 7, 6, 5, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 5, 5, 3, 0, 9, 0, , u, s, 26,082130 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, ., , E, x, p, e, c, t, e, d, :, , 2, 0, 9, 2, ,, , R, e, c, e, i, v, e, d, :, , 2, 2, 7, 3, ,, , M, i, s, s, i, n, g, :, , 1, 8, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 2, 3, 5, 6, 5, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 5, 9, 9, 6, 5, 8, , u, s, 26,112494 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 5, 1, 0, 0, ,, , R, e, c, e, i, v, e, d, :, , 5, 2, 8, 1, ,, , M, i, s, s, i, n, g, :, , 1, 8, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 2, 4, 9, 6, 0, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 1, 3, 6, 0, 1, , u, s, 26,142883 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 0, 3, 8, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 2, 1, 9, ,, , M, i, s, s, i, n, g, :, , 1, 8, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 7, 0, 6, 8, 4, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 0, 7, 0, 8, 4, 8, , u, s, 26,173345 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 0, 6, 9, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 2, 5, 0, ,, , M, i, s, s, i, n, g, :, , 1, 8, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 7, 0, 5, 9, 9, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 0, 6, 9, 9, 9, 8, , u, s, 26,213961 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 8, 5, 3, 0, ,, , R, e, c, e, i, v, e, d, :, , 8, 7, 1, 1, ,, , M, i, s, s, i, n, g, :, , 1, 8, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 7, 1, 1, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 0, 7, 5, 1, 2, 4, , u, s, 26,244434 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 0, ., , E, x, p, e, c, t, e, d, :, , 1, 6, 5, 9, ,, , R, e, c, e, i, v, e, d, :, , 1, 8, 4, 0, ,, , M, i, s, s, i, n, g, :, , 1, 8, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 1, 8, 1, 4, 4, 2, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 5, 4, 5, 4, 4, 2, , u, s, 26,274950 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 1, 0, 5, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 2, 8, 6, ,, , M, i, s, s, i, n, g, :, , 1, 8, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 7, 1, 2, 7, 0, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 0, 7, 6, 7, 0, 9, , u, s, 26,305476 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 4, ., , E, x, p, e, c, t, e, d, :, , 3, 5, 0, 0, ,, , R, e, c, e, i, v, e, d, :, , 3, 6, 8, 1, ,, , M, i, s, s, i, n, g, :, , 1, 8, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 2, 4, 4, 5, 1, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 0, 8, 5, 1, 6, , u, s, 26,335950 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 9, 1, 0, 4, ,, , R, e, c, e, i, v, e, d, :, , 9, 2, 8, 6, ,, , M, i, s, s, i, n, g, :, , 1, 8, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 7, 1, 1, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 0, 7, 7, 0, 9, 0, , u, s, 26,376477 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, ., , E, x, p, e, c, t, e, d, :, , 4, 1, 7, 1, ,, , R, e, c, e, i, v, e, d, :, , 4, 3, 5, 3, ,, , M, i, s, s, i, n, g, :, , 1, 8, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 2, 4, 9, 4, 2, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 1, 5, 4, 2, 1, , u, s, 26,407068 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 0, 0, 2, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 1, 8, 4, ,, , M, i, s, s, i, n, g, :, , 1, 8, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 7, 0, 5, 2, 3, 7, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 0, 7, 1, 2, 3, 7, , u, s, 26,437536 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 1, ., , E, x, p, e, c, t, e, d, :, , 2, 7, 8, 5, ,, , R, e, c, e, i, v, e, d, :, , 2, 9, 6, 7, ,, , M, i, s, s, i, n, g, :, , 1, 8, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 2, 5, 0, 8, 7, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 1, 6, 8, 7, 4, , u, s, 26,468006 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 1, ., , E, x, p, e, c, t, e, d, :, , 2, 9, 7, 9, ,, , R, e, c, e, i, v, e, d, :, , 3, 1, 6, 1, ,, , M, i, s, s, i, n, g, :, , 1, 8, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 2, 4, 6, 9, 6, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 1, 2, 9, 6, 1, , u, s, 26,508651 EthResource::verifyBoardPresence() found BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 after 0.785934 seconds 26,539117 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 26,569579 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 1, ., , E, x, p, e, c, t, e, d, :, , 3, 1, 9, 2, ,, , R, e, c, e, i, v, e, d, :, , 3, 4, 8, 8, ,, , M, i, s, s, i, n, g, :, , 2, 9, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 7, 2, 9, 6, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 2, 6, 6, 9, 6, 1, , u, s, 26,600070 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, ., , E, x, p, e, c, t, e, d, :, , 2, 3, 0, 5, ,, , R, e, c, e, i, v, e, d, :, , 2, 6, 0, 1, ,, , M, i, s, s, i, n, g, :, , 2, 9, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 6, 1, 6, 5, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 2, 5, 5, 6, 5, 8, , u, s, 26,671155 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 5, 3, 1, 3, ,, , R, e, c, e, i, v, e, d, :, , 5, 6, 0, 9, ,, , M, i, s, s, i, n, g, :, , 2, 9, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 7, 5, 6, 0, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 2, 6, 9, 5, 9, 9, , u, s, 26,671178 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 2, 5, 1, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 5, 4, 7, ,, , M, i, s, s, i, n, g, :, , 2, 9, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 1, 3, 2, 8, 4, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 2, 6, 8, 4, 8, , u, s, 26,671187 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 2, 8, 2, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 5, 7, 8, ,, , M, i, s, s, i, n, g, :, , 2, 9, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 1, 3, 1, 9, 9, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 2, 5, 9, 9, 8, , u, s, 26,681324 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 8, 7, 4, 3, ,, , R, e, c, e, i, v, e, d, :, , 9, 0, 3, 9, ,, , M, i, s, s, i, n, g, :, , 2, 9, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 1, 3, 7, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 3, 1, 1, 2, 4, , u, s, 26,681346 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 0, ., , E, x, p, e, c, t, e, d, :, , 1, 8, 7, 2, ,, , R, e, c, e, i, v, e, d, :, , 2, 1, 6, 8, ,, , M, i, s, s, i, n, g, :, , 2, 9, 6, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 0, 7, 4, 4, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 2, 0, 1, 4, 4, 2, , u, s, 26,681357 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 3, 1, 7, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 6, 1, 4, ,, , M, i, s, s, i, n, g, :, , 2, 9, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 1, 3, 6, 7, 0, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 3, 2, 7, 1, 2, , u, s, 26,681364 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 9, 3, 1, 7, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 1, 4, ,, , M, i, s, s, i, n, g, :, , 2, 9, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 1, 3, 7, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 3, 3, 0, 9, 0, , u, s, 26,681371 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 4, ., , E, x, p, e, c, t, e, d, :, , 3, 7, 1, 2, ,, , R, e, c, e, i, v, e, d, :, , 4, 0, 0, 9, ,, , M, i, s, s, i, n, g, :, , 2, 9, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 6, 8, 5, 1, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 2, 6, 4, 5, 1, 6, , u, s, 26,681380 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 1, ., , E, x, p, e, c, t, e, d, :, , 2, 9, 9, 8, ,, , R, e, c, e, i, v, e, d, :, , 3, 2, 9, 5, ,, , M, i, s, s, i, n, g, :, , 2, 9, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 7, 6, 8, 7, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 2, 7, 2, 8, 7, 4, , u, s, 26,681387 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, ., , E, x, p, e, c, t, e, d, :, , 4, 3, 8, 4, ,, , R, e, c, e, i, v, e, d, :, , 4, 6, 8, 1, ,, , M, i, s, s, i, n, g, :, , 2, 9, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 5, 6, 7, 5, 4, 2, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 2, 7, 1, 4, 2, 1, , u, s, 26,681394 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 2, 1, 5, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 5, 1, 2, ,, , M, i, s, s, i, n, g, :, , 2, 9, 7, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 1, 3, 1, 2, 3, 7, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 2, 7, 2, 3, 7, , u, s, 26,691482 eth::EthMonitorPresence: BOARD 10.0.1.1 (right_arm-eb1-j0_1) has been silent for 0.0660379 sec (its timeout is 0.02 sec) 26,691501 eth::EthMonitorPresence: BOARD 10.0.1.2 (left_arm-eb2-j0_1) has been silent for 0.066036 sec (its timeout is 0.02 sec) 26,691507 eth::EthMonitorPresence: BOARD 10.0.1.4 (left_arm-eb4-j2_3) has been silent for 0.066061 sec (its timeout is 0.02 sec) 26,691513 eth::EthMonitorPresence: BOARD 10.0.1.20 (head-eb20-j0_1) has been silent for 0.0660758 sec (its timeout is 0.02 sec) 26,691517 eth::EthMonitorPresence: BOARD 10.0.1.22 (right_arm-eb22-j7_10) has been silent for 0.066097 sec (its timeout is 0.02 sec) 26,691523 eth::EthMonitorPresence: BOARD 10.0.1.25 (left_arm-eb25-j11_12) has been silent for 0.0660369 sec (its timeout is 0.02 sec) 26,691528 eth::EthMonitorPresence: BOARD 10.0.1.1 (right_arm-eb1-j0_1) has shown after being lost for 0.0665216 sec 26,701655 eth::EthMonitorPresence: BOARD 10.0.1.2 (left_arm-eb2-j0_1) has shown after being lost for 0.0665147 sec 26,701685 eth::EthMonitorPresence: BOARD 10.0.1.4 (left_arm-eb4-j2_3) has shown after being lost for 0.0665388 sec 26,701692 eth::EthMonitorPresence: BOARD 10.0.1.20 (head-eb20-j0_1) has shown after being lost for 0.0665526 sec 26,701698 eth::EthMonitorPresence: BOARD 10.0.1.22 (right_arm-eb22-j7_10) has shown after being lost for 0.0665736 sec 26,701704 eth::EthMonitorPresence: BOARD 10.0.1.25 (left_arm-eb25-j11_12) has shown after being lost for 0.0665131 sec 26,701709 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 : config mode + cleared all its regulars 26,711813 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 1, ., , E, x, p, e, c, t, e, d, :, , 3, 6, 0, 1, ,, , R, e, c, e, i, v, e, d, :, , 3, 7, 3, 4, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 4, 9, 0, 9, 6, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 5, 8, 9, 6, 1, , u, s, 26,711834 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, ., , E, x, p, e, c, t, e, d, :, , 2, 7, 1, 4, ,, , R, e, c, e, i, v, e, d, :, , 2, 8, 4, 7, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 4, 7, 9, 6, 5, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 4, 7, 6, 5, 8, , u, s, 26,711844 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 5, 7, 2, 2, ,, , R, e, c, e, i, v, e, d, :, , 5, 8, 5, 5, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 4, 9, 3, 6, 0, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 6, 1, 6, 0, 1, , u, s, 26,711852 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 6, 6, 0, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 7, 9, 3, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 5, 0, 8, 4, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 1, 8, 8, 4, 8, , u, s, 26,711859 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 6, 9, 1, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 8, 2, 4, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 4, 9, 9, 9, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 1, 7, 9, 9, 8, , u, s, 26,711869 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 9, 1, 5, 1, ,, , R, e, c, e, i, v, e, d, :, , 9, 2, 8, 5, ,, , M, i, s, s, i, n, g, :, , 1, 3, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 5, 3, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 2, 3, 1, 2, 4, , u, s, 26,721974 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 0, ., , E, x, p, e, c, t, e, d, :, , 2, 2, 8, 0, ,, , R, e, c, e, i, v, e, d, :, , 2, 4, 1, 4, ,, , M, i, s, s, i, n, g, :, , 1, 3, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 4, 2, 3, 4, 4, 2, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 6, 9, 3, 4, 4, 2, , u, s, 26,721995 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 7, 2, 6, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 8, 6, 0, ,, , M, i, s, s, i, n, g, :, , 1, 3, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 5, 4, 7, 0, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 2, 4, 7, 0, 9, , u, s, 26,722004 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 2, 6, ,, , R, e, c, e, i, v, e, d, :, , 9, 8, 6, 0, ,, , M, i, s, s, i, n, g, :, , 1, 3, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 5, 5, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 2, 5, 0, 9, 0, , u, s, 26,722012 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 4, ., , E, x, p, e, c, t, e, d, :, , 4, 1, 2, 1, ,, , R, e, c, e, i, v, e, d, :, , 4, 2, 5, 5, ,, , M, i, s, s, i, n, g, :, , 1, 3, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 4, 8, 6, 5, 1, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 5, 6, 5, 1, 6, , u, s, 26,722019 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 1, ., , E, x, p, e, c, t, e, d, :, , 3, 4, 0, 7, ,, , R, e, c, e, i, v, e, d, :, , 3, 5, 4, 1, ,, , M, i, s, s, i, n, g, :, , 1, 3, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 4, 9, 4, 8, 7, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 6, 4, 8, 7, 4, , u, s, 26,722026 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, ., , E, x, p, e, c, t, e, d, :, , 4, 7, 9, 3, ,, , R, e, c, e, i, v, e, d, :, , 4, 9, 2, 7, ,, , M, i, s, s, i, n, g, :, , 1, 3, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 4, 9, 3, 4, 2, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 7, 6, 3, 4, 2, 1, , u, s, 26,732127 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 6, 2, 4, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 7, 5, 8, ,, , M, i, s, s, i, n, g, :, , 1, 3, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 4, 9, 2, 3, 7, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 1, 9, 2, 3, 7, , u, s, 26,732148 EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 26,732156 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 9, 5, 8, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 9, 9, 0, ,, , M, i, s, s, i, n, g, :, , 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 1, 8, 7, 1, 2, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 8, 4, 7, 0, 9, , u, s, 26,732166 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 9, 9, 5, 8, ,, , R, e, c, e, i, v, e, d, :, , 9, 9, 9, 0, ,, , M, i, s, s, i, n, g, :, , 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 1, 9, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 8, 5, 0, 9, 0, , u, s, 26,732174 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 4, ., , E, x, p, e, c, t, e, d, :, , 4, 3, 5, 3, ,, , R, e, c, e, i, v, e, d, :, , 4, 3, 8, 5, ,, , M, i, s, s, i, n, g, :, , 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 5, 0, 5, 1, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 0, 1, 6, 5, 1, 6, , u, s, 26,732182 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 1, ., , E, x, p, e, c, t, e, d, :, , 3, 6, 3, 9, ,, , R, e, c, e, i, v, e, d, :, , 3, 6, 7, 1, ,, , M, i, s, s, i, n, g, :, , 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 5, 8, 8, 7, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 0, 2, 4, 8, 7, 4, , u, s, 26,732188 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 8, 5, 6, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 8, 8, 8, ,, , M, i, s, s, i, n, g, :, , 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 1, 3, 2, 3, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 7, 9, 2, 3, 7, , u, s, 26,742289 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, ., , E, x, p, e, c, t, e, d, :, , 5, 0, 2, 5, ,, , R, e, c, e, i, v, e, d, :, , 5, 0, 5, 7, ,, , M, i, s, s, i, n, g, :, , 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 5, 7, 4, 2, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 0, 2, 3, 4, 2, 1, , u, s, 26,742312 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 1, ., , E, x, p, e, c, t, e, d, :, , 3, 8, 3, 3, ,, , R, e, c, e, i, v, e, d, :, , 3, 8, 6, 5, ,, , M, i, s, s, i, n, g, :, , 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 5, 4, 9, 6, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 0, 2, 0, 9, 6, 1, , u, s, 26,742322 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, ., , E, x, p, e, c, t, e, d, :, , 2, 9, 4, 6, ,, , R, e, c, e, i, v, e, d, :, , 2, 9, 7, 8, ,, , M, i, s, s, i, n, g, :, , 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 4, 3, 6, 5, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 0, 0, 9, 6, 5, 8, , u, s, 26,742331 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 5, 9, 5, 4, ,, , R, e, c, e, i, v, e, d, :, , 5, 9, 8, 6, ,, , M, i, s, s, i, n, g, :, , 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 5, 7, 6, 0, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 0, 2, 3, 5, 9, 9, , u, s, 26,742338 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 8, 9, 1, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 9, 2, 4, ,, , M, i, s, s, i, n, g, :, , 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 1, 2, 8, 4, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 8, 0, 8, 4, 8, , u, s, 26,742346 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 9, 2, 2, ,, , R, e, c, e, i, v, e, d, :, , 9, 6, 9, 5, 5, ,, , M, i, s, s, i, n, g, :, , 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 1, 1, 9, 9, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 7, 9, 9, 9, 8, , u, s, 26,742356 EthResource::askBoardVersion() found BOARD left_leg-eb8-j0_3 @ IP 10.0.1.8 of type ems4 with FW = ver 3.67 built on 2023 Apr 17 14:0 26,752442 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 9, 3, 8, 3, ,, , R, e, c, e, i, v, e, d, :, , 9, 4, 1, 6, ,, , M, i, s, s, i, n, g, :, , 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 1, 7, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 8, 5, 1, 2, 4, , u, s, 26,752463 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 0, ., , E, x, p, e, c, t, e, d, :, , 2, 5, 1, 2, ,, , R, e, c, e, i, v, e, d, :, , 2, 5, 4, 5, ,, , M, i, s, s, i, n, g, :, , 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 8, 8, 7, 4, 4, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 6, 9, 5, 5, 4, 4, 2, , u, s, 26,752471 theNVmanager::Impl::wait() had a timeout for BOARD left_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000006 -> IND = 0, TAG = eoprot_tag_mn_comm_cmmnds_command_replyarray 26,752478 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.8 for nv ID32 = 0x00000006 -> IND = 0, TAG = eoprot_tag_mn_comm_cmmnds_command_replyarray 26,752483 EthResource::verifyEPprotocol() retrieve the endpoint descriptors from BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 : cannot proceed any further 26,752488 embObjMotionControl: failed verifyEPprotocol. Cannot continue! 26,762619 theNVmanager::Impl::Data::alert(): key not found 576742270229807110 26,762637 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 1, ., , E, x, p, e, c, t, e, d, :, , 3, 7, 5, 4, ,, , R, e, c, e, i, v, e, d, :, , 3, 8, 0, 2, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 1, 8, 8, 8, 7, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 8, 6, 8, 7, 4, , u, s, 26,762647 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 9, 7, 1, ,, , R, e, c, e, i, v, e, d, :, , 9, 7, 0, 1, 9, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 6, 4, 3, 2, 3, 7, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 4, 1, 2, 3, 8, , u, s, 26,762657 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, ., , E, x, p, e, c, t, e, d, :, , 5, 1, 4, 0, ,, , R, e, c, e, i, v, e, d, :, , 5, 1, 8, 8, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 1, 8, 7, 4, 2, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 8, 5, 4, 2, 1, , u, s, 26,762665 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 1, ., , E, x, p, e, c, t, e, d, :, , 3, 9, 4, 8, ,, , R, e, c, e, i, v, e, d, :, , 3, 9, 9, 6, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 1, 8, 4, 9, 6, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 8, 2, 9, 6, 1, , u, s, 26,762672 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, ., , E, x, p, e, c, t, e, d, :, , 3, 0, 6, 1, ,, , R, e, c, e, i, v, e, d, :, , 3, 1, 0, 9, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 1, 7, 3, 6, 5, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 7, 1, 6, 5, 8, , u, s, 26,762679 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 6, 0, 6, 9, ,, , R, e, c, e, i, v, e, d, :, , 6, 1, 1, 7, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 1, 8, 7, 6, 0, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 8, 5, 6, 0, 1, , u, s, 26,772780 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 0, 0, 7, ,, , R, e, c, e, i, v, e, d, :, , 9, 7, 0, 5, 5, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 6, 4, 4, 8, 4, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 4, 2, 8, 4, 8, , u, s, 26,772802 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 0, 3, 8, ,, , R, e, c, e, i, v, e, d, :, , 9, 7, 0, 8, 6, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 6, 4, 3, 9, 9, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 4, 1, 9, 9, 8, , u, s, 26,772812 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 9, 4, 9, 9, ,, , R, e, c, e, i, v, e, d, :, , 9, 5, 4, 7, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 6, 4, 9, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 4, 7, 1, 2, 4, , u, s, 26,772820 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 0, ., , E, x, p, e, c, t, e, d, :, , 2, 6, 2, 8, ,, , R, e, c, e, i, v, e, d, :, , 2, 6, 7, 6, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 1, 1, 9, 4, 4, 2, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 1, 7, 4, 4, 2, , u, s, 26,772828 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 0, 7, 4, ,, , R, e, c, e, i, v, e, d, :, , 9, 7, 1, 2, 2, ,, , M, i, s, s, i, n, g, :, , 4, 8, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 6, 5, 0, 7, 0, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 4, 8, 7, 0, 9, , u, s, 26,782940 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 1, 0, 0, 7, 3, ,, , R, e, c, e, i, v, e, d, :, , 1, 0, 1, 2, 2, ,, , M, i, s, s, i, n, g, :, , 4, 9, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 6, 4, 9, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 4, 9, 0, 9, 0, , u, s, 26,782963 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 4, ., , E, x, p, e, c, t, e, d, :, , 4, 4, 6, 8, ,, , R, e, c, e, i, v, e, d, :, , 4, 5, 1, 7, ,, , M, i, s, s, i, n, g, :, , 4, 9, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 1, 8, 0, 5, 1, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 2, 8, 0, 5, 1, 6, , u, s, 26,782972 Driver was found but could not open 26,782982 Cannot open device left_leg-eb8-j0_3-mc 26,782989 Cannot open device left_leg-eb8-j0_3-mc 26,782995 987 26,783006 T_1 (listofjoints 1) (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) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P7) (position atjoint atjoint) (resolution 16384 -16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))\"), (\"LIMITS\" [group] = \"(jntPosMax 43 23) (jntPosMin -43 -23) (jntVelMax 240 240) (motorNominalCurrents 10000 10000) (motorPeakCurrents 15000 15000) (motorOverloadCurrents 30000 30000) (motorPwmLimit 16000 16000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 30.0 30.0) (damping 0.05 0.05)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp -15000 -10000) (kd 0 0) (ki -1000 -1000) (maxOutput 15000 12000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0 0) (filterType 0 0) (ktau -0.65 -0.50)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 988 26,793090 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)\"), (\"TRQ_PID_OUTPUT_CURR\" [group] = \"(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -0 -50) (kd 0 0) (ki -0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.0009 -0.0003) (filterType 0 0) (ktau -128.81 -160)\"), (\"OTHER_CONTROL_PARAMETERS\" [group] = \"(deadZone 0.0049 0.0049)\"), (\"KALMAN_FILTER\" [group] = \"(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)\")]") 26,793122 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 6, 2, 1, 4, ,, , R, e, c, e, i, v, e, d, :, , 6, 3, 4, 6, ,, , M, i, s, s, i, n, g, :, , 1, 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 7, 7, 6, 0, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 4, 3, 6, 0, 1, , u, s, 26,793133 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 1, 5, 2, ,, , R, e, c, e, i, v, e, d, :, , 9, 7, 2, 8, 4, ,, , M, i, s, s, i, n, g, :, , 1, 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 3, 4, 8, 4, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 2, 0, 0, 8, 4, 8, , u, s, 26,793142 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 1, 8, 3, ,, , R, e, c, e, i, v, e, d, :, , 9, 7, 3, 1, 5, ,, , M, i, s, s, i, n, g, :, , 1, 3, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 3, 3, 9, 9, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 1, 9, 9, 9, 9, 8, , u, s, 26,793153 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 9, 6, 4, 3, ,, , R, e, c, e, i, v, e, d, :, , 9, 7, 7, 6, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 3, 7, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 2, 0, 5, 1, 2, 4, , u, s, 26,793160 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 0, ., , E, x, p, e, c, t, e, d, :, , 2, 7, 7, 2, ,, , R, e, c, e, i, v, e, d, :, , 2, 9, 0, 5, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 0, 7, 4, 4, 2, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 6, 7, 5, 4, 4, 6, , u, s, 26,793167 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 2, 1, 8, ,, , R, e, c, e, i, v, e, d, :, , 9, 7, 3, 5, 1, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 3, 8, 7, 0, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 2, 0, 6, 7, 0, 9, , u, s, 26,803246 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 1, 0, 2, 1, 8, ,, , R, e, c, e, i, v, e, d, :, , 1, 0, 3, 5, 1, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 3, 9, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 2, 0, 7, 0, 9, 0, , u, s, 26,803268 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 4, ., , E, x, p, e, c, t, e, d, :, , 4, 6, 1, 3, ,, , R, e, c, e, i, v, e, d, :, , 4, 7, 4, 6, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 7, 0, 5, 1, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 3, 8, 5, 1, 6, , u, s, 26,803277 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 1, ., , E, x, p, e, c, t, e, d, :, , 3, 8, 9, 9, ,, , R, e, c, e, i, v, e, d, :, , 4, 0, 3, 2, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 7, 8, 8, 7, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 4, 6, 8, 7, 4, , u, s, 26,803284 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 1, 1, 6, ,, , R, e, c, e, i, v, e, d, :, , 9, 7, 2, 4, 9, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 3, 3, 2, 3, 7, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 2, 0, 1, 2, 3, 7, , u, s, 26,803292 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, ., , E, x, p, e, c, t, e, d, :, , 5, 2, 8, 5, ,, , R, e, c, e, i, v, e, d, :, , 5, 4, 1, 8, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 7, 7, 4, 2, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 4, 5, 4, 2, 1, , u, s, 26,803299 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 1, ., , E, x, p, e, c, t, e, d, :, , 4, 0, 9, 3, ,, , R, e, c, e, i, v, e, d, :, , 4, 2, 2, 6, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 7, 4, 9, 6, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 4, 2, 9, 6, 1, , u, s, 26,803306 1002 26,813406 000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.0 -160.0) (Gearbox_E2J 64 32) (useMotorSpeedFbk 1 1) (MotorType MOOG_C2900580 MOOG_C2900575) (Verbose 0)) (IMPEDANCE (stiffness 30.0 30.0) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 46.6240000000000023306 25.3129999999999988347) (hardwareJntPosMin -46.6240000000000023306 -25.3129999999999988347) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 43 23) (jntPosMin -43 -23) (jntVelMax 240 240) (motorNominalCurrents 10000 10000) (motorPeakCurrents 15000 15000) (motorOverloadCurrents 30000 30000) (motorPwmLimit 16000 16000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp -15000 -10000) (kd 0 0) (ki -1000 -1000) (maxOutput 15000 12000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 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) (port \"CAN1:1:0\" \"CAN1:2:0\")) (ENCODER1 (type amo amo) (port \"CONN:P6\" \"CONN:P7\") (position atjoint atjoint) (resolution 16384 -16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (por 1003 26,813469 t \"CAN1:1:0\" \"CAN1:2:0\") (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0 0) (filterType 0 0) (ktau -0.650000000000000022204 -0.5)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000899999999999999975367 -0.000299999999999999973719) (filterType 0 0) (ktau -128.810000000000002274 -160)) (device embObjMotionControl) (id left_leg-eb9-j4_5-mc) (robotName ergoCubSN000)") 26,813479 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, ., , E, x, p, e, c, t, e, d, :, , 3, 2, 0, 6, ,, , R, e, c, e, i, v, e, d, :, , 3, 3, 3, 9, ,, , M, i, s, s, i, n, g, :, , 1, 3, 3, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 4, 6, 3, 6, 5, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 7, 3, 1, 6, 5, 8, , u, s, 26,813490 eth::parser::print(boardData) for BOARD left_leg-eb9-j4_5 26,813495 ETH_BOARD/ETH_BOARD_PROPERTIES: 26,813500 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.9 26,813506 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 26,823558 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 26,823577 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 26,823584 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 26,823592 ETH_BOARD/ETH_BOARD_SETTINGS: 26,823597 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_leg-eb9-j4_5 26,823603 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 26,833719 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 26,833736 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 26,833743 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.9 (left_leg-eb9-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec 26,833749 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.9 26,833754 viscousPos parameter not found for board left_leg-eb9-j4_5 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000899999999999999975367 -0.000299999999999999973719) (filterType 0 0) (ktau -128.810000000000002274 -160) 26,833762 viscousNeg parameter not found for board left_leg-eb9-j4_5 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000899999999999999975367 -0.000299999999999999973719) (filterType 0 0) (ktau -128.810000000000002274 -160) 26,833769 coulombPos parameter not found for board left_leg-eb9-j4_5 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000899999999999999975367 -0.000299999999999999973719) (filterType 0 0) (ktau -128.810000000000002274 -160) 26,843880 coulombNeg parameter not found for board left_leg-eb9-j4_5 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf -0.000899999999999999975367 -0.000299999999999999973719) (filterType 0 0) (ktau -128.810000000000002274 -160) 26,843900 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 4, ., , E, x, p, e, c, t, e, d, :, , 4, 8, 2, 9, ,, , R, e, c, e, i, v, e, d, :, , 5, 6, 3, 0, ,, , M, i, s, s, i, n, g, :, , 8, 0, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 0, 2, 5, 1, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 5, 0, 6, 5, 1, 6, , u, s, 26,843910 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 1, 0, 4, 3, 4, ,, , R, e, c, e, i, v, e, d, :, , 1, 1, 2, 3, 5, ,, , M, i, s, s, i, n, g, :, , 8, 0, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 3, 7, 1, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 9, 7, 5, 0, 9, 0, , u, s, 26,843918 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 1, ., , E, x, p, e, c, t, e, d, :, , 4, 1, 1, 5, ,, , R, e, c, e, i, v, e, d, :, , 4, 9, 1, 6, ,, , M, i, s, s, i, n, g, :, , 8, 0, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 1, 0, 8, 7, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 5, 1, 4, 8, 7, 4, , u, s, 26,843925 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 3, 3, 2, ,, , R, e, c, e, i, v, e, d, :, , 9, 8, 1, 3, 3, ,, , M, i, s, s, i, n, g, :, , 8, 0, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 3, 6, 5, 2, 3, 7, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 9, 6, 9, 2, 3, 8, , u, s, 26,843932 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, ., , E, x, p, e, c, t, e, d, :, , 5, 5, 0, 1, ,, , R, e, c, e, i, v, e, d, :, , 6, 3, 0, 2, ,, , M, i, s, s, i, n, g, :, , 8, 0, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 0, 9, 4, 2, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 5, 1, 3, 4, 2, 1, , u, s, 26,843939 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 1, ., , E, x, p, e, c, t, e, d, :, , 4, 3, 0, 9, ,, , R, e, c, e, i, v, e, d, :, , 5, 1, 1, 0, ,, , M, i, s, s, i, n, g, :, , 8, 0, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 0, 6, 9, 6, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 5, 1, 0, 9, 6, 1, , u, s, 26,854032 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, ., , E, x, p, e, c, t, e, d, :, , 3, 4, 2, 2, ,, , R, e, c, e, i, v, e, d, :, , 4, 2, 2, 3, ,, , M, i, s, s, i, n, g, :, , 8, 0, 1, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 8, 9, 5, 6, 5, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 4, 9, 9, 6, 5, 8, , u, s, 26,854053 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 3, 6, 7, ,, , R, e, c, e, i, v, e, d, :, , 9, 8, 1, 6, 9, ,, , M, i, s, s, i, n, g, :, , 8, 0, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 3, 6, 4, 8, 4, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 9, 7, 0, 8, 4, 8, , u, s, 26,854063 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 6, 4, 2, 9, ,, , R, e, c, e, i, v, e, d, :, , 7, 2, 3, 1, ,, , M, i, s, s, i, n, g, :, , 8, 0, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 9, 0, 7, 6, 0, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 5, 1, 3, 5, 9, 9, , u, s, 26,854072 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 3, 9, 8, ,, , R, e, c, e, i, v, e, d, :, , 9, 8, 2, 0, 0, ,, , M, i, s, s, i, n, g, :, , 8, 0, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 3, 6, 3, 9, 9, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 9, 6, 9, 9, 9, 8, , u, s, 26,854083 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 9, 8, 5, 9, ,, , R, e, c, e, i, v, e, d, :, , 1, 0, 6, 6, 1, ,, , M, i, s, s, i, n, g, :, , 8, 0, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 3, 6, 9, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 9, 7, 5, 1, 2, 4, , u, s, 26,854091 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 0, ., , E, x, p, e, c, t, e, d, :, , 2, 9, 8, 8, ,, , R, e, c, e, i, v, e, d, :, , 3, 7, 9, 0, ,, , M, i, s, s, i, n, g, :, , 8, 0, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 7, 8, 3, 9, 4, 4, 2, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 4, 4, 5, 4, 4, 2, , u, s, 26,854231 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 7, 4, 3, 4, ,, , R, e, c, e, i, v, e, d, :, , 9, 8, 2, 3, 6, ,, , M, i, s, s, i, n, g, :, , 8, 0, 2, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 8, 3, 7, 0, 7, 0, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 9, 7, 6, 7, 0, 9, , u, s, 26,864189 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 1, ., , E, x, p, e, c, t, e, d, :, , 5, 2, 0, 7, ,, , R, e, c, e, i, v, e, d, :, , 5, 3, 0, 1, ,, , M, i, s, s, i, n, g, :, , 9, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 7, 0, 2, 9, 6, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 8, 9, 2, 9, 6, 1, , u, s, 26,864210 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, ., , E, x, p, e, c, t, e, d, :, , 4, 3, 2, 0, ,, , R, e, c, e, i, v, e, d, :, , 4, 4, 1, 4, ,, , M, i, s, s, i, n, g, :, , 9, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 6, 9, 1, 6, 5, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 8, 8, 1, 6, 5, 8, , u, s, 26,864219 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 4, ., , E, x, p, e, c, t, e, d, :, , 9, 8, 2, 6, 6, ,, , R, e, c, e, i, v, e, d, :, , 9, 8, 3, 6, 0, ,, , M, i, s, s, i, n, g, :, , 9, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 1, 6, 2, 8, 4, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 3, 5, 2, 8, 4, 8, , u, s, 26,864227 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 5, ., , E, x, p, e, c, t, e, d, :, , 7, 3, 2, 8, ,, , R, e, c, e, i, v, e, d, :, , 7, 4, 2, 2, ,, , M, i, s, s, i, n, g, :, , 9, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 7, 0, 5, 5, 9, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 8, 9, 5, 5, 9, 9, , u, s, 26,864234 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 3, ., , E, x, p, e, c, t, e, d, :, , 9, 8, 2, 9, 7, ,, , R, e, c, e, i, v, e, d, :, , 9, 8, 3, 9, 1, ,, , M, i, s, s, i, n, g, :, , 9, 4, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 1, 6, 1, 9, 9, 8, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 3, 5, 1, 9, 9, 8, , u, s, 26,864241 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 1, ., , E, x, p, e, c, t, e, d, :, , 1, 0, 7, 5, 7, ,, , R, e, c, e, i, v, e, d, :, , 1, 0, 8, 5, 2, ,, , M, i, s, s, i, n, g, :, , 9, 5, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 1, 6, 5, 1, 2, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 3, 5, 7, 1, 2, 4, , u, s, 26,874243 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 3, 0, ., , E, x, p, e, c, t, e, d, :, , 3, 8, 8, 6, ,, , R, e, c, e, i, v, e, d, :, , 3, 9, 8, 1, ,, , M, i, s, s, i, n, g, :, , 9, 5, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 6, 3, 5, 4, 4, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 8, 2, 7, 4, 4, 2, , u, s, 26,874267 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 2, ., , E, x, p, e, c, t, e, d, :, , 9, 8, 3, 3, 2, ,, , R, e, c, e, i, v, e, d, :, , 9, 8, 4, 2, 7, ,, , M, i, s, s, i, n, g, :, , 9, 5, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 1, 6, 6, 7, 0, 9, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 3, 5, 8, 7, 0, 9, , u, s, 26,874275 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 4, ., , E, x, p, e, c, t, e, d, :, , 5, 7, 2, 7, ,, , R, e, c, e, i, v, e, d, :, , 5, 8, 2, 2, ,, , M, i, s, s, i, n, g, :, , 9, 5, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 6, 9, 8, 5, 1, 6, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 8, 9, 0, 5, 1, 6, , u, s, 26,874283 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 0, ., , E, x, p, e, c, t, e, d, :, , 1, 1, 3, 3, 2, ,, , R, e, c, e, i, v, e, d, :, , 1, 1, 4, 2, 7, ,, , M, i, s, s, i, n, g, :, , 9, 5, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 1, 6, 7, 0, 9, 0, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 3, 5, 9, 0, 9, 0, , u, s, 26,874291 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, 5, ., , E, x, p, e, c, t, e, d, :, , 9, 8, 2, 3, 0, ,, , R, e, c, e, i, v, e, d, :, , 9, 8, 3, 2, 5, ,, , M, i, s, s, i, n, g, :, , 9, 5, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 1, 6, 1, 2, 3, 7, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 5, 0, 3, 5, 3, 2, 3, 7, , u, s, 26,874298 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 1, ., , E, x, p, e, c, t, e, d, :, , 5, 0, 1, 3, ,, , R, e, c, e, i, v, e, d, :, , 5, 1, 0, 8, ,, , M, i, s, s, i, n, g, :, , 9, 5, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 7, 0, 6, 8, 7, 4, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 8, 9, 8, 8, 7, 4, , u, s, 26,884394 [h, o, s, t, T, r, a, n, s, c, e, i, v, e, r, (, ), :, :, p, a, r, s, e, (, ), , d, e, t, e, c, t, e, d, , a, n, , E, R, R, O, R, , i, n, , s, e, q, u, e, n, c, e, , n, u, m, b, e, r, , f, r, o, m, , I, P, , =, , 1, 0, ., 0, ., 1, ., 2, ., , E, x, p, e, c, t, e, d, :, , 6, 3, 9, 9, ,, , R, e, c, e, i, v, e, d, :, , 6, 4, 9, 4, ,, , M, i, s, s, i, n, g, :, , 9, 5, ,, , P, r, e, v, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 7, 0, 5, 4, 2, 1, , u, s, ,, , T, h, i, s, , F, r, a, m, e, , T, X, , a, t, , 2, 4, 9, 8, 9, 7, 4, 2, 1, , u, s, 27,569017 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 27,579240 EthResource::verifyBoardPresence() found BOARD left_leg-eb9-j4_5 with IP 10.0.1.9 after 1.00212 seconds 27,579274 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb9-j4_5 with IP 10.0.1.9 27,579288 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb9-j4_5 with IP 10.0.1.9 : config mode + cleared all its regulars 27,589459 EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb9-j4_5 with IP 10.0.1.9 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 27,589478 EthResource::askBoardVersion() found BOARD left_leg-eb9-j4_5 @ IP 10.0.1.9 of type ems4 with FW = ver 3.67 built on 2023 Apr 17 14:0 27,619947 from BOARD 10.0.1.9 (left_leg-eb9-j4_5), src LOCAL, adr 0, time 250s 813m 485u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 27,619967 from BOARD 10.0.1.9 (left_leg-eb9-j4_5) @ 250s 813m 653u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. 27,619976 from BOARD 10.0.1.9 (left_leg-eb9-j4_5) @ 250s 814m 232u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 27,619983 from BOARD 10.0.1.9 (left_leg-eb9-j4_5) @ 250s 814m 386u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 27,619989 from BOARD 10.0.1.9 (left_leg-eb9-j4_5) @ 250s 814m 549u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms 27,630122 from BOARD 10.0.1.9 (left_leg-eb9-j4_5), src LOCAL, adr 0, time 250s 815m 30u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 27,630142 embObjMotionControl:serviceVerifyActivate OK! 27,670745 from BOARD 10.0.1.9 (left_leg-eb9-j4_5), src LOCAL, adr 0, time 250s 859m 264u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 27,670765 from BOARD 10.0.1.9 (left_leg-eb9-j4_5), src LOCAL, adr 0, time 250s 859m 379u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 27,670773 from BOARD 10.0.1.9 (left_leg-eb9-j4_5), src LOCAL, adr 1, time 250s 870m 927u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 27,680923 from BOARD 10.0.1.9 (left_leg-eb9-j4_5), src LOCAL, adr 1, time 250s 871m 44u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 27,691078 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 27,691100 1068 27,691113 .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 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_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type amo amo amo amo) (port CONN:P6 CONN:P8 CONN:P7 CONN:P9) (position atjoint atjoint atjoint atjoint) (resolution -16384 -16384 -16384 16384) (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 3.6 3.6 3.6 3.6))))\"), (\"LIMITS\" [group] = \"(jntPosMax 106 108 78 5) (jntPosMin -42 -15 -78 -103) (jntVelMax 240 240 240 240) (motorNominalCurrents 15000 15000 5000 10000) (motorPeakCurrents 20000 20000 10000 15000) (motorOverloadCurrents 30000 30000 15000 20000) (motorPwmLimit 16000 16000 16000 16000)\"), (\"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_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (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)\" 1069 27,691178 ), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 5000 -25000 3000 10000) (kd 0 0 0 0) (ki 1500 -5000 200 1500) (maxOutput 12000 11000 12000 16000) (maxInt 1500 5000 2000 2000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 25 25 25 25) (maxInt 1.56 1.56 1.56 1.56) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau -0.52 0.46 -0.56 0.68)\"), (\"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)\"), (\"TRQ_PID_OUTPUT_CURR\" [group] = \"(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 100 -150 0.0 350) (kd 0 0 0 0) (ki 10 -25 0 100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf 0.0001 -0.0001 0.0005 0.0003) (filterType 0 0 0 0) (ktau 40 -50 150 110)\"), (\"OTHER_CONTROL_PARAMETERS\" [group] = \"(deadZone 0.0049 0.0049 0.0049 0.011)\"), (\"KALMAN_FILTER\" [group] = \"(kalmanFilterEnabled 1 1 1 1) (x0 0 0 0 0) (x1 0 0 0 0) (x2 0 0 0 0) (Q0 0.0001 0.0001 0.0001 0.0001) (Q1 0.01 0.01 0.01 0.01) (Q2 10 10 10 10) (R 0.001 0.001 0.001 0.001) (P0 0.000099 0.000099 0.000099 0.000099)\")]") 27,691272 1071 27,701248 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName r_hip_pitch r_hip_roll r_hip_yaw r_knee) (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 -160.0 100.0 100.0) (Gearbox_E2J 64 64 64 64) (useMotorSpeedFbk 1 1 1 1) (MotorType MOOG_C2900580 MOOG_C2900576 MOOG_C2900576 MOOG_C2900580) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (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))) (KALMAN_FILTER (kalmanFilterEnabled 1 1 1 1) (x0 0 0 0 0) (x1 0 0 0 0) (x2 0 0 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10 10 10) (R 0.00100000000000000002082 0.00100000000000000002082 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 110.150000000000005684 111.462999999999993861 81.0780000000000029559 7.75) (hardwareJntPosMin -44.8100000000000022737 -35 -81.0780000000000029559 -105.230000000000003979) (rotorPosMin 0 0 0 0) (rotorPosM 1072 27,701272 ax 0 0 0 0) (jntPosMax 106 108 78 5) (jntPosMin -42 -15 -78 -103) (jntVelMax 240 240 240 240) (motorNominalCurrents 15000 15000 5000 10000) (motorPeakCurrents 20000 20000 10000 15000) (motorOverloadCurrents 30000 30000 15000 20000) (motorPwmLimit 16000 16000 16000 16000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179 0.00489999999999999984179 0.0109999999999999993616)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 5000 -25000 3000 10000) (kd 0 0 0 0) (ki 1500 -5000 200 1500) (maxOutput 12000 11000 12000 16000) (maxInt 1500 5000 2000 2000) (stictionUp 0 0 0 0) (stictionDown 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 foc foc foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\" \"CAN1:4:0\")) (ENCODER1 (type amo amo amo amo) (port \"CONN:P6\" \"CONN:P8\" \"CONN:P7\" \"CONN:P9\") (position atjoint atjoint atjoint atjoint) (resolution -16384 -16384 -16384 16384) (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 3.60000000000000008882 3.60000000000000008882 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 25 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) 1073 27,701339 (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau -0.520000000000000017764 0.460000000000000019984 -0.560000000000000053291 0.68000000000000004885)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 100 -150 0.0 350) (kd 0 0 0 0) (ki 10 -25 0 100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf 0.000100000000000000004792 -0.000100000000000000004792 0.000500000000000000010408 0.000299999999999999973719) (filterType 0 0 0 0) (ktau 40 -50 150 110)) (device embObjMotionControl) (id right_leg-eb6-j0_3-mc) (robotName ergoCubSN000)") 27,701377 eth::parser::print(boardData) for BOARD right_leg-eb6-j0_3 27,701386 ETH_BOARD/ETH_BOARD_PROPERTIES: 27,701391 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.6 27,701397 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 27,711411 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 27,711429 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 27,711436 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 27,711441 ETH_BOARD/ETH_BOARD_SETTINGS: 27,711450 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_leg-eb6-j0_3 27,711456 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 27,721571 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 27,721590 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 27,721596 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.6 (right_leg-eb6-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec 27,721602 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.6 27,721608 viscousPos parameter not found for board right_leg-eb6-j0_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 100 -150 0.0 350) (kd 0 0 0 0) (ki 10 -25 0 100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf 0.000100000000000000004792 -0.000100000000000000004792 0.000500000000000000010408 0.000299999999999999973719) (filterType 0 0 0 0) (ktau 40 -50 150 110) 27,721617 viscousNeg parameter not found for board right_leg-eb6-j0_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 100 -150 0.0 350) (kd 0 0 0 0) (ki 10 -25 0 100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf 0.000100000000000000004792 -0.000100000000000000004792 0.000500000000000000010408 0.000299999999999999973719) (filterType 0 0 0 0) (ktau 40 -50 150 110) 27,721624 coulombPos parameter not found for board right_leg-eb6-j0_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 100 -150 0.0 350) (kd 0 0 0 0) (ki 10 -25 0 100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf 0.000100000000000000004792 -0.000100000000000000004792 0.000500000000000000010408 0.000299999999999999973719) (filterType 0 0 0 0) (ktau 40 -50 150 110) 27,731722 coulombNeg parameter not found for board right_leg-eb6-j0_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 100 -150 0.0 350) (kd 0 0 0 0) (ki 10 -25 0 100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (kbemf 0.000100000000000000004792 -0.000100000000000000004792 0.000500000000000000010408 0.000299999999999999973719) (filterType 0 0 0 0) (ktau 40 -50 150 110) 27,731745 EthResource::verifyBoardPresence() found BOARD right_leg-eb6-j0_3 with IP 10.0.1.6 after 0.00327015 seconds 27,731753 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb6-j0_3 with IP 10.0.1.6 27,731759 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb6-j0_3 with IP 10.0.1.6 : config mode + cleared all its regulars 27,731765 EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb6-j0_3 with IP 10.0.1.6 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 27,731770 EthResource::askBoardVersion() found BOARD right_leg-eb6-j0_3 @ IP 10.0.1.6 of type ems4 with FW = ver 3.67 built on 2023 Apr 17 14:0 27,741877 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 0, time 250s 936m 616u: (code 0x05000015, par16 0x4000 par64 0xffffffffffff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 27,741896 from BOARD 10.0.1.6 (right_leg-eb6-j0_3) @ 250s 936m 784u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. 27,741904 from BOARD 10.0.1.6 (right_leg-eb6-j0_3) @ 250s 937m 751u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.12 Search time was 0 ms 27,741910 embObjMotionControl:serviceVerifyActivate OK! 27,741915 from BOARD 10.0.1.6 (right_leg-eb6-j0_3) @ 250s 937m 905u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.12 Search time was 0 ms 27,752034 from BOARD 10.0.1.6 (right_leg-eb6-j0_3) @ 250s 938m 61u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.6 and application ver 3.3.12 Search time was 0 ms 27,752053 from BOARD 10.0.1.6 (right_leg-eb6-j0_3) @ 250s 938m 215u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.12 Search time was 0 ms 27,752059 from BOARD 10.0.1.6 (right_leg-eb6-j0_3) @ 250s 938m 377u: CAN discovery 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 27,752065 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 0, time 250s 939m 2u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 27,813001 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 0, time 251s 10m 735u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 27,813020 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 0, time 251s 10m 849u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 27,823155 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 1, time 251s 22m 393u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 27,823174 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 1, time 251s 22m 506u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 27,833309 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 2, time 251s 35m 142u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 27,843461 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 2, time 251s 35m 255u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 27,853611 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 3, time 251s 47m 876u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 27,853630 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 3, time 251s 47m 990u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 27,863772 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 27,863796 1116 27,863808 (listofjoints 1) (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 foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P7) (position atjoint atjoint) (resolution -16384 16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))\"), (\"LIMITS\" [group] = \"(jntPosMax 43 23) (jntPosMin -43 -23) (jntVelMax 240 240) (motorNominalCurrents 10000 10000) (motorPeakCurrents 15000 15000) (motorOverloadCurrents 30000 30000) (motorPwmLimit 16000 16000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 30.0 30.0) (damping 0.05 0.05)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp 15000 10000) (kd 0 0) (ki 1000 1000) (maxOutput 15000 12000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0 0) (filterType 0 0) (ktau 0.72 0.56)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)\"), (\"2FOC_VE 1117 27,873930 L_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)\"), (\"TRQ_PID_OUTPUT_CURR\" [group] = \"(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.0009 0.0003) (filterType 0 0) (ktau 128.81 160)\"), (\"OTHER_CONTROL_PARAMETERS\" [group] = \"(deadZone 0.011 0.011)\"), (\"KALMAN_FILTER\" [group] = \"(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)\")]") 27,873986 1119 27,874002 44000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.0 160.0) (Gearbox_E2J 64 32) (useMotorSpeedFbk 1 1) (MotorType MOOG_C2900580 MOOG_C2900575) (Verbose 0)) (IMPEDANCE (stiffness 30.0 30.0) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 45.9399999999999977263 25.7860000000000013642) (hardwareJntPosMin -45.9399999999999977263 -25.7860000000000013642) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 43 23) (jntPosMin -43 -23) (jntVelMax 240 240) (motorNominalCurrents 10000 10000) (motorPeakCurrents 15000 15000) (motorOverloadCurrents 30000 30000) (motorPwmLimit 16000 16000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.0109999999999999993616 0.0109999999999999993616)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp 15000 10000) (kd 0 0) (ki 1000 1000) (maxOutput 15000 12000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 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 foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\")) (ENCODER1 (type amo amo) (port \"CONN:P6\" \"CONN:P7\") (position atjoint atjoint) (resolution -16384 16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port \"CAN1:1:0\" 1120 27,874052 \"CAN1:2:0\") (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0 0) (filterType 0 0) (ktau 0.719999999999999973355 0.560000000000000053291)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000899999999999999975367 0.000299999999999999973719) (filterType 0 0) (ktau 128.810000000000002274 160)) (device embObjMotionControl) (id right_leg-eb7-j4_5-mc) (robotName ergoCubSN000)") 27,874062 eth::parser::print(boardData) for BOARD right_leg-eb7-j4_5 27,874071 ETH_BOARD/ETH_BOARD_PROPERTIES: 27,874080 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.7 27,884095 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 27,884113 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 27,884120 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 27,884125 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 27,884130 ETH_BOARD/ETH_BOARD_SETTINGS: 27,884134 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_leg-eb7-j4_5 27,884140 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 27,894248 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 27,894270 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 27,894279 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.7 (right_leg-eb7-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec 27,894285 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.7 27,894291 viscousPos parameter not found for board right_leg-eb7-j4_5 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000899999999999999975367 0.000299999999999999973719) (filterType 0 0) (ktau 128.810000000000002274 160) 27,894298 viscousNeg parameter not found for board right_leg-eb7-j4_5 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000899999999999999975367 0.000299999999999999973719) (filterType 0 0) (ktau 128.810000000000002274 160) 27,894305 coulombPos parameter not found for board right_leg-eb7-j4_5 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000899999999999999975367 0.000299999999999999973719) (filterType 0 0) (ktau 128.810000000000002274 160) 27,904404 coulombNeg parameter not found for board right_leg-eb7-j4_5 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (kbemf 0.000899999999999999975367 0.000299999999999999973719) (filterType 0 0) (ktau 128.810000000000002274 160) 27,904424 EthResource::verifyBoardPresence() found BOARD right_leg-eb7-j4_5 with IP 10.0.1.7 after 0.00156045 seconds 27,904431 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb7-j4_5 with IP 10.0.1.7 27,904437 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb7-j4_5 with IP 10.0.1.7 : config mode + cleared all its regulars 27,904445 EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb7-j4_5 with IP 10.0.1.7 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 27,904450 EthResource::askBoardVersion() found BOARD right_leg-eb7-j4_5 @ IP 10.0.1.7 of type ems4 with FW = ver 3.67 built on 2023 Apr 17 14:0 27,914573 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 0, time 251s 108m 484u: (code 0x05000015, par16 0x2000 par64 0x0000000000ff0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 27,914593 from BOARD 10.0.1.7 (right_leg-eb7-j4_5) @ 251s 108m 652u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. 27,914601 from BOARD 10.0.1.7 (right_leg-eb7-j4_5) @ 251s 109m 231u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.12 Search time was 0 ms 27,914607 embObjMotionControl:serviceVerifyActivate OK! 27,914612 from BOARD 10.0.1.7 (right_leg-eb7-j4_5) @ 251s 109m 385u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.12 Search time was 0 ms 27,914618 from BOARD 10.0.1.7 (right_leg-eb7-j4_5) @ 251s 109m 548u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms 27,924731 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 0, time 251s 110m 28u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 27,955207 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 0, time 251s 155m 227u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 27,955229 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 0, time 251s 155m 341u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 27,965362 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 1, time 251s 166m 971u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 27,965381 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 1, time 251s 167m 87u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 27,975517 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 27,985678 Opening device left_arm-eb2-j0_1-strain with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.2) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb2-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_arm_ft_sensor) (board strain2) (location CAN2:13))) (SETTINGS (enabledSensors l_arm_ft_sensor) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")] 27,995833 MultipleFTSensors has been created 27,995851 MultipleFTSensors has been created 27,995857 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.2") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb2-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_arm_ft_sensor) (board strain2) (location "CAN2:13"))) (SETTINGS (enabledSensors l_arm_ft_sensor) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id left_arm-eb2-j0_1-strain) (robotName ergoCubSN000) 27,995874 embObjMultipleFTsensors::open(): preparing ETH resource 27,995880 embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2) embObjMultipleFTsensors::open(): browsing xml files which describe the service 28,005991 ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName 28,006010 embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2) embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct 28,006018 embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2) embObjMultipleFTsensors::open(): verify and activate the FT service 28,006025 from BOARD 10.0.1.2 (left_arm-eb2-j0_1) @ 251s 200m 940u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9. 28,006032 from BOARD 10.0.1.2 (left_arm-eb2-j0_1) @ 251s 201m 873u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.14 Search time was 0 ms 28,006038 from BOARD 10.0.1.2 (left_arm-eb2-j0_1) @ 251s 202m 38u: CAN discovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 0 ms 28,006044 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 0, time 251s 207m 881u: (code 0x0500005a, par16 0x0000 par64 0x0000000000000000) -> CFG: theFTservice is OK + . 28,016150 embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2) embObjMultipleFTsensors::open(): configure the FT service 28,016169 embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2) embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up 28,026313 embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2) embObjMultipleFTsensors::open(): start the FT service 28,026334 embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2) embObjMultipleFTsensors::open(): start streaming of FT data 28,036463 Created device . See C++ class yarp::dev::embObjMultipleFTsensors for documentation. 28,046621 Opening device right_arm-eb1-j0_1-strain with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb1-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_arm_ft_sensor) (board strain2) (location CAN2:13))) (SETTINGS (enabledSensors r_arm_ft_sensor) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")] 28,046647 MultipleFTSensors has been created 28,046654 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb1-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_arm_ft_sensor) (board strain2) (location "CAN2:13"))) (SETTINGS (enabledSensors r_arm_ft_sensor) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id right_arm-eb1-j0_1-strain) (robotName ergoCubSN000) 28,046670 embObjMultipleFTsensors::open(): preparing ETH resource 28,046676 embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1) embObjMultipleFTsensors::open(): browsing xml files which describe the service 28,046682 ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName 28,046687 embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1) embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct 28,056775 embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1) embObjMultipleFTsensors::open(): verify and activate the FT service 28,056796 from BOARD 10.0.1.1 (right_arm-eb1-j0_1) @ 251s 250m 384u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9. 28,056803 from BOARD 10.0.1.1 (right_arm-eb1-j0_1) @ 251s 251m 319u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.14 Search time was 0 ms 28,056810 from BOARD 10.0.1.1 (right_arm-eb1-j0_1) @ 251s 251m 481u: CAN discovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 0 ms 28,056816 from BOARD 10.0.1.1 (right_arm-eb1-j0_1), src LOCAL, adr 0, time 251s 257m 324u: (code 0x0500005a, par16 0x0000 par64 0x0000000000000000) -> CFG: theFTservice is OK + . 28,056821 embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1) embObjMultipleFTsensors::open(): configure the FT service 28,066950 embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1) embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up 28,066968 embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1) embObjMultipleFTsensors::open(): start the FT service 28,077101 embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1) embObjMultipleFTsensors::open(): start streaming of FT data 28,087258 Created device . See C++ class yarp::dev::embObjMultipleFTsensors for documentation. 28,087279 Opening device left_leg-eb9-j4_5-strain with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.9) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb9-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_foot_rear_ft_sensor l_foot_front_ft_sensor) (board strain2 strain2) (location CAN2:13 CAN2:14))) (SETTINGS (enabledSensors l_foot_rear_ft_sensor l_foot_front_ft_sensor) (ftPeriod 2 10) (temperaturePeriod 1000 1000) (useCalibration true true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")] 28,087294 MultipleFTSensors has been created 28,097412 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.9") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb9-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_foot_rear_ft_sensor l_foot_front_ft_sensor) (board strain2 strain2) (location "CAN2:13" "CAN2:14"))) (SETTINGS (enabledSensors l_foot_rear_ft_sensor l_foot_front_ft_sensor) (ftPeriod 2 10) (temperaturePeriod 1000 1000) (useCalibration true true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id left_leg-eb9-j4_5-strain) (robotName ergoCubSN000) 28,097440 embObjMultipleFTsensors::open(): preparing ETH resource 28,097448 embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9) embObjMultipleFTsensors::open(): browsing xml files which describe the service 28,097455 ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName 28,097460 embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9) embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct 28,097466 embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9) embObjMultipleFTsensors::open(): verify and activate the FT service 28,097471 from BOARD 10.0.1.9 (left_leg-eb9-j4_5) @ 251s 290m 366u: CAN discovery has started for 2 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x6000) with target can protocol ver 2.0 and application ver 2.0.9. 28,107569 from BOARD 10.0.1.9 (left_leg-eb9-j4_5) @ 251s 292m 311u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.14 Search time was 0 ms 28,107588 from BOARD 10.0.1.9 (left_leg-eb9-j4_5) @ 251s 292m 467u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 14 with can protocol ver 2.0 and application ver 2.0.14 Search time was 1 ms 28,107596 from BOARD 10.0.1.9 (left_leg-eb9-j4_5) @ 251s 292m 629u: CAN discovery is OK for 2 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 1 ms 28,107605 from BOARD 10.0.1.9 (left_leg-eb9-j4_5), src LOCAL, adr 0, time 251s 293m 237u: (code 0x0000000b, par16 0x0235 par64 0x0078002900b70020) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 28,107612 from BOARD 10.0.1.9 (left_leg-eb9-j4_5), src LOCAL, adr 0, time 251s 304m 309u: (code 0x0500005a, par16 0x0000 par64 0x0000000000000000) -> CFG: theFTservice is OK + . 28,107618 embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9) embObjMultipleFTsensors::open(): configure the FT service 28,138042 embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9) embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up 28,138060 embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9) embObjMultipleFTsensors::open(): start the FT service 28,148198 embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9) embObjMultipleFTsensors::open(): start streaming of FT data 28,168509 Created device . See C++ class yarp::dev::embObjMultipleFTsensors for documentation. 28,168532 Opening device right_leg-eb7-j4_5-strain with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.7) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb7-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_foot_rear_ft_sensor r_foot_front_ft_sensor) (board strain2 strain2) (location CAN2:13 CAN2:14))) (SETTINGS (enabledSensors r_foot_rear_ft_sensor r_foot_front_ft_sensor) (ftPeriod 2 10) (temperaturePeriod 1000 1000) (useCalibration true true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")] 28,178668 MultipleFTSensors has been created 28,178686 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.7") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb7-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_foot_rear_ft_sensor r_foot_front_ft_sensor) (board strain2 strain2) (location "CAN2:13" "CAN2:14"))) (SETTINGS (enabledSensors r_foot_rear_ft_sensor r_foot_front_ft_sensor) (ftPeriod 2 10) (temperaturePeriod 1000 1000) (useCalibration true true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id right_leg-eb7-j4_5-strain) (robotName ergoCubSN000) 28,178706 embObjMultipleFTsensors::open(): preparing ETH resource 28,178713 embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7) embObjMultipleFTsensors::open(): browsing xml files which describe the service 28,178719 ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName 28,178724 embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7) embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct 28,178730 embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7) embObjMultipleFTsensors::open(): verify and activate the FT service 28,188829 from BOARD 10.0.1.7 (right_leg-eb7-j4_5) @ 251s 377m 517u: CAN discovery has started for 2 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x6000) with target can protocol ver 2.0 and application ver 2.0.9. 28,188849 from BOARD 10.0.1.7 (right_leg-eb7-j4_5) @ 251s 379m 463u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.14 Search time was 0 ms 28,188857 from BOARD 10.0.1.7 (right_leg-eb7-j4_5) @ 251s 379m 618u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 14 with can protocol ver 2.0 and application ver 2.0.14 Search time was 1 ms 28,188862 from BOARD 10.0.1.7 (right_leg-eb7-j4_5) @ 251s 379m 781u: CAN discovery is OK for 2 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 1 ms 28,188868 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 0, time 251s 380m 388u: (code 0x0000000b, par16 0x0236 par64 0x007b002900b70020) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 28,188877 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 0, time 251s 391m 463u: (code 0x0500005a, par16 0x0000 par64 0x0000000000000000) -> CFG: theFTservice is OK + . 28,198988 embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7) embObjMultipleFTsensors::open(): configure the FT service 28,219291 embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7) embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up 28,229444 embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7) embObjMultipleFTsensors::open(): start the FT service 28,229462 embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7) embObjMultipleFTsensors::open(): start streaming of FT data 28,259918 Created device . See C++ class yarp::dev::embObjMultipleFTsensors for documentation. 28,259940 Opening device left_leg-eb8-j0_3-strain with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.8) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb8-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_leg_ft_sensor) (board strain2) (location CAN2:13))) (SETTINGS (enabledSensors l_leg_ft_sensor) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")] 28,259956 MultipleFTSensors has been created 28,259962 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.8") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb8-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_leg_ft_sensor) (board strain2) (location "CAN2:13"))) (SETTINGS (enabledSensors l_leg_ft_sensor) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id left_leg-eb8-j0_3-strain) (robotName ergoCubSN000) 28,259977 embObjMultipleFTsensors::open(): preparing ETH resource 28,259986 eth::parser::print(boardData) for BOARD left_leg-eb8-j0_3 28,270082 ETH_BOARD/ETH_BOARD_PROPERTIES: 28,270102 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.8 28,270109 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 28,270115 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 28,270120 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 28,270126 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 28,270131 ETH_BOARD/ETH_BOARD_SETTINGS: 28,280235 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_leg-eb8-j0_3 28,280253 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 2 28,280262 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 28,280267 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 28,280273 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.8 (left_leg-eb8-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec 28,280279 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.8 28,290398 embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8) embObjMultipleFTsensors::open(): browsing xml files which describe the service 28,290416 ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName 28,290423 embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8) embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct 28,290429 from BOARD 10.0.1.8 (left_leg-eb8-j0_3), src LOCAL, adr 0, time 251s 464m 819u: (code 0x00000034, par16 0x0001 par64 0x0000000000000008) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . 28,290436 EthResource::verifyBoardPresence() found BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 after 0.0032649 seconds 28,290442 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 28,290450 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 : config mode + cleared all its regulars 28,300561 EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2 every cycle 28,300580 EthResource::askBoardVersion() found BOARD left_leg-eb8-j0_3 @ IP 10.0.1.8 of type ems4 with FW = ver 3.67 built on 2023 Apr 17 14:0 28,300586 embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8) embObjMultipleFTsensors::open(): verify and activate the FT service 28,300591 from BOARD 10.0.1.8 (left_leg-eb8-j0_3) @ 251s 488m 646u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9. 28,300598 from BOARD 10.0.1.8 (left_leg-eb8-j0_3) @ 251s 489m 104u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.15 Search time was 0 ms 28,300603 from BOARD 10.0.1.8 (left_leg-eb8-j0_3) @ 251s 489m 262u: CAN discovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 0 ms 28,310712 from BOARD 10.0.1.8 (left_leg-eb8-j0_3), src LOCAL, adr 0, time 251s 490m 742u: (code 0x0500005a, par16 0x0000 par64 0x0000000000000000) -> CFG: theFTservice is OK + . 28,310730 embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8) embObjMultipleFTsensors::open(): configure the FT service 28,310737 embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8) embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up 28,310745 embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8) embObjMultipleFTsensors::open(): start the FT service 28,310751 embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8) embObjMultipleFTsensors::open(): start streaming of FT data 28,320863 Created device . See C++ class yarp::dev::embObjMultipleFTsensors for documentation. 28,320885 Opening device right_leg-eb6-j0_3-strain with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.6) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb6-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_leg_ft_sensor) (board strain2) (location CAN2:13))) (SETTINGS (enabledSensors r_leg_ft_sensor) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")] 28,320900 MultipleFTSensors has been created 28,320906 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.6") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb6-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_leg_ft_sensor) (board strain2) (location "CAN2:13"))) (SETTINGS (enabledSensors r_leg_ft_sensor) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id right_leg-eb6-j0_3-strain) (robotName ergoCubSN000) 28,320920 embObjMultipleFTsensors::open(): preparing ETH resource 28,331023 embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6) embObjMultipleFTsensors::open(): browsing xml files which describe the service 28,331041 ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName 28,331048 embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6) embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct 28,331057 embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6) embObjMultipleFTsensors::open(): verify and activate the FT service 28,331063 from BOARD 10.0.1.6 (right_leg-eb6-j0_3) @ 251s 523m 434u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9. 28,331069 from BOARD 10.0.1.6 (right_leg-eb6-j0_3) @ 251s 525m 396u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.0.15 Search time was 1 ms 28,341184 from BOARD 10.0.1.6 (right_leg-eb6-j0_3) @ 251s 525m 558u: CAN discovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 1 ms 28,341203 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 0, time 251s 526m 308u: (code 0x0000000b, par16 0x01ae par64 0x00da003201790072) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 28,341211 from BOARD 10.0.1.6 (right_leg-eb6-j0_3), src LOCAL, adr 0, time 251s 531m 394u: (code 0x0500005a, par16 0x0000 par64 0x0000000000000000) -> CFG: theFTservice is OK + . 28,341217 embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6) embObjMultipleFTsensors::open(): configure the FT service 28,351344 embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6) embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up 28,351362 embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6) embObjMultipleFTsensors::open(): start the FT service 28,361501 embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6) embObjMultipleFTsensors::open(): start streaming of FT data 28,371658 Created device . See C++ class yarp::dev::embObjMultipleFTsensors for documentation. 28,371680 Opening device left_arm-FT_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "2"), ("name" = "/ergocub/left_arm/FT")] 28,381818 Parameters are (device multipleanalogsensorsserver) (id left_arm-FT_wrapper) (name "/ergocub/left_arm/FT") (period 2) (robotName ergoCubSN000) 28,381841 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,381850 Opening device left_arm-FT_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "2"), ("name" = "/ergocub/right_arm")] 28,391978 Parameters are (device multipleanalogsensorsserver) (id left_arm-FT_wrapper) (name "/ergocub/right_arm") (period 2) (robotName ergoCubSN000) 28,392000 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,392010 Opening device left_foot-FT_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "2"), ("name" = "/ergocub/left_foot_heel_tiptoe/FT")] 28,392018 Parameters are (device multipleanalogsensorsserver) (id left_foot-FT_wrapper) (name "/ergocub/left_foot_heel_tiptoe/FT") (period 2) (robotName ergoCubSN000) 28,392027 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,392037 Opening device right_foot-FT_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "2"), ("name" = "/ergocub/right_foot_heel_tiptoe/FT")] 28,392044 Parameters are (device multipleanalogsensorsserver) (id right_foot-FT_wrapper) (name "/ergocub/right_foot_heel_tiptoe/FT") (period 2) (robotName ergoCubSN000) 28,402140 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,402164 Opening device left_leg-FT_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "2"), ("name" = "/ergocub/left_leg/FT")] 28,402173 Parameters are (device multipleanalogsensorsserver) (id left_leg-FT_wrapper) (name "/ergocub/left_leg/FT") (period 2) (robotName ergoCubSN000) 28,402183 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,402192 Opening device right_leg-FT_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "2"), ("name" = "/ergocub/right_leg/FT")] 28,402199 Parameters are (device multipleanalogsensorsserver) (id right_leg-FT_wrapper) (name "/ergocub/right_leg/FT") (period 2) (robotName ergoCubSN000) 28,412292 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,412315 Opening device head-imuFilter_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/imuFilter")] 28,412327 Parameters are (device multipleanalogsensorsserver) (id head-imuFilter_wrapper) (name "/imuFilter") (period 10) (robotName ergoCubSN000) 28,412337 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,412346 Opening device head-imuFilter with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/imuFilter")] 28,412353 Parameters are (device imuFilter) (id head-imuFilter) (name "/imuFilter") (period 10) (robotName ergoCubSN000) 28,422449 Finish PassThroughInertial::open 28,422467 Port /imuFilter/bias:o active at tcp://10.0.2.2:10043/ 28,422477 Created device . See C++ class yarp::dev::ImuFilter for documentation. 28,422486 Opening device head-inertials_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/head/inertials")] 28,422493 Parameters are (device multipleanalogsensorsserver) (id head-inertials_wrapper) (name "/ergocub/head/inertials") (period 10) (robotName ergoCubSN000) 28,422502 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,422513 Opening device head-inertial with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("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_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 1) (minor 2) (build 3))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status) (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))")] 28,432631 Parameters are (DEBUG (embBoardsConnected 1)) (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_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type rfe) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 1) (minor 2) (build 3))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status) (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 ergoCubSN000) 28,432659 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 28,432667 from BOARD 10.0.1.21 (head-eb21-j2_3) @ 252s 82m 618u: CAN discovery has started for 1 eobrd_rfe boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 2.0 and application ver 1.2.3. 28,432674 from BOARD 10.0.1.21 (head-eb21-j2_3) @ 252s 83m 580u: CAN discovery has detected a eobrd_rfe board in CAN1 addr 1 with can protocol ver 2.0 and application ver 1.2.3 Search time was 0 ms 28,432680 from BOARD 10.0.1.21 (head-eb21-j2_3) @ 252s 83m 744u: CAN discovery is OK for 1 eobrd_rfe boards with target can protocol ver 2.0 and application ver 1.2.3. Search time was 0 ms 28,432685 from BOARD 10.0.1.21 (head-eb21-j2_3), src LOCAL, adr 0, time 252s 83m 882u: (code 0x05000030, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheInertial3 can be correctly configured. tbd + . 28,432691 from BOARD 10.0.1.21 (head-eb21-j2_3), src LOCAL, adr 0, time 252s 84m 536u: (code 0x0000000b, par16 0x0202 par64 0x0017010200520070) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 28,442793 Created device . See C++ class yarp::dev::embObjIMU for documentation. 28,442814 Opening device left_arm-eb4-j2_3-inertial with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.4) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb4-j2_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type mtb4) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 1) (minor 4) (build 7))) (SENSORS (id IDacc IDgyr) (sensorName l_hand_acc l_hand_gyro) (type eoas_imu_acc eoas_imu_gyr) (boardType mtb4 mtb4) (location CAN2:2 CAN2:2))) (SETTINGS (acquisitionRate 50) (enabledSensors IDacc IDgyr))")] 28,442831 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.4") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb4-j2_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type mtb4) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 1) (minor 4) (build 7))) (SENSORS (id IDacc IDgyr) (sensorName l_hand_acc l_hand_gyro) (type eoas_imu_acc eoas_imu_gyr) (boardType mtb4 mtb4) (location "CAN2:2" "CAN2:2"))) (SETTINGS (acquisitionRate 50) (enabledSensors IDacc IDgyr))) (device embObjIMU) (id left_arm-eb4-j2_3-inertial) (robotName ergoCubSN000) 28,452952 from BOARD 10.0.1.4 (left_arm-eb4-j2_3) @ 251s 644m 990u: CAN discovery has started for 1 eobrd_mtb4 boards on (can1map, can2map) = (0x0000, 0x0004) with target can protocol ver 2.0 and application ver 1.4.7. 28,452971 from BOARD 10.0.1.4 (left_arm-eb4-j2_3) @ 251s 646m 978u: CAN discovery has detected a eobrd_mtb4 board in CAN2 addr 2 with can protocol ver 2.0 and application ver 1.4.7 Search time was 1 ms 28,452979 from BOARD 10.0.1.4 (left_arm-eb4-j2_3) @ 251s 647m 145u: CAN discovery is OK for 1 eobrd_mtb4 boards with target can protocol ver 2.0 and application ver 1.4.7. Search time was 1 ms 28,452985 from BOARD 10.0.1.4 (left_arm-eb4-j2_3), src LOCAL, adr 0, time 251s 647m 279u: (code 0x05000030, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheInertial3 can be correctly configured. tbd + . 28,452991 from BOARD 10.0.1.4 (left_arm-eb4-j2_3), src LOCAL, adr 0, time 251s 647m 908u: (code 0x0000000b, par16 0x021b par64 0x007300200076007b) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 28,473271 Created device . See C++ class yarp::dev::embObjIMU for documentation. 28,473293 Opening device left_arm-inertials_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/left_hand/inertialMTB")] 28,473301 Parameters are (device multipleanalogsensorsserver) (id left_arm-inertials_wrapper) (name "/ergocub/left_hand/inertialMTB") (period 10) (robotName ergoCubSN000) 28,473311 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,473321 Opening device right_arm-eb3-j2_3-inertial with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("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-j2_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type mtb4) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 1) (minor 4) (build 7))) (SENSORS (id IDacc IDgyr) (sensorName r_hand_acc r_hand_gyro) (type eoas_imu_acc eoas_imu_gyr) (boardType mtb4 mtb4) (location CAN2:2 CAN2:2))) (SETTINGS (acquisitionRate 50) (enabledSensors IDacc IDgyr))")] 28,473335 Parameters are (DEBUG (embBoardsConnected 1)) (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-j2_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type mtb4) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 1) (minor 4) (build 7))) (SENSORS (id IDacc IDgyr) (sensorName r_hand_acc r_hand_gyro) (type eoas_imu_acc eoas_imu_gyr) (boardType mtb4 mtb4) (location "CAN2:2" "CAN2:2"))) (SETTINGS (acquisitionRate 50) (enabledSensors IDacc IDgyr))) (device embObjIMU) (id right_arm-eb3-j2_3-inertial) (robotName ergoCubSN000) 28,483432 from BOARD 10.0.1.3 (right_arm-eb3-j2_3) @ 251s 665m 135u: CAN discovery has started for 1 eobrd_mtb4 boards on (can1map, can2map) = (0x0000, 0x0004) with target can protocol ver 2.0 and application ver 1.4.7. 28,483451 from BOARD 10.0.1.3 (right_arm-eb3-j2_3) @ 251s 667m 123u: CAN discovery has detected a eobrd_mtb4 board in CAN2 addr 2 with can protocol ver 2.0 and application ver 1.4.7 Search time was 1 ms 28,483459 from BOARD 10.0.1.3 (right_arm-eb3-j2_3) @ 251s 667m 287u: CAN discovery is OK for 1 eobrd_mtb4 boards with target can protocol ver 2.0 and application ver 1.4.7. Search time was 1 ms 28,483464 from BOARD 10.0.1.3 (right_arm-eb3-j2_3), src LOCAL, adr 0, time 251s 667m 421u: (code 0x05000030, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheInertial3 can be correctly configured. tbd + . 28,483470 from BOARD 10.0.1.3 (right_arm-eb3-j2_3), src LOCAL, adr 0, time 251s 668m 52u: (code 0x0000000b, par16 0x021c par64 0x008400200075002e) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 28,493589 Created device . See C++ class yarp::dev::embObjIMU for documentation. 28,493610 Opening device right_arm-inertials_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/right_hand/inertialMTB")] 28,503760 Parameters are (device multipleanalogsensorsserver) (id right_arm-inertials_wrapper) (name "/ergocub/right_hand/inertialMTB") (period 10) (robotName ergoCubSN000) 28,503787 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,503798 Opening device left_arm-eb2-j0_1-inertial with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.2) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb2-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 0) (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) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag 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))")] 28,503813 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.2") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb2-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (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) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag 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-eb2-j0_1-inertial) (robotName ergoCubSN000) 28,503829 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 28,503836 from BOARD 10.0.1.2 (left_arm-eb2-j0_1) @ 251s 702m 897u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 0.0 and application ver 0.0.0. 28,513916 from BOARD 10.0.1.2 (left_arm-eb2-j0_1) @ 251s 703m 79u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_strain2 boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 28,513935 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 0, time 251s 703m 209u: (code 0x05000030, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheInertial3 can be correctly configured. tbd + . 28,513942 from BOARD 10.0.1.2 (left_arm-eb2-j0_1), src LOCAL, adr 0, time 251s 703m 813u: (code 0x0000000b, par16 0x0275 par64 0x007f002c00790031) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 28,524077 Created device . See C++ class yarp::dev::embObjIMU for documentation. 28,524098 Opening device right_arm-eb1-j0_1-inertial with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb1-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 0) (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) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag 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))")] 28,524118 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb1-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (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) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag 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-eb1-j0_1-inertial) (robotName ergoCubSN000) 28,524134 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 28,534248 from BOARD 10.0.1.1 (right_arm-eb1-j0_1) @ 251s 731m 339u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 0.0 and application ver 0.0.0. 28,534267 from BOARD 10.0.1.1 (right_arm-eb1-j0_1) @ 251s 731m 521u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_strain2 boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 28,534275 from BOARD 10.0.1.1 (right_arm-eb1-j0_1), src LOCAL, adr 0, time 251s 731m 652u: (code 0x05000030, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheInertial3 can be correctly configured. tbd + . 28,534283 from BOARD 10.0.1.1 (right_arm-eb1-j0_1), src LOCAL, adr 0, time 251s 732m 256u: (code 0x0000000b, par16 0x0274 par64 0x002c002c007c007c) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 28,544400 Created device . See C++ class yarp::dev::embObjIMU for documentation. 28,544422 Opening device left_leg-eb9-j4_5-inertial with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.9) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb9-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2) (location CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14))) (SETTINGS (acquisitionRate 10) (enabledSensors l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat))")] 28,544439 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.9") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb9-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2) (location "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:14" "CAN2:14" "CAN2:14" "CAN2:14" "CAN2:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat))) (device embObjIMU) (id left_leg-eb9-j4_5-inertial) (robotName ergoCubSN000) 28,554568 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 28,554590 from BOARD 10.0.1.9 (left_leg-eb9-j4_5) @ 251s 743m 324u: CAN discovery has started for 2 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x6000) with target can protocol ver 0.0 and application ver 0.0.0. 28,554598 from BOARD 10.0.1.9 (left_leg-eb9-j4_5) @ 251s 743m 504u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 2 eobrd_strain2 boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 28,554605 from BOARD 10.0.1.9 (left_leg-eb9-j4_5), src LOCAL, adr 0, time 251s 743m 641u: (code 0x05000030, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheInertial3 can be correctly configured. tbd + . 28,554611 from BOARD 10.0.1.9 (left_leg-eb9-j4_5), src LOCAL, adr 0, time 251s 744m 242u: (code 0x0000000b, par16 0x028e par64 0x0020002c00bd0097) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 28,574880 Created device . See C++ class yarp::dev::embObjIMU for documentation. 28,574902 Opening device right_leg-eb7-j4_5-inertial with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.7) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb7-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2) (location CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14))) (SETTINGS (acquisitionRate 10) (enabledSensors r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat))")] 28,574919 Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.7") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb7-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2) (location "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:14" "CAN2:14" "CAN2:14" "CAN2:14" "CAN2:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat))) (device embObjIMU) (id right_leg-eb7-j4_5-inertial) (robotName ergoCubSN000) 28,574936 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 28,574942 from BOARD 10.0.1.7 (right_leg-eb7-j4_5) @ 251s 773m 481u: CAN discovery has started for 2 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x6000) with target can protocol ver 0.0 and application ver 0.0.0. 28,574949 from BOARD 10.0.1.7 (right_leg-eb7-j4_5) @ 251s 773m 661u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 2 eobrd_strain2 boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 28,585036 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 0, time 251s 773m 798u: (code 0x05000030, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheInertial3 can be correctly configured. tbd + . 28,585054 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 0, time 251s 774m 393u: (code 0x0000000b, par16 0x0294 par64 0x0076003e00bd0026) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 28,585063 from BOARD 10.0.1.7 (right_leg-eb7-j4_5), src LOCAL, adr 0, time 251s 774m 546u: (code 0x0000000d, par16 0x012e par64 0x00010026029401d4) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + . 28,595188 Created device . See C++ class yarp::dev::embObjIMU for documentation. 28,595210 Opening device left_arm-imu_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/left_arm/imu")] 28,605346 Parameters are (device multipleanalogsensorsserver) (id left_arm-imu_wrapper) (name "/ergocub/left_arm/imu") (period 10) (robotName ergoCubSN000) 28,605370 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,605381 Opening device right_arm-imu_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/right_arm/imu")] 28,605388 Parameters are (device multipleanalogsensorsserver) (id right_arm-imu_wrapper) (name "/ergocub/right_arm/imu") (period 10) (robotName ergoCubSN000) 28,605398 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,605411 Opening device left_foot-imu_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/left_foot/imu")] 28,605417 Parameters are (device multipleanalogsensorsserver) (id left_foot-imu_wrapper) (name "/ergocub/left_foot/imu") (period 10) (robotName ergoCubSN000) 28,615498 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,615520 Opening device right_foot-imu_wrapper with parameters [("robotName" = "ergoCubSN000"), ("period" = "10"), ("name" = "/ergocub/right_foot/imu")] 28,615529 Parameters are (device multipleanalogsensorsserver) (id right_foot-imu_wrapper) (name "/ergocub/right_foot/imu") (period 10) (robotName ergoCubSN000) 28,615538 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 28,615547 Opening device torso-calibrator with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 3) (deviceName Torso_Calibrator)"), ("HOME" [group] = "(positionHome 0 -20 0) (velocityHome 10 10 10)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12) (calibration1 38354 67734 6013) (calibration2 0 0 0) (calibration3 0 0 0) (calibration4 0 0 0) (calibration5 0 0 0) (calibrationZero 0 0 0) (calibrationDelta -0.939 2.917 0) (startupPosition 0 0 0) (startupVelocity 10 10 10) (startupMaxPwm 5500 5500 5500) (startupPosThreshold 2 2 2)"), ("CALIB_ORDER" = "(0) (2)")] 28,615558 Parameters are (CALIBRATION (calibrationType 12 12 12) (calibration1 38354 67734 6013) (calibration2 0 0 0) (calibration3 0 0 0) (calibration4 0 0 0) (calibration5 0 0 0) (calibrationZero 0 0 0) (calibrationDelta -0.938999999999999945821 2.91699999999999981526 0) (startupPosition 0 0 0) (startupVelocity 10 10 10) (startupMaxPwm 5500 5500 5500) (startupPosThreshold 2 2 2)) (CALIB_ORDER (0) (2)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 3) (deviceName Torso_Calibrator)) (HOME (positionHome 0 -20 0) (velocityHome 10 10 10)) (device parametricCalibratorEth) (id torso-calibrator) (robotName ergoCubSN000) 28,625654 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 28,625675 Opening device left_leg-calibrator with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 6) (deviceName Left_Leg_Calibrator)"), ("HOME" [group] = "(positionHome 0.00 5.00 0.00 0.00 0.00 0.00) (velocityHome 10.00 10.00 10.00 10.00 10.00 10.00)"), ("CALIBRATION" [group] = "(calibrationType 10 10 10 10 10 10) (calibration1 -5500 4000 -2500 -5000 2500 -3000) (calibration2 0.0 0.0 0 0 0 0) (calibration3 0.0 0.0 0 0 0 0) (calibration4 0.0 0.0 0 0 0 0) (calibration5 0.0 0.0 0 0 0 0) (calibrationZero 110.15 111.776 81.65 7.75 -46.624 25.313) (calibrationDelta 0 0 0 0 0 0) (startupPosition 90 80 0 -95 0 0) (startupVelocity 10.0 10.0 10.0 10 10 10) (startupMaxPwm 8000 8000 8000 8000 8000 8000) (startupPosThreshold 2 2 2 2 2 2)"), ("CALIB_ORDER" = "(2) (4) (5) (3) (0) (1)")] 28,625692 Parameters are (CALIBRATION (calibrationType 10 10 10 10 10 10) (calibration1 -5500 4000 -2500 -5000 2500 -3000) (calibration2 0.0 0.0 0 0 0 0) (calibration3 0.0 0.0 0 0 0 0) (calibration4 0.0 0.0 0 0 0 0) (calibration5 0.0 0.0 0 0 0 0) (calibrationZero 110.150000000000005684 111.775999999999996248 81.6500000000000056843 7.75 -46.6240000000000023306 25.3129999999999988347) (calibrationDelta 0 0 0 0 0 0) (startupPosition 90 80 0 -95 0 0) (startupVelocity 10.0 10.0 10.0 10 10 10) (startupMaxPwm 8000 8000 8000 8000 8000 8000) (startupPosThreshold 2 2 2 2 2 2)) (CALIB_ORDER (2) (4) (5) (3) (0) (1)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 6) (deviceName Left_Leg_Calibrator)) (HOME (positionHome 0.0 5.0 0.0 0.0 0.0 0.0) (velocityHome 10.0 10.0 10.0 10.0 10.0 10.0)) (device parametricCalibratorEth) (id left_leg-calibrator) (robotName ergoCubSN000) 28,625705 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 28,625714 Opening device right_leg-calibrator with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 6) (deviceName Right_Leg_Calibrator)"), ("HOME" [group] = "(positionHome 0.00 5.00 0.00 0.00 0.00 0.00) (velocityHome 10.00 10.00 10.00 10.00 10.00 10.00)"), ("CALIBRATION" [group] = "(calibrationType 10 10 10 10 10 10) (calibration1 5500 -4000 2500 5000 -2500 3000) (calibration2 0.0 0.0 0 0 0 0) (calibration3 0.0 0.0 0 0 0 0) (calibration4 0.0 0.0 0 0 0 0) (calibration5 0.0 0.0 0 0 0 0) (calibrationZero 110.15 111.463 81.078 7.75 -45.942 25.786) (calibrationDelta 0 0 0 0 0 0) (startupPosition 90 80 0 -95 0 0) (startupVelocity 10.0 10.0 10.0 10 10 10) (startupMaxPwm 8000 8000 8000 8000 8000 8000) (startupPosThreshold 2 2 2 2 2 2)"), ("CALIB_ORDER" = "(4) (5) (2) (3) (0) (1)")] 28,625725 Parameters are (CALIBRATION (calibrationType 10 10 10 10 10 10) (calibration1 5500 -4000 2500 5000 -2500 3000) (calibration2 0.0 0.0 0 0 0 0) (calibration3 0.0 0.0 0 0 0 0) (calibration4 0.0 0.0 0 0 0 0) (calibration5 0.0 0.0 0 0 0 0) (calibrationZero 110.150000000000005684 111.462999999999993861 81.0780000000000029559 7.75 -45.9420000000000001705 25.7860000000000013642) (calibrationDelta 0 0 0 0 0 0) (startupPosition 90 80 0 -95 0 0) (startupVelocity 10.0 10.0 10.0 10 10 10) (startupMaxPwm 8000 8000 8000 8000 8000 8000) (startupPosThreshold 2 2 2 2 2 2)) (CALIB_ORDER (4) (5) (2) (3) (0) (1)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 6) (deviceName Right_Leg_Calibrator)) (HOME (positionHome 0.0 5.0 0.0 0.0 0.0 0.0) (velocityHome 10.0 10.0 10.0 10.0 10.0 10.0)) (device parametricCalibratorEth) (id right_leg-calibrator) (robotName ergoCubSN000) 28,635815 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 28,635837 Opening device left_arm-calibrator with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 13) (deviceName Left_Arm_Calibrator)"), ("HOME" [group] = "(positionHome 5 30 0 10 0 0 0 30.00 0.00 0.00 0.00 0.00 0.00) (velocityHome 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00)"), ("CALIBRATION" [group] = "(calibrationType 10 10 10 10 12 12 12 12 14 12 14 14 14) (calibration1 4000 -3000 -3000 4000 17565 8161 21461 0 150 0 150 150 150) (calibration2 0 0 0 0 0 0 0 0 10923 0 14564 13653 12743) (calibration3 0 0 0 0 0 0 0 0 1 0 0 0 1) (calibration4 0 0 0 0 0 0 0 0 180 0 0 0 0) (calibration5 0 0 0 0 0 0 0 0 -273.0 0 -261.0 -259.0 -296.0) (calibrationZero 35 -15 -52 -5 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition 34 50 -10 90 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (startupVelocity 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0) (startupMaxPwm 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 2 2 2 90 5 90 5 5 5)"), ("CALIB_ORDER" = "(4 5 6) (3) (2) (0) (1) (7 8) (10 11 12)")] 28,635853 Parameters are (CALIBRATION (calibrationType 10 10 10 10 12 12 12 12 14 12 14 14 14) (calibration1 4000 -3000 -3000 4000 17565 8161 21461 0 150 0 150 150 150) (calibration2 0 0 0 0 0 0 0 0 10923 0 14564 13653 12743) (calibration3 0 0 0 0 0 0 0 0 1 0 0 0 1) (calibration4 0 0 0 0 0 0 0 0 180 0 0 0 0) (calibration5 0 0 0 0 0 0 0 0 -273.0 0 -261.0 -259.0 -296.0) (calibrationZero 35 -15 -52 -5 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition 34 50 -10 90 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0) (startupVelocity 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 0.0 100 100.0 100.0) (startupMaxPwm 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 2 2 2 90 5 90 5 5 5)) (CALIB_ORDER (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 13) (deviceName Left_Arm_Calibrator)) (HOME (positionHome 5 30 0 10 0 0 0 30.0 0.0 0.0 0.0 0.0 0.0) (velocityHome 10 10 10 10 10 10 10 40.0 40.0 40.0 40.0 40.0 40.0)) (device parametricCalibratorEth) (id left_arm-calibrator) (robotName ergoCubSN000) 28,635868 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 28,635877 Opening device right_arm-calibrator with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 13) (deviceName Right_Arm_Calibrator)"), ("HOME" [group] = "(positionHome 5 30 0 10 0 0 0 30.00 0.00 30.00 0.00 0.00 0.00) (velocityHome 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00)"), ("CALIBRATION" [group] = "(calibrationType 10 10 10 10 12 12 12 12 14 12 14 14 14) (calibration1 -4000 3000 3000 -4000 19023 28993 36030 0 150 0 150 150 150) (calibration2 0 0 0 0 0 0 0 0 10923 0 10923 13653 12743) (calibration3 0 0 0 0 0 0 0 0 1 0 1 0 0) (calibration4 0 0 0 0 0 0 0 0 180 0 0 0 0) (calibration5 0 0 0 0 0 0 0 0 -184.0 0 -294.0 -247.0 -65.0) (calibrationZero 35 -15 -52 -5 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition 34 50 -10 90 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0) (startupVelocity 10.0 10.0 10.0 10.0 10.0 10.0 10.0 30.0 30.0 30.0 30.0 30.0 30.0) (startupMaxPwm 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 2 2 2 90 5 90 5 5 5)"), ("CALIB_ORDER" = "(4 5 6) (3) (2) (0) (1) (7 8) (10 11 12)")] 28,635889 Parameters are (CALIBRATION (calibrationType 10 10 10 10 12 12 12 12 14 12 14 14 14) (calibration1 -4000 3000 3000 -4000 19023 28993 36030 0 150 0 150 150 150) (calibration2 0 0 0 0 0 0 0 0 10923 0 10923 13653 12743) (calibration3 0 0 0 0 0 0 0 0 1 0 1 0 0) (calibration4 0 0 0 0 0 0 0 0 180 0 0 0 0) (calibration5 0 0 0 0 0 0 0 0 -184.0 0 -294.0 -247.0 -65.0) (calibrationZero 35 -15 -52 -5 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition 34 50 -10 90 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0) (startupVelocity 10.0 10.0 10.0 10.0 10.0 10.0 10.0 30.0 30.0 30.0 30.0 30.0 30.0) (startupMaxPwm 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 2 2 2 90 5 90 5 5 5)) (CALIB_ORDER (4 5 6) (3) (2) (0) (1) (7 8) (10 11 12)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 13) (deviceName Right_Arm_Calibrator)) (HOME (positionHome 5 30 0 10 0 0 0 30.0 0.0 30.0 0.0 0.0 0.0) (velocityHome 10 10 10 10 10 10 10 40.0 40.0 40.0 40.0 40.0 40.0)) (device parametricCalibratorEth) (id right_arm-calibrator) (robotName ergoCubSN000) 28,635905 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 28,645993 Opening device head-calibrator with parameters [("robotName" = "ergoCubSN000"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 4) (deviceName HeadV3_Calibrator)"), ("HOME" [group] = "(positionHome 0 0 0 0) (velocityHome 10 10 10 10)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12) (calibration1 27519 -17823 61615 52575) (calibration2 0 0 0 0) (calibration3 0 0 0 0) (calibration4 0 0 0 0) (calibration5 0 0 0 0) (calibrationZero 0.0 0.0 0.0 0.0) (calibrationDelta 0.0 0.0 0.0 0.0) (startupPosition 0.0 0.0 0.0 0.0) (startupVelocity 10 10 20.0 20.0) (startupMaxPwm 1000 1000 1000 1000) (startupPosThreshold 90 90 2 2)"), ("CALIB_ORDER" = "(0 1 2) (3)")] 28,646019 Parameters are (CALIBRATION (calibrationType 12 12 12 12) (calibration1 27519 -17823 61615 52575) (calibration2 0 0 0 0) (calibration3 0 0 0 0) (calibration4 0 0 0 0) (calibration5 0 0 0 0) (calibrationZero 0.0 0.0 0.0 0.0) (calibrationDelta 0.0 0.0 0.0 0.0) (startupPosition 0.0 0.0 0.0 0.0) (startupVelocity 10 10 20.0 20.0) (startupMaxPwm 1000 1000 1000 1000) (startupPosThreshold 90 90 2 2)) (CALIB_ORDER (0 1 2) (3)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 4) (deviceName HeadV3_Calibrator)) (HOME (positionHome 0 0 0 0) (velocityHome 10 10 10 10)) (device parametricCalibratorEth) (id head-calibrator) (robotName ergoCubSN000) 28,646034 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 28,646044 There was some problem opening one or more devices. Please check the log and your configuration 28,646050 One or more devices failed opening... see previous log messages for more info 28,646056 Closing device head-calibrator 28,646061 Closing device right_arm-calibrator 28,656168 Closing device left_arm-calibrator 28,656188 Closing device right_leg-calibrator 28,656197 Closing device left_leg-calibrator 28,656203 Closing device torso-calibrator 28,656208 Closing device right_foot-imu_wrapper 28,656213 Closing device left_foot-imu_wrapper 28,666348 Closing device right_arm-imu_wrapper 28,666366 Closing device left_arm-imu_wrapper 28,666372 Closing device right_leg-eb7-j4_5-inertial 28,666377 Closing device left_leg-eb9-j4_5-inertial 28,666382 Closing device right_arm-eb1-j0_1-inertial 28,666386 Closing device left_arm-eb2-j0_1-inertial 28,676499 Closing device right_arm-inertials_wrapper 28,676517 Closing device right_arm-eb3-j2_3-inertial 28,676523 Closing device left_arm-inertials_wrapper 28,676528 Closing device left_arm-eb4-j2_3-inertial 28,676533 Closing device head-inertial 28,676538 Closing device head-inertials_wrapper 28,686661 Closing device head-imuFilter 28,686680 Closing device head-imuFilter_wrapper 28,686687 Closing device right_leg-FT_wrapper 28,686692 Closing device left_leg-FT_wrapper 28,686699 Closing device right_foot-FT_wrapper 28,686704 Closing device left_foot-FT_wrapper 28,696823 Closing device left_arm-FT_wrapper 28,696841 Closing device left_arm-FT_wrapper 28,696846 Closing device right_leg-eb6-j0_3-strain 28,696851 Closing device left_leg-eb8-j0_3-strain 28,696856 Closing device right_leg-eb7-j4_5-strain 28,696861 Closing device left_leg-eb9-j4_5-strain 28,706982 Closing device right_arm-eb1-j0_1-strain 28,706999 Closing device left_arm-eb2-j0_1-strain 28,707008 Closing device right_leg-eb7-j4_5-mc 28,707013 Closing device right_leg-eb6-j0_3-mc 28,707018 Closing device left_leg-eb9-j4_5-mc 28,707022 Closing device left_leg-eb8-j0_3-mc 28,707027 Closing device right_arm-eb24-j11_12-mc 28,717137 Closing device right_arm-eb22-j7_10-mc 28,717155 Closing device right_arm-eb30-j4_6-mc 28,717161 Closing device right_arm-eb3-j2_3-mc 28,717165 Closing device right_arm-eb1-j0_1-mc 28,717170 Closing device left_arm-eb25-j11_12-mc 28,727291 Closing device left_arm-eb23-j7_10-mc 28,737450 Closing device left_arm-eb31-j4_6-mc 28,747606 Closing device left_arm-eb4-j2_3-mc 28,747624 Closing device left_arm-eb2-j0_1-mc 28,757761 Closing device torso-eb5-j0_2-mc 28,767921 Closing device head-eb21-j2_3-mc 28,778087 Closing device head-eb20-j0_1-mc 28,788239 Closing device head-mc_remapper 28,788257 Closing device head-mc_nws_yarp 28,798396 Closing device torso-mc_remapper 28,798414 Closing device torso-mc_nws_yarp 28,798423 Closing device left_arm-mc_remapper 28,798427 Closing device left_arm-mc_nws_yarp 28,798432 Closing device right_arm-mc_remapper 28,798436 Closing device right_arm-mc_nws_yarp 28,808558 Closing device right_leg-mc_remapper 28,808575 Closing device left_leg-mc_remapper 28,808581 Closing device right_leg-mc_nws_yarp 28,808586 Closing device left_leg-mc_nws_yarp 28,808590 Closing device left_hand-pos2 28,818710 Closing device left_hand_as_wrapper2 28,818730 Closing device right_hand-pos2 28,818737 Closing device right_hand_as_wrapper2 28,818742 Closing device left_hand-pos4 28,828870 Closing device left_hand_as_wrapper4 28,828887 Closing device right_hand-pos4 29,083488 Closing device right_hand_as_wrapper4 29,083512 Error in startup phase... see previous messages for more info 29,083519 Interrupt # 1 # received. 29,083524 Interrupt received. Stopping all running threads. 29,083529 interrupt1 phase starting... 29,093684 Entering action level 1 of phase interrupt1 29,093702 Executing park action, level 1 on device torso-calibrator with parameters [("target" = "torso-mc_remapper")] 29,093709 park device do not exists 29,093715 Cannot run park action on device torso-calibrator 29,093720 Executing park action, level 1 on device left_leg-calibrator with parameters [("target" = "left_leg-mc_remapper")] 29,093725 park device do not exists 29,103839 Cannot run park action on device left_leg-calibrator 29,103864 Executing park action, level 1 on device right_leg-calibrator with parameters [("target" = "right_leg-mc_remapper")] 29,103873 park device do not exists 29,103878 Cannot run park action on device right_leg-calibrator 29,103887 Executing park action, level 1 on device left_arm-calibrator with parameters [("target" = "left_arm-mc_remapper")] 29,114002 park device do not exists 29,114024 Cannot run park action on device left_arm-calibrator 29,114031 Executing park action, level 1 on device right_arm-calibrator with parameters [("target" = "right_arm-mc_remapper")] 29,114038 park device do not exists 29,114043 Cannot run park action on device right_arm-calibrator 29,114048 Executing park action, level 1 on device head-calibrator with parameters [("target" = "head-mc_remapper")] 29,124170 park device do not exists 29,124189 Cannot run park action on device head-calibrator 29,124196 All actions for action level 1 of interrupt1 phase started. Waiting for unfinished actions. 29,124205 All actions for action level 1 of interrupt1 phase finished. 29,124210 There was some problem running actions for interrupt1 phase . Please check the log and your configuration 29,134343 interrupt1 phase finished. 29,134360 Error in interrupt1 phase... see previous messages for more info 29,134367 shutdown phase starting... 29,134372 Entering action level 5 of phase shutdown 29,134377 Executing detach action, level 5 on device right_hand_as_wrapper4 with parameters [] 29,134383 right_hand_as_wrapper4 is neither a wrapper nor a multiplewrapper, therefore it cannot have detach actions 29,134388 Cannot run detach action on device right_hand_as_wrapper4 29,144496 Executing detach action, level 5 on device left_hand_as_wrapper4 with parameters [] 29,144517 left_hand_as_wrapper4 is neither a wrapper nor a multiplewrapper, therefore it cannot have detach actions 29,144525 Cannot run detach action on device left_hand_as_wrapper4 29,144530 Executing detach action, level 5 on device right_hand_as_wrapper2 with parameters [] 29,144536 right_hand_as_wrapper2 is neither a wrapper nor a multiplewrapper, therefore it cannot have detach actions 29,144541 Cannot run detach action on device right_hand_as_wrapper2 29,154656 Executing detach action, level 5 on device left_hand_as_wrapper2 with parameters [] 29,154674 left_hand_as_wrapper2 is neither a wrapper nor a multiplewrapper, therefore it cannot have detach actions 29,154682 Cannot run detach action on device left_hand_as_wrapper2 29,154687 Executing detach action, level 5 on device left_arm-FT_wrapper with parameters [] 29,154693 left_arm-FT_wrapper is neither a wrapper nor a multiplewrapper, therefore it cannot have detach actions 29,154701 Cannot run detach action on device left_arm-FT_wrapper 29,154706 Executing detach action, level 5 on device left_arm-FT_wrapper with parameters [] 29,164808 left_arm-FT_wrapper is neither a wrapper nor a multiplewrapper, therefore it cannot have detach actions 29,164826 Cannot run detach action on device left_arm-FT_wrapper 29,164833 Executing detach action, level 5 on device left_foot-FT_wrapper with parameters []