140,757108 Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubGenova11/./icub_all_no_legs.xml 140,757522 yarprobotinterface: using xml parser for DTD v3.x 140,757539 Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubGenova11/./icub_all_no_legs.xml 140,757550 Yarprobotinterface was started using the following enable_tags: 140,757558 Yarprobotinterface was started using the following disable_tags: 140,757565 List of all enable attributes found in the include tags: 140,757572 List of all disable attributes found in the include tags: 140,757579 Preprocessor complete in: 0.0102375 s 140,757586 ************************************************************************************* * 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 * ************************************************************************************* 140,767219 Port /icub/yarprobotinterface active at tcp://10.0.0.2:10008/ 140,767345 startup phase starting... 140,767387 Opening device left_arm-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/left_arm")] 140,777309 Parameters are (device controlBoard_nws_yarp) (id left_arm-mc_nws_yarp) (name "/icub/left_arm") (period 0.0100000000000000002082) (robotName icub) 140,787402 Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10009/ 140,797458 Port /icub/left_arm/command:i active at tcp://10.0.0.2:10010/ 140,807571 Port /icub/left_arm/state:o active at tcp://10.0.0.2:10011/ 140,817624 Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10012/ 140,817652 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 140,817666 Opening device right_arm-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/right_arm")] 140,817676 Parameters are (device controlBoard_nws_yarp) (id right_arm-mc_nws_yarp) (name "/icub/right_arm") (period 0.0100000000000000002082) (robotName icub) 140,817689 Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10013/ 140,827760 Port /icub/right_arm/command:i active at tcp://10.0.0.2:10014/ 140,837846 Port /icub/right_arm/state:o active at tcp://10.0.0.2:10015/ 140,847919 Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10016/ 140,848027 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 140,848041 Opening device head-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/head")] 140,848051 Parameters are (device controlBoard_nws_yarp) (id head-mc_nws_yarp) (name "/icub/head") (period 0.0100000000000000002082) (robotName icub) 140,858006 Port /icub/head/rpc:i active at tcp://10.0.0.2:10017/ 140,868062 Port /icub/head/command:i active at tcp://10.0.0.2:10018/ 140,888309 Port /icub/head/state:o active at tcp://10.0.0.2:10019/ 140,898394 Port /icub/head/stateExt:o active at tcp://10.0.0.2:10020/ 140,898417 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 140,898431 Opening device face-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/face")] 140,898444 Parameters are (device controlBoard_nws_yarp) (id face-mc_nws_yarp) (name "/icub/face") (period 0.0100000000000000002082) (robotName icub) 140,918604 Port /icub/face/rpc:i active at tcp://10.0.0.2:10021/ 140,928717 Port /icub/face/command:i active at tcp://10.0.0.2:10022/ 140,938804 Port /icub/face/state:o active at tcp://10.0.0.2:10023/ 140,958990 Port /icub/face/stateExt:o active at tcp://10.0.0.2:10024/ 140,959035 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 140,959054 Opening device torso-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/torso")] 140,959068 Parameters are (device controlBoard_nws_yarp) (id torso-mc_nws_yarp) (name "/icub/torso") (period 0.0100000000000000002082) (robotName icub) 140,969080 Port /icub/torso/rpc:i active at tcp://10.0.0.2:10025/ 140,989263 Port /icub/torso/command:i active at tcp://10.0.0.2:10026/ 140,999357 Port /icub/torso/state:o active at tcp://10.0.0.2:10027/ 141,019607 Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10028/ 141,019771 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 141,019871 Opening device left_arm-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(left_arm_joints1 left_arm_joints2 left_arm_joints3 left_arm_joints4)"), ("left_arm_joints1" = "( 0 3 0 3 )"), ("left_arm_joints2" = "( 4 7 0 3 )"), ("left_arm_joints3" = "( 8 11 0 3 )"), ("left_arm_joints4" = "( 12 15 0 3 )"), ("joints" = "16")] 141,050014 Parameters are (device controlboardremapper) (id left_arm-mc_remapper) (joints 16) (left_arm_joints1 (0 3 0 3)) (left_arm_joints2 (4 7 0 3)) (left_arm_joints3 (8 11 0 3)) (left_arm_joints4 (12 15 0 3)) (networks (left_arm_joints1 left_arm_joints2 left_arm_joints3 left_arm_joints4)) (robotName icub) 141,050053 Created device . See C++ class ControlBoardRemapper for documentation. 141,050067 Opening device right_arm-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4)"), ("right_arm_joints1" = "( 0 3 0 3 )"), ("right_arm_joints2" = "( 4 7 0 3 )"), ("right_arm_joints3" = "( 8 11 0 3 )"), ("right_arm_joints4" = "( 12 15 0 3 )"), ("joints" = "16")] 141,050080 Parameters are (device controlboardremapper) (id right_arm-mc_remapper) (joints 16) (networks (right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4)) (right_arm_joints1 (0 3 0 3)) (right_arm_joints2 (4 7 0 3)) (right_arm_joints3 (8 11 0 3)) (right_arm_joints4 (12 15 0 3)) (robotName icub) 141,050092 Created device . See C++ class ControlBoardRemapper for documentation. 141,050103 Opening device head-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(head_joints1 head_joints2)"), ("head_joints1" = "( 0 1 0 1 )"), ("head_joints2" = "( 2 5 0 3 )"), ("joints" = "6")] 141,050112 Parameters are (device controlboardremapper) (head_joints1 (0 1 0 1)) (head_joints2 (2 5 0 3)) (id head-mc_remapper) (joints 6) (networks (head_joints1 head_joints2)) (robotName icub) 141,050124 Created device . See C++ class ControlBoardRemapper for documentation. 141,050134 Opening device face-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(face_joints)"), ("face_joints" = "( 0 0 0 0 )"), ("joints" = "1")] 141,050143 Parameters are (device controlboardremapper) (face_joints (0 0 0 0)) (id face-mc_remapper) (joints 1) (networks (face_joints)) (robotName icub) 141,050154 Created device . See C++ class ControlBoardRemapper for documentation. 141,050164 Opening device torso-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(torso_joints)"), ("torso_joints" = "( 0 2 0 2 )"), ("joints" = "3")] 141,050172 Parameters are (device controlboardremapper) (id torso-mc_remapper) (joints 3) (networks (torso_joints)) (robotName icub) (torso_joints (0 2 0 2)) 141,050183 Created device . See C++ class ControlBoardRemapper for documentation. 141,060090 Opening device left_arm-cartesian with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(ControllerName icub/cartesianController/left_arm) (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect cartesianSolver/left_arm) (KinematicPart arm) (KinematicType left_v2.7) (PositionControl on) (NumberOfDrivers 2)"), ("DRIVER_0" [group] = "(Key torso) (JointsOrder reversed) (MinAbsVels (0.35 0.35 0.35))"), ("DRIVER_1" [group] = "(Key left_arm) (JointsOrder direct) (MinAbsVels (0.35 0.35 0.35 0.35 0.35 0.35 0.35))"), ("PLANT_MODEL" [group] = "(plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000))) (joint_1 ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000))) (joint_2 ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000))) (joint_3 ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000))) (joint_4 ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000))) (joint_5 ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000))) (joint_6 ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000))) (joint_7 ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000))) (joint_8 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000))) (joint_9 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)))")] 141,060258 2167 141,070179 rserver) (id left_arm-cartesian) (robotName icub)") 141,070191 ***** Configuring cartesian controller ***** 141,070206 Acquiring options for group GENERAL... 141,070215 Acquiring options for group DRIVER_0... 141,070222 Acquiring options for group DRIVER_1... 141,070229 PLANT_MODEL group detected 141,070235 DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_0 (A 0.0320000000000000006661) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.00549999999999999968081) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_2 (A 0.0233646999999999986641) (D -0.143300000000000010703) (alpha -90.0) (offset 105.000000000000014211) (min -59.0000000000000071054) (max 59.0000000000000071054) (blocked 0.0)) (link_3 (A 0.0) (D 0.107740000000000002434) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.800000000000011369)) (link_5 (A 0.0149999999999999994449) (D 0.152279999999999998694) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.0149999999999999994449) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_7 (A 0.0) (D 0.141300000000000008926) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) (link_9 (A 0.0625) (D -0.0259799999999999996214) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (numLinks 10) (type left_v2.7) 141,080234 Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10029/ 141,090315 Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10030/ 141,090339 Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10031/ 141,100370 Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10032/ 141,110451 Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10033/ 141,120564 Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10034/ 141,140805 Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10035/ 141,140959 Created device . See C++ class ServerCartesianController for documentation. 141,141036 Opening device right_arm-cartesian with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(ControllerName icub/cartesianController/right_arm) (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect cartesianSolver/right_arm) (KinematicPart arm) (KinematicType right_v2.7) (PositionControl on) (NumberOfDrivers 2)"), ("DRIVER_0" [group] = "(Key torso) (JointsOrder reversed) (MinAbsVels (0.35 0.35 0.35))"), ("DRIVER_1" [group] = "(Key right_arm) (JointsOrder direct) (MinAbsVels (0.35 0.35 0.35 0.35 0.35 0.35 0.35))"), ("PLANT_MODEL" [group] = "(plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000))) (joint_1 ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000))) (joint_2 ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000))) (joint_3 ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000))) (joint_4 ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000))) (joint_5 ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000))) (joint_6 ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000))) (joint_7 ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000))) (joint_8 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000))) (joint_9 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)))")] 141,141147 2184 141,141244 ollerserver) (id right_arm-cartesian) (robotName icub)") 141,141267 ***** Configuring cartesian controller ***** 141,141323 Acquiring options for group GENERAL... 141,141330 Acquiring options for group DRIVER_0... 141,150889 Acquiring options for group DRIVER_1... 141,150907 PLANT_MODEL group detected 141,150916 DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_0 (A 0.0320000000000000006661) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.00549999999999999968081) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_2 (A -0.0233646999999999986641) (D -0.143300000000000010703) (alpha 90.0) (offset -105.000000000000014211) (min -59.0000000000000071054) (max 59.0000000000000071054) (blocked 0.0)) (link_3 (A 0.0) (D -0.107740000000000002434) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.800000000000011369)) (link_5 (A -0.0149999999999999994449) (D -0.152279999999999998694) (alpha -90.0) (offset -105.000000000000014211) (min -37.0) (max 100.0)) (link_6 (A 0.0149999999999999994449) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_7 (A 0.0) (D -0.141300000000000008926) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) (link_9 (A 0.0625) (D 0.0259799999999999996214) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (numLinks 10) (type right_v2.7) 141,161004 Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10036/ 141,171084 Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10037/ 141,191245 Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10038/ 141,201454 Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10039/ 141,211559 Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10040/ 141,231761 Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10041/ 141,241951 Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10042/ 141,241975 Created device . See C++ class ServerCartesianController for documentation. 141,241988 2200 141,242004 e qenc qenc) (port CONN:P3 CONN:P4) (position atmotor atmotor) (resolution 2048 2048) (tolerance 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMin -30 -20) (jntPosMax +22 +20) (jntVelMax 1000 1000) (motorOverloadCurrents 6000 6000) (motorNominalCurrents 1500 1500) (motorPeakCurrents 4000 4000) (motorPwmLimit 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0) (damping 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none) (currentPid none none) (speedPid none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -645 +547) (kd -19 +16) (ki -2983 +2879) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)\")]") 141,272325 2202 141,272506 AULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -645 547) (kd -19 16) (ki -2983 2879) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port \"CONN:P3\" \"CONN:P4\")) (ENCODER1 (type aea aea) (port \"CONN:P11\" \"CONN:P10\") (position atjoint atjoint) (resolution 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type qenc qenc) (port \"CONN:P3\" \"CONN:P4\") (position atmotor atmotor) (resolution 2048 2048) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (device embObjMotionControl) (id head-eb20-j0_1-mc) (robotName icub)") 141,272726 eth::parser::print(pc104Data) for PC104: 141,272788 PC104/PC104IpAddress:PC104IpPort = 10.0.1.104:12345 141,272834 PC104/PC104TXrate = 1 141,272877 PC104/PC104RXrate = 5 141,272916 EthSender is a PeriodicThread with txrate = 1 ms 141,272956 EthReceiver is a PeriodicThread with rxrate = 5 ms 141,272995 in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE= 141,273037 eth::parser::print(boardData) for BOARD head-eb20-j0_1 141,273076 ETH_BOARD/ETH_BOARD_PROPERTIES: 141,282413 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.20 141,282432 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 141,282441 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 141,282449 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 141,282456 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 141,282462 ETH_BOARD/ETH_BOARD_SETTINGS: 141,282469 ETH_BOARD/ETH_BOARD_SETTINGS/Name = head-eb20-j0_1 141,282476 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 141,282484 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 141,282490 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 141,292490 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 141,292600 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.20 141,292653 embObjMC BOARD head-eb20-j0_1 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 141,292662 embObjMC BOARD head-eb20-j0_1 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 141,292670 EthResource::verifyBoardPresence() found BOARD head-eb20-j0_1 with IP 10.0.1.20 after 0.00329185 seconds 141,292677 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb20-j0_1 with IP 10.0.1.20 141,292684 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb20-j0_1 with IP 10.0.1.20 : config mode + cleared all its regulars 141,292691 EthResource::setTimingOfRunningCycle() for BOARD head-eb20-j0_1 with IP 10.0.1.20 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 141,302603 EthResource::askBoardVersion() found BOARD head-eb20-j0_1 @ IP 10.0.1.20 of type mc4plus with FW = ver 3.71 built on 2023 Jun 05 14:0 141,333297 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 21s 968m 403u: (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 + . 141,333450 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 21s 969m 517u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . 141,333546 embObjMotionControl:serviceVerifyActivate OK! 141,416007 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 141,416165 2236 141,416259 2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P5 CONN:P4)) (ENCODER1 (type aea aea none none) (port CONN:P11 CONN:P10 CONN:none CONN:none) (position atjoint atjoint none none) (resolution 4096 4096 0 0) (tolerance 0.703 0.703 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P5 CONN:P4) (position atmotor atmotor atmotor atmotor) (resolution 2048 2048 2048 2048) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMin -45 -30 -30 0) (jntPosMax +45 +30 +30 +45) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2500 2500) (motorNominalCurrents 700 700 700 700) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1100.00 -1000 3500 3500) (kd 0.0 0.0 0.0 0.0) (ki 0.0 -100 600.0 600.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\")]") 141,426096 2238 141,426138 rdwareJntPosMin -45 -30 -45 0) (hardwareJntPosMax 45 30 45 45) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMin -45 -30 -30 0) (jntPosMax 45 30 30 45) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2500 2500) (motorNominalCurrents 700 700 700 700) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1100.0 -1000 3500 3500) (kd 0.0 0.0 0.0 0.0) (ki 0.0 -100 600.0 600.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P5\" \"CONN:P4\")) (ENCODER1 (type aea aea none none) (port \"CONN:P11\" \"CONN:P10\" \"CONN:none\" \"CONN:none\") (position atjoint atjoint none none) (resolution 4096 4096 0 0) (tolerance 0.702999999999999958256 0.702999999999999958256 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P5\" \"CONN:P4\") (position atmotor atmotor atmotor atmotor) (resolution 2048 2048 2048 2048) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id head-eb21-j2_5-mc) (robotName icub)") 141,426217 eth::parser::print(boardData) for BOARD head-eb21-j2_5 141,426228 ETH_BOARD/ETH_BOARD_PROPERTIES: 141,426236 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.21 141,426243 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 141,426249 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 141,426270 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 141,426276 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 141,426282 ETH_BOARD/ETH_BOARD_SETTINGS: 141,426288 ETH_BOARD/ETH_BOARD_SETTINGS/Name = head-eb21-j2_5 141,426294 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 141,426302 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 141,426308 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 141,426315 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.21 (head-eb21-j2_5) with timeout = 0.02 sec and period of missing report = 60 sec 141,436212 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.21 141,436312 embObjMC BOARD head-eb21-j2_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 141,436322 embObjMC BOARD head-eb21-j2_5 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 141,436330 EthResource::verifyBoardPresence() found BOARD head-eb21-j2_5 with IP 10.0.1.21 after 0.00557756 seconds 141,436337 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb21-j2_5 with IP 10.0.1.21 141,446800 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb21-j2_5 with IP 10.0.1.21 : config mode + cleared all its regulars 141,457237 EthResource::setTimingOfRunningCycle() for BOARD head-eb21-j2_5 with IP 10.0.1.21 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 141,467758 EthResource::askBoardVersion() found BOARD head-eb21-j2_5 @ IP 10.0.1.21 of type mc4plus with FW = ver 3.71 built on 2023 Jun 05 14:0 141,498677 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 22s 132m 422u: (code 0x05000015, par16 0x4000 par64 0x000000000000ff00) -> 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 + . 141,498765 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 22s 133m 552u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . 141,498795 embObjMotionControl:serviceVerifyActivate OK! 141,641452 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 141,641524 2265 141,641541 erloadCurrents 2000) (motorNominalCurrents 700) (motorPeakCurrents 1000) (jntVelMax 1000) (motorPwmLimit 3300)\"), (\"TIMEOUTS\" [group] = \"(velocity 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0) (damping 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT) (torqueControl none) (currentPid none) (speedPid none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 600.00) (kd 0.0) (ki 100.0) (maxOutput 3360) (maxInt 3360) (stictionUp 0) (stictionDown 0) (kff 0)\")]") 141,641556 2267 141,641572 (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm) (port \"CONN:P2\")) (ENCODER1 (type aea) (port \"CONN:P10\") (position atjoint) (resolution -4096) (tolerance 0.702999999999999958256)) (ENCODER2 (type none) (port none) (position none) (resolution 0) (tolerance 0))))) (TIMEOUTS (velocity 100)) (device embObjMotionControl) (id face-eb22-j0-mc) (robotName icub)") 141,651539 eth::parser::print(boardData) for BOARD face-eb22-j0 141,651559 ETH_BOARD/ETH_BOARD_PROPERTIES: 141,651568 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.22 141,651576 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 141,651582 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 141,651589 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 141,651595 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 141,651601 ETH_BOARD/ETH_BOARD_SETTINGS: 141,651607 ETH_BOARD/ETH_BOARD_SETTINGS/Name = face-eb22-j0 141,651613 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 141,651621 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 141,651627 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 141,651634 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.22 (face-eb22-j0) with timeout = 0.02 sec and period of missing report = 60 sec 141,651641 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.22 141,651648 embObjMC BOARD face-eb22-j0 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 141,651655 embObjMC BOARD face-eb22-j0 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 141,651662 EthResource::verifyBoardPresence() found BOARD face-eb22-j0 with IP 10.0.1.22 after 0.00214434 seconds 141,651669 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD face-eb22-j0 with IP 10.0.1.22 141,661653 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD face-eb22-j0 with IP 10.0.1.22 : config mode + cleared all its regulars 141,671776 EthResource::setTimingOfRunningCycle() for BOARD face-eb22-j0 with IP 10.0.1.22 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle 141,681903 EthResource::askBoardVersion() found BOARD face-eb22-j0 @ IP 10.0.1.22 of type mc4plus with FW = ver 3.71 built on 2023 Jun 05 14:0 141,712362 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 22s 348m 293u: (code 0x05000015, par16 0x1000 par64 0x00000000000f0000) -> 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 + . 141,712512 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 22s 349m 301u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . 141,712571 embObjMotionControl:serviceVerifyActivate OK! 141,763005 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 141,773141 2294 141,773252 SERVICE\" [group] = \"(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc) (port CAN1:3:0 CAN1:4:0 CAN1:1:0)) (ENCODER1 (type eomc_enc_aea aea aea) (port CONN:P6 CONN:P7 CONN:P8) (position eomc_pos_atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie) (port CAN1:3:0 CAN1:4:0 CAN1:1:0) (position atmotor atmotor atmotor) (resolution -14400 -14400 -14400) (tolerance 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 50 30 70) (jntPosMin -50 -30 -20) (jntVelMax 1000 1000 1000) (motorNominalCurrents 4000 4000 4000) (motorPeakCurrents 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000) (motorPwmLimit 10000 10000 10000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0 0 0) (damping 0 0 0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.11 -1066.66 -1066.66) (kd 0.00 0.00 0.00) (ki -7111.09 -10666.64 -14222.18) (maxOutput 8000 8000 16000) (maxInt 750 1000 1000) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (kbemf -0.0016 -0.003 -0.003) (filterType 0 0 0) 2295 141,773645 (ktau -200 -200 -200)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8) (kd 0 0 0) (ki 2 2 2) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000) (kff 0 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0) (kp 12 12 12) (kd 0 0 0) (ki 16 16 16) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)\")]") 141,773793 2297 141,773867 ose false) (MotioncontrolVersion 6) (Joints 3) (AxisMap 2 0 1) (AxisName torso_yaw torso_roll torso_pitch) (AxisType revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1) (useMotorSpeedFbk 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0 0 0) (damping 0 0 0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 50 30 70) (hardwareJntPosMin -50 -30 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 50 30 70) (jntPosMin -50 -30 -20) (jntVelMax 1000 1000 1000) (motorNominalCurrents 4000 4000 4000) (motorPeakCurrents 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000) (motorPwmLimit 10000 10000 10000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.110000000000013642 -1066.66000000000008185 -1066.66000000000008185) (kd 0.0 0.0 0.0) (ki -7111.09000000000014552 -10666.6399999999994179 -14222.180000000000291) (maxOutput 8000 8000 16000) (maxInt 750 1000 1000) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc) (port \"CAN1:3:0\" \"CAN1:4:0\" \"CAN1:1:0\")) (ENCODER1 (type eomc_enc_aea aea aea) (port \"CONN:P6\" \"CONN:P7\" \"CONN:P8\") (position eomc_pos_atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie) (port \"CAN1:3:0\" \"CAN1:4:0\" \"CAN1:1:0\") (position atmotor atmotor atmotor) (resolution -14400 -14400 -14400) (tole 2298 141,774105 rance 0 0 0))))) (TIMEOUTS (velocity 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (kbemf -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau -200 -200 -200)) (device embObjMotionControl) (id torso-eb5-j0_2-mc) (robotName icub)") 141,774128 eth::parser::print(boardData) for BOARD torso-eb5-j0_2 141,774154 ETH_BOARD/ETH_BOARD_PROPERTIES: 141,774176 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.5 141,774197 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 141,774216 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 141,774235 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 141,774254 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 141,783221 ETH_BOARD/ETH_BOARD_SETTINGS: 141,783241 ETH_BOARD/ETH_BOARD_SETTINGS/Name = torso-eb5-j0_2 141,783250 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 141,783259 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 141,783266 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 141,783274 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 141,783282 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.5 141,783289 embObjMC BOARD torso-eb5-j0_2 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 141,783297 embObjMC BOARD torso-eb5-j0_2 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 141,783304 viscousPos parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (kbemf -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau -200 -200 -200) 141,783315 viscousNeg parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (kbemf -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau -200 -200 -200) 141,783325 coulombPos parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (kbemf -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau -200 -200 -200) 141,783334 coulombNeg parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (kbemf -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau -200 -200 -200) 141,783344 Verbose parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8) 141,783353 In torso-eb5-j0_2 there isn't 2FOC . Verbose filed. For default it is enabled 141,783360 AutoCalibration parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8) 141,793500 In torso-eb5-j0_2 there isn't 2FOC . AutoCalibration filed. For default it is disabled 141,793538 EthResource::verifyBoardPresence() found BOARD torso-eb5-j0_2 with IP 10.0.1.5 after 0.00346184 seconds 141,793547 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD torso-eb5-j0_2 with IP 10.0.1.5 141,793555 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD torso-eb5-j0_2 with IP 10.0.1.5 : config mode + cleared all its regulars 141,803773 EthResource::setTimingOfRunningCycle() for BOARD torso-eb5-j0_2 with IP 10.0.1.5 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 141,813935 EthResource::askBoardVersion() found BOARD torso-eb5-j0_2 @ IP 10.0.1.5 of type ems4 with FW = ver 3.68 built on 2023 Jun 05 14:0 141,844351 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 22s 320m 457u: (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 + . 141,844493 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 22s 320m 624u: CAN discovery has started for 3 eobrd_foc boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3. 141,844552 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 22s 321m 397u: 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 42991 ms 141,844602 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 22s 321m 549u: 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 141,844648 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 22s 321m 702u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 141,844692 embObjMotionControl:serviceVerifyActivate OK! 141,844733 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 22s 321m 863u: 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 141,844777 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 22s 322m 317u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 141,915391 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 2, time 22s 391m 628u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 141,915534 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 2, time 22s 391m 741u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 141,925558 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 22s 407m 556u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 141,925702 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 22s 407m 669u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 141,945847 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 1, time 22s 422m 304u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 141,945986 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 1, time 22s 422m 417u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 141,955980 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 141,966062 2344 141,966101 "JOINTSET_CFG\" [group] = \"(numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P8 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution -4096 -4096 4096 -4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0) (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 8 160 80 106) (jntPosMin -95.5 0 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4500 4500 4500 4000) (motorPeakCurrents 5500 5500 5500 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.1 0.1 0.1 0.1) (damping 0.05 0.05 0.05 0.05)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 711.11 1066.66 711.11 1066.66) (kd 0.00 0.00 0.00 0.00) (ki 7111.09 10666.64 7111.09 10666.64) 2345 141,966112 (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.7) (stictionDown -0.7 -0.7 -0.8 -1.2) (kff 1 1 1 1) (kbemf 0.0030 0.0006 0.0007 0.0007) (filterType 0 0 0 0) (ktau 180 464 463 449)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)\")]") 141,966189 2347 141,966210 S_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_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100.0 100.0 100.0 100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 0 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 8 160 80 106) (jntPosMin -95.5 0 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4500 4500 4500 4000) (motorPeakCurrents 5500 5500 5500 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 711.110000000000013642 1066.66000000000008185 711.110000000000013642 1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki 7111.09000000000014552 10666.6399999999994179 7111.09000000000014552 10666.6399999999994179) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_fo 2348 141,966233 c) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\" \"CAN1:4:0\")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port \"CONN:P6\" \"CONN:P7\" \"CONN:P8\" \"CONN:P9\") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution -4096 -4096 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\" \"CAN1:4:0\") (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.69999999999999995559) (stictionDown -0.699999999999999955591 -0.699999999999999955591 -0.800000000000000044409 -1.19999999999999995559) (kff 1 1 1 1) (kbemf 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau 180 464 463 449)) (device embObjMotionControl) (id left_arm-eb1-j0_3-mc) (robotName icub)") 141,966296 eth::parser::print(boardData) for BOARD left_arm-eb1-j0_3 141,966306 ETH_BOARD/ETH_BOARD_PROPERTIES: 141,966314 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.1 141,976156 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 141,976173 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 141,976182 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 141,976189 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 141,976195 ETH_BOARD/ETH_BOARD_SETTINGS: 141,976202 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb1-j0_3 141,976208 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 141,976216 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 141,976223 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 141,976260 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.1 (left_arm-eb1-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec 141,976288 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.1 141,976295 embObjMC BOARD left_arm-eb1-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 141,976303 embObjMC BOARD left_arm-eb1-j0_3 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 141,976310 viscousPos parameter not found for board left_arm-eb1-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.69999999999999995559) (stictionDown -0.699999999999999955591 -0.699999999999999955591 -0.800000000000000044409 -1.19999999999999995559) (kff 1 1 1 1) (kbemf 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau 180 464 463 449) 141,976322 viscousNeg parameter not found for board left_arm-eb1-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.69999999999999995559) (stictionDown -0.699999999999999955591 -0.699999999999999955591 -0.800000000000000044409 -1.19999999999999995559) (kff 1 1 1 1) (kbemf 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau 180 464 463 449) 141,976333 coulombPos parameter not found for board left_arm-eb1-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.69999999999999995559) (stictionDown -0.699999999999999955591 -0.699999999999999955591 -0.800000000000000044409 -1.19999999999999995559) (kff 1 1 1 1) (kbemf 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau 180 464 463 449) 141,976344 coulombNeg parameter not found for board left_arm-eb1-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.69999999999999995559) (stictionDown -0.699999999999999955591 -0.699999999999999955591 -0.800000000000000044409 -1.19999999999999995559) (kff 1 1 1 1) (kbemf 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau 180 464 463 449) 141,986384 Verbose parameter not found for board left_arm-eb1-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) 141,986424 In left_arm-eb1-j0_3 there isn't 2FOC . Verbose filed. For default it is enabled 141,986434 AutoCalibration parameter not found for board left_arm-eb1-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) 141,986457 In left_arm-eb1-j0_3 there isn't 2FOC . AutoCalibration filed. For default it is disabled 141,986484 EthResource::verifyBoardPresence() found BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 after 0.00227547 seconds 141,986494 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 141,986516 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 : config mode + cleared all its regulars 142,007030 EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 142,007077 EthResource::askBoardVersion() found BOARD left_arm-eb1-j0_3 @ IP 10.0.1.1 of type ems4 with FW = ver 3.68 built on 2023 Jun 05 14:0 142,037725 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 22s 526m 496u: (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 + . 142,037794 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 22s 526m 663u: 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. 142,037818 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 22s 527m 630u: 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 142,037838 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 22s 527m 782u: 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 142,047847 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 22s 527m 934u: 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 142,047977 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 22s 528m 90u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 142,048015 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 22s 528m 251u: 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 142,048024 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 22s 528m 742u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 142,048033 embObjMotionControl:serviceVerifyActivate OK! 142,129906 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 22s 611m 449u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 142,130051 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 22s 611m 561u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 142,139983 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 1, time 22s 626m 121u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 142,140098 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 1, time 22s 626m 234u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 142,160153 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 2, time 22s 642m 20u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 142,160201 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 2, time 22s 642m 133u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 142,170390 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 3, time 22s 656m 853u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 142,170474 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 3, time 22s 656m 966u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 142,190678 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 142,190718 2397 142,190736 nt none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P2 CONN:P4 CONN:P3)) (ENCODER1 (type qenc aea aea absanalog) (port CONN:P5 CONN:P10 CONN:P11 CONN:P3) (position atjoint atjoint atjoint atjoint) (resolution 1 -4096 4096 65535) (tolerance 0 0.703 0.703 0)) (ENCODER2 (type qenc qenc qenc none) (port CONN:P5 CONN:P2 CONN:P4 CONN:none) (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200.0 -500.0 -500.0 -500.0) (kd 0.0 0.0 0.0 0.0) (ki -200.0 -50.0 -50.0 -50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) 2398 142,190775 (ktau 1 0 0 0)\")]") 142,190779 2400 142,190797 (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0) (jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200.0 -500.0 -500.0 -500.0) (kd 0.0 0.0 0.0 0.0) (ki -200.0 -50.0 -50.0 -50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P5\" \"CONN:P2\" \"CONN:P4\" \"CONN:P3\")) (ENCODER1 (type qenc aea aea absanalog) (port \"CONN:P5\" \"CONN:P10\" \"CONN:P11\" \"CONN:P3\") (position atjoint atjoint atjoint atjoint) (resolution 1 -4096 4096 65535) (tolerance 0 0.702999999999999958256 0.702999999999999958256 0)) (ENCODER2 (type qenc qenc qenc none) (port \"CONN:P5\" \"CONN:P2\" \"CONN:P4\" \"CONN:none\") (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)) (device embObjMotionControl) (id left_arm-eb24-j4_7-mc) (robotName icub)") 142,200772 eth::parser::print(boardData) for BOARD left_arm-eb24-j4_7 142,200807 ETH_BOARD/ETH_BOARD_PROPERTIES: 142,200816 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.24 142,200829 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 142,200836 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 142,200843 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 142,200849 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 142,200855 ETH_BOARD/ETH_BOARD_SETTINGS: 142,200861 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb24-j4_7 142,200868 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 142,200876 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 142,200882 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 142,200889 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.24 (left_arm-eb24-j4_7) with timeout = 0.02 sec and period of missing report = 60 sec 142,200897 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.24 142,200905 embObjMC BOARD left_arm-eb24-j4_7 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 142,200912 embObjMC BOARD left_arm-eb24-j4_7 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 142,200919 viscousPos parameter not found for board left_arm-eb24-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) 142,200928 viscousNeg parameter not found for board left_arm-eb24-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) 142,200937 coulombPos parameter not found for board left_arm-eb24-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) 142,210887 coulombNeg parameter not found for board left_arm-eb24-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) 142,210946 EthResource::verifyBoardPresence() found BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 after 0.0018785 seconds 142,210956 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 142,210963 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 : config mode + cleared all its regulars 142,231406 EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle 142,231456 EthResource::askBoardVersion() found BOARD left_arm-eb24-j4_7 @ IP 10.0.1.24 of type mc4plus with FW = ver 3.71 built on 2023 Jun 05 14:0 142,262037 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 22s 899m 419u: (code 0x05000016, par16 0x4008 par64 0xfffffffff0005000) -> CFG: EOtheEncodeerReader cannot be configured: verification fails. 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 + . 142,262116 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 22s 900m 554u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . 142,262145 embObjMotionControl:serviceVerifyActivate OK! 142,404514 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 142,414621 2431 142,414682 ofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type absanalog mais mais mais) (port CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port CONN:none CONN:P2 CONN:P4 CONN:P5) (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150.0 400.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -15.0 40.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\")]") 142,414745 2433 142,414764 (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -70000 -5120) (rotorPosMax 0 0 5120 32000) (jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150.0 400.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -15.0 40.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location \"CAN1:14\")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\")) (ENCODER1 (type absanalog mais mais mais) (port \"CONN:P3\" \"MAIS:thumbproximal\" \"MAIS:thumbdistal\" \"MAIS:indexproximal\") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port \"CONN:none\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\") (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id left_arm-eb25-j8_11-mc) (robotName icub)") 142,414839 eth::parser::print(boardData) for BOARD left_arm-eb25-j8_11 142,414851 ETH_BOARD/ETH_BOARD_PROPERTIES: 142,414858 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.25 142,414865 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 142,414871 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 142,424707 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 142,424726 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 142,424734 ETH_BOARD/ETH_BOARD_SETTINGS: 142,424742 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb25-j8_11 142,424748 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 142,424758 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 142,424765 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 142,424772 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.25 (left_arm-eb25-j8_11) with timeout = 0.02 sec and period of missing report = 60 sec 142,424779 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.25 142,424787 embObjMC BOARD left_arm-eb25-j8_11 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 142,424794 embObjMC BOARD left_arm-eb25-j8_11 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 142,424801 EthResource::verifyBoardPresence() found BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 after 0.00365329 seconds 142,424807 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 142,434851 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 : config mode + cleared all its regulars 142,445142 EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 142,455270 EthResource::askBoardVersion() found BOARD left_arm-eb25-j8_11 @ IP 10.0.1.25 of type mc4plus with FW = ver 3.71 built on 2023 Jun 05 14:0 142,465607 from BOARD 10.0.1.25 (left_arm-eb25-j8_11) @ 23s 102m 196u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. 142,465754 from BOARD 10.0.1.25 (left_arm-eb25-j8_11) @ 23s 102m 368u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_mais boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 142,465816 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 23s 102m 502u: (code 0x0500000a, par16 0x000e par64 0x0000000000000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . 142,486421 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 23s 122m 210u: (code 0x05000016, par16 0x4001 par64 0x00000000000f0005) -> CFG: EOtheEncodeerReader cannot be configured: verification fails. 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 + . 142,486572 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 23s 123m 130u: (code 0x0500001b, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow + . 142,486634 embObjMotionControl:serviceVerifyActivate OK! 142,629868 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 142,630027 2463 142,630121 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type mais mais mais mais) (port MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5) (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 500.0 500.0 -200.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 50.0 50.0 -20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\")]") 142,639923 2465 142,639969 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -5120 -5120 -65000 -5120) (rotorPosMax 65000 32000 5120 65000) (jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 500.0 500.0 -200.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 50.0 50.0 -20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location \"CAN1:14\")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\")) (ENCODER1 (type mais mais mais mais) (port \"MAIS:indexdistal\" \"MAIS:mediumproximal\" \"MAIS:mediumdistal\" \"MAIS:littlefingers\") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\") (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id left_arm-eb26-j12_15-mc) (robotName icub)") 142,640018 eth::parser::print(boardData) for BOARD left_arm-eb26-j12_15 142,640049 ETH_BOARD/ETH_BOARD_PROPERTIES: 142,640056 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.26 142,640073 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 142,640080 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 142,640086 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 142,640092 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 142,640112 ETH_BOARD/ETH_BOARD_SETTINGS: 142,640123 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_arm-eb26-j12_15 142,640130 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 142,640138 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 142,650039 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 142,650145 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.26 (left_arm-eb26-j12_15) with timeout = 0.02 sec and period of missing report = 60 sec 142,650204 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.26 142,650231 embObjMC BOARD left_arm-eb26-j12_15 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 142,650239 embObjMC BOARD left_arm-eb26-j12_15 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 142,650246 EthResource::verifyBoardPresence() found BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 after 0.00268626 seconds 142,650275 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 142,660200 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 : config mode + cleared all its regulars 142,670328 EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 142,680628 EthResource::askBoardVersion() found BOARD left_arm-eb26-j12_15 @ IP 10.0.1.26 of type mc4plus with FW = ver 3.71 built on 2023 Jun 05 14:0 142,690753 from BOARD 10.0.1.26 (left_arm-eb26-j12_15) @ 23s 326m 497u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. 142,690898 from BOARD 10.0.1.26 (left_arm-eb26-j12_15) @ 23s 326m 669u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_mais boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 142,690963 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 23s 326m 803u: (code 0x0500000a, par16 0x000e par64 0x0000000000000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . 142,711398 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 23s 346m 210u: (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 + . 142,711550 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 23s 347m 133u: (code 0x0500001b, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow + . 142,711612 embObjMotionControl:serviceVerifyActivate OK! 142,855115 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 142,855299 2495 142,855398 "), (\"JOINTSET_CFG\" [group] = \"(numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P10 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 -4096 4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0) (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 8 160 80 106) (jntPosMin -95.5 0 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4000 4000 4000 4000) (motorPeakCurrents 5000 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.1 0.1 0.1 0.1) (damping 0.05 0.05 0.05 0.05)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.11 -1066.66 -711.11 -1066.66) (kd 0.00 0.00 0.00 0.00) (ki -7111.09 -10666.64 -7111.0 2496 142,855458 9 -10666.64) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.7) (stictionDown 0.7 0.7 0.8 1.2) (kff 1 1 1 1) (kbemf -0.0030 -0.0006 -0.0007 0.0007) (filterType 0 0 0 0) (ktau -180 -464 -463 -449)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)\")]") 142,865201 2498 142,865244 _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_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 0 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 8 160 80 106) (jntPosMin -95.5 0 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4000 4000 4000 4000) (motorPeakCurrents 5000 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.110000000000013642 -1066.66000000000008185 -711.110000000000013642 -1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki -7111.09000000000014552 -10666.6399999999994179 -7111.09000000000014552 -10666.6399999999994179) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type 2499 142,865271 eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\" \"CAN1:4:0\")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port \"CONN:P6\" \"CONN:P7\" \"CONN:P10\" \"CONN:P9\") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 -4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\" \"CAN1:4:0\") (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.69999999999999995559) (stictionDown 0.699999999999999955591 0.699999999999999955591 0.800000000000000044409 1.19999999999999995559) (kff 1 1 1 1) (kbemf -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau -180 -464 -463 -449)) (device embObjMotionControl) (id right_arm-eb3-j0_3-mc) (robotName icub)") 142,865336 eth::parser::print(boardData) for BOARD right_arm-eb3-j0_3 142,865347 ETH_BOARD/ETH_BOARD_PROPERTIES: 142,865355 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.3 142,865361 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 142,865371 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 142,865378 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 142,865384 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 142,865390 ETH_BOARD/ETH_BOARD_SETTINGS: 142,865396 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb3-j0_3 142,865403 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 142,865410 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 142,865417 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 142,865423 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.3 (right_arm-eb3-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec 142,875317 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.3 142,875439 embObjMC BOARD right_arm-eb3-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 142,875484 embObjMC BOARD right_arm-eb3-j0_3 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 142,875491 viscousPos parameter not found for board right_arm-eb3-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.69999999999999995559) (stictionDown 0.699999999999999955591 0.699999999999999955591 0.800000000000000044409 1.19999999999999995559) (kff 1 1 1 1) (kbemf -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau -180 -464 -463 -449) 142,875503 viscousNeg parameter not found for board right_arm-eb3-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.69999999999999995559) (stictionDown 0.699999999999999955591 0.699999999999999955591 0.800000000000000044409 1.19999999999999995559) (kff 1 1 1 1) (kbemf -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau -180 -464 -463 -449) 142,875514 coulombPos parameter not found for board right_arm-eb3-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.69999999999999995559) (stictionDown 0.699999999999999955591 0.699999999999999955591 0.800000000000000044409 1.19999999999999995559) (kff 1 1 1 1) (kbemf -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau -180 -464 -463 -449) 142,875524 coulombNeg parameter not found for board right_arm-eb3-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.69999999999999995559) (stictionDown 0.699999999999999955591 0.699999999999999955591 0.800000000000000044409 1.19999999999999995559) (kff 1 1 1 1) (kbemf -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau -180 -464 -463 -449) 142,875534 Verbose parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) 142,875543 In right_arm-eb3-j0_3 there isn't 2FOC . Verbose filed. For default it is enabled 142,875550 AutoCalibration parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) 142,875558 In right_arm-eb3-j0_3 there isn't 2FOC . AutoCalibration filed. For default it is disabled 142,875565 EthResource::verifyBoardPresence() found BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 after 0.00306678 seconds 142,875572 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 142,885639 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 : config mode + cleared all its regulars 142,895922 EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 142,906157 EthResource::askBoardVersion() found BOARD right_arm-eb3-j0_3 @ IP 10.0.1.3 of type ems4 with FW = ver 3.68 built on 2023 Jun 05 14:0 142,936709 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 23s 417m 497u: (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 + . 142,936849 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 23s 417m 663u: 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. 142,936860 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 23s 418m 629u: 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 142,936869 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 23s 418m 782u: 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 142,936877 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 23s 418m 934u: 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 142,936889 embObjMotionControl:serviceVerifyActivate OK! 142,936896 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 23s 419m 90u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.10 Search time was 0 ms 142,936904 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 23s 419m 251u: 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 142,936911 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 23s 419m 742u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + . 143,018342 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 23s 503m 923u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 143,018486 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 23s 504m 38u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 143,039051 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 1, time 23s 518m 830u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 143,039193 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 1, time 23s 518m 943u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 143,049387 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 2, time 23s 533m 577u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 143,049527 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 2, time 23s 533m 690u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 143,069998 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 3, time 23s 549m 496u: (code 0x04000001, par16 0x000f par64 0x0000010000000040) -> DEBUG: tag01 + CURRENT PID 143,070161 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 3, time 23s 549m 609u: (code 0x04000001, par16 0x000f par64 0x0000018000000200) -> DEBUG: tag01 + VELOCITY PID 143,080137 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 143,080271 2548 143,090219 int none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P2 CONN:P4 CONN:P3)) (ENCODER1 (type qenc aea aea absanalog) (port CONN:P5 CONN:P10 CONN:P11 CONN:P3) (position atjoint atjoint atjoint atjoint) (resolution 1 4096 -4096 65535) (tolerance 0 0.703 0.703 0)) (ENCODER2 (type qenc qenc qenc none) (port CONN:P5 CONN:P2 CONN:P4 CONN:none) (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200.0 500.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki 200.0 50.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 2549 143,090282 0 0 0)\")]") 143,090287 2551 143,090306 ) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0) (jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200.0 500.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki 200.0 50.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P5\" \"CONN:P2\" \"CONN:P4\" \"CONN:P3\")) (ENCODER1 (type qenc aea aea absanalog) (port \"CONN:P5\" \"CONN:P10\" \"CONN:P11\" \"CONN:P3\") (position atjoint atjoint atjoint atjoint) (resolution 1 4096 -4096 65535) (tolerance 0 0.702999999999999958256 0.702999999999999958256 0)) (ENCODER2 (type qenc qenc qenc none) (port \"CONN:P5\" \"CONN:P2\" \"CONN:P4\" \"CONN:none\") (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)) (device embObjMotionControl) (id right_arm-eb27-j4_7-mc) (robotName icub)") 143,090342 eth::parser::print(boardData) for BOARD right_arm-eb27-j4_7 143,090352 ETH_BOARD/ETH_BOARD_PROPERTIES: 143,090360 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.27 143,090370 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 143,090377 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 143,090384 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 143,090390 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 143,090396 ETH_BOARD/ETH_BOARD_SETTINGS: 143,090402 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb27-j4_7 143,090409 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 143,090416 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 143,100335 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 143,100442 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.27 (right_arm-eb27-j4_7) with timeout = 0.02 sec and period of missing report = 60 sec 143,100503 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.27 143,100512 embObjMC BOARD right_arm-eb27-j4_7 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 143,100519 embObjMC BOARD right_arm-eb27-j4_7 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 143,100526 viscousPos parameter not found for board right_arm-eb27-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) 143,100536 viscousNeg parameter not found for board right_arm-eb27-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) 143,100544 coulombPos parameter not found for board right_arm-eb27-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) 143,100553 coulombNeg parameter not found for board right_arm-eb27-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) 143,100561 EthResource::verifyBoardPresence() found BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 after 0.00592089 seconds 143,110431 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 143,110471 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 : config mode + cleared all its regulars 143,130787 EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle 143,130834 EthResource::askBoardVersion() found BOARD right_arm-eb27-j4_7 @ IP 10.0.1.27 of type mc4plus with FW = ver 3.71 built on 2023 Jun 05 14:0 143,161416 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 23s 799m 419u: (code 0x05000016, par16 0x4008 par64 0xfffffffff0005000) -> CFG: EOtheEncodeerReader cannot be configured: verification fails. 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 + . 143,161506 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 23s 800m 554u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . 143,161538 embObjMotionControl:serviceVerifyActivate OK! 143,303527 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 143,313616 2582 143,313657 tofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type absanalog mais mais mais) (port CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port CONN:none CONN:P2 CONN:P4 CONN:P5) (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150.0 400.0 -500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -15.0 40.0 -50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\")]") 143,313704 2584 143,313723 (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -5120 -5120) (rotorPosMax 0 0 70000 32000) (jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150.0 400.0 -500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -15.0 40.0 -50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location \"CAN1:14\")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\")) (ENCODER1 (type absanalog mais mais mais) (port \"CONN:P3\" \"MAIS:thumbproximal\" \"MAIS:thumbdistal\" \"MAIS:indexproximal\") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port \"CONN:none\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\") (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id right_arm-eb28-j8_11-mc) (robotName icub)") 143,313799 eth::parser::print(boardData) for BOARD right_arm-eb28-j8_11 143,313811 ETH_BOARD/ETH_BOARD_PROPERTIES: 143,313818 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.28 143,313826 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 143,313832 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 143,323704 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 143,323723 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 143,323731 ETH_BOARD/ETH_BOARD_SETTINGS: 143,323739 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb28-j8_11 143,323746 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 143,323756 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 143,323763 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 143,323770 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.28 (right_arm-eb28-j8_11) with timeout = 0.02 sec and period of missing report = 60 sec 143,323777 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.28 143,323784 embObjMC BOARD right_arm-eb28-j8_11 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 143,323795 embObjMC BOARD right_arm-eb28-j8_11 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 143,323803 EthResource::verifyBoardPresence() found BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 after 0.00384045 seconds 143,323810 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 143,334021 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 : config mode + cleared all its regulars 143,344139 EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 143,354442 EthResource::askBoardVersion() found BOARD right_arm-eb28-j8_11 @ IP 10.0.1.28 of type mc4plus with FW = ver 3.71 built on 2023 Jun 05 14:0 143,364825 from BOARD 10.0.1.28 (right_arm-eb28-j8_11) @ 24s 2m 835u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. 143,364969 from BOARD 10.0.1.28 (right_arm-eb28-j8_11) @ 24s 3m 9u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_mais boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 143,365031 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 24s 3m 138u: (code 0x0500000a, par16 0x000e par64 0x0000000000000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . 143,385559 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 24s 23m 210u: (code 0x05000016, par16 0x4001 par64 0x00000000000f0005) -> CFG: EOtheEncodeerReader cannot be configured: verification fails. 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 + . 143,385712 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 24s 24m 129u: (code 0x0500001b, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow + . 143,385775 embObjMotionControl:serviceVerifyActivate OK! 143,527748 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 143,537871 2614 143,537938 _2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type mais mais mais mais) (port MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5) (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 500.0 500.0 -500.0 200.0) (kd 0.0 0.0 0.0 0.0) (ki 50.0 50.0 -50.0 20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\")]") 143,538023 2616 143,538043 1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -65000 -5120 -5120 -65000) (rotorPosMax 5120 42000 65000 5120) (jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 500.0 500.0 -500.0 200.0) (kd 0.0 0.0 0.0 0.0) (ki 50.0 50.0 -50.0 20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location \"CAN1:14\")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\")) (ENCODER1 (type mais mais mais mais) (port \"MAIS:indexdistal\" \"MAIS:mediumproximal\" \"MAIS:mediumdistal\" \"MAIS:littlefingers\") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\") (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id right_arm-eb29-j12_15-mc) (robotName icub)") 143,538141 eth::parser::print(boardData) for BOARD right_arm-eb29-j12_15 143,538153 ETH_BOARD/ETH_BOARD_PROPERTIES: 143,538161 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.29 143,538188 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 143,538194 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 143,538201 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 143,538227 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 143,538234 ETH_BOARD/ETH_BOARD_SETTINGS: 143,538241 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb29-j12_15 143,538263 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 143,538290 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 143,538296 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 143,538317 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.29 (right_arm-eb29-j12_15) with timeout = 0.02 sec and period of missing report = 60 sec 143,547984 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.29 143,548093 embObjMC BOARD right_arm-eb29-j12_15 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 143,548150 embObjMC BOARD right_arm-eb29-j12_15 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default. 143,548195 EthResource::verifyBoardPresence() found BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 after 0.00380039 seconds 143,548238 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 143,558331 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 : config mode + cleared all its regulars 143,568683 EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 143,579049 EthResource::askBoardVersion() found BOARD right_arm-eb29-j12_15 @ IP 10.0.1.29 of type mc4plus with FW = ver 3.71 built on 2023 Jun 05 14:0 143,589365 from BOARD 10.0.1.29 (right_arm-eb29-j12_15) @ 24s 224m 782u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. 143,589511 from BOARD 10.0.1.29 (right_arm-eb29-j12_15) @ 24s 224m 955u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_mais boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 143,589574 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 24s 225m 91u: (code 0x0500000a, par16 0x000e par64 0x0000000000000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + . 143,610189 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 24s 245m 210u: (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 + . 143,610340 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 24s 246m 133u: (code 0x0500001b, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow + . 143,610402 embObjMotionControl:serviceVerifyActivate OK! 143,754434 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 143,754624 Opening device head-imuFilter_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("name" = "/imuFilter")] 143,795230 Parameters are (device multipleanalogsensorsserver) (id head-imuFilter_wrapper) (name "/imuFilter") (period 20) (robotName icub) 143,795399 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 143,795478 Opening device head-imuFilter with parameters [("robotName" = "icub"), ("period" = "20"), ("name" = "/imuFilter")] 143,805353 Parameters are (device imuFilter) (id head-imuFilter) (name "/imuFilter") (period 20) (robotName icub) 143,815498 Finish PassThroughInertial::open 143,825617 Port /imuFilter/bias:o active at tcp://10.0.0.2:10043/ 143,825778 Created device . See C++ class yarp::dev::ImuFilter for documentation. 143,825792 Opening device head-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/head/inertials")] 143,825802 Parameters are (device multipleanalogsensorsserver) (id head-inertials_wrapper) (name "/icub/head/inertials") (period 10) (robotName icub) 143,825821 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 143,825832 Opening device head-inertial with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.21) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "head-eb21-j2_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type rfe) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status) (sensorName head_imu_0 head_imu_0 head_imu_0 head_imu_0) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status) (boardType rfe rfe rfe rfe) (location CAN1:1 CAN1:1 CAN1:1 CAN1:1))) (SETTINGS (acquisitionRate 10) (enabledSensors rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status))")] 143,835782 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.21") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name head-eb21-j2_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type rfe) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status) (sensorName head_imu_0 head_imu_0 head_imu_0 head_imu_0) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status) (boardType rfe rfe rfe rfe) (location "CAN1:1" "CAN1:1" "CAN1:1" "CAN1:1"))) (SETTINGS (acquisitionRate 10) (enabledSensors rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status))) (device embObjIMU) (id head-inertial) (robotName icub) 143,845944 from BOARD 10.0.1.21 (head-eb21-j2_5) @ 24s 481m 268u: CAN discovery has started for 1 eobrd_rfe boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 2.0 and application ver 0.0.0. 143,846091 from BOARD 10.0.1.21 (head-eb21-j2_5) @ 24s 482m 228u: CAN discovery has detected a eobrd_rfe board in CAN1 addr 1 with can protocol ver 2.0 and application ver 1.3.0 Search time was 0 ms 143,846151 from BOARD 10.0.1.21 (head-eb21-j2_5) @ 24s 482m 391u: CAN discovery is OK for 1 eobrd_rfe boards with target can protocol ver 2.0 and application ver 0.0.0. Search time was 0 ms 143,846201 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 24s 482m 527u: (code 0x05000030, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheInertial3 can be correctly configured. tbd + . 143,846248 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 24s 483m 187u: (code 0x0000000b, par16 0x01fb par64 0x0015010000800079) -> 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] + . 143,866413 Created device . See C++ class yarp::dev::embObjIMU for documentation. 143,866576 Opening device waist-inertials_remapper with parameters [("robotName" = "icub"), ("period" = "10"), ("ThreeAxisGyroscopesNames" = "(waist_ems_gyro_eb5)")] 143,876572 Parameters are (ThreeAxisGyroscopesNames (waist_ems_gyro_eb5)) (device multipleanalogsensorsremapper) (id waist-inertials_remapper) (period 10) (robotName icub) 143,876616 Created device . See C++ class MultipleAnalogSensorsRemapper for documentation. 143,876630 Opening device waist-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/waist/inertials")] 143,876654 Parameters are (device multipleanalogsensorsserver) (id waist-inertials_wrapper) (name "/icub/waist/inertials") (period 10) (robotName icub) 143,876667 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 143,886697 Opening device waist-eb5-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/waist/inertialEMS5")] 143,886829 Parameters are (device analogServer) (id waist-eb5-inertials_wrapper) (name "/icub/waist/inertialEMS5") (period 10) (robotName icub) 143,886918 The 'AnalogWrapper' device is deprecated. 143,896787 Possible alternatives, depending on the specific type sensor data, are: 143,896878 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 143,896913 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 143,896943 Please update your scripts. 143,896951 No ROS group found in config file ... skipping ROS initialization. 143,906922 Port /icub/waist/inertialEMS5/rpc:i active at tcp://10.0.0.2:10044/ 143,907052 : no ROS initialization required 143,907089 Created wrapper . See C++ class AnalogWrapper for documentation. 143,907102 Opening device xsens_inertial with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/xsens_inertial"), ("subdevice" = "xsensmt"), ("serial" = "/dev/ttyXsens")] 143,907112 Parameters are (device multipleanalogsensorsserver) (id xsens_inertial) (name "/icub/xsens_inertial") (period 10) (robotName icub) (serial "/dev/ttyXsens") (subdevice xsensmt) 143,917012 Parameters are (device xsensmt) (id xsens_inertial) (name "/icub/xsens_inertial") (period 10) (robotName icub) (serial "/dev/ttyXsens") (subdevice xsensmt) 143,917049 xsensmt - Parameter "sensor_name" not set. Using default value " sensor_imu_xsensmt " for this parameter. 143,917066 xsensmt - Parameter "frame_name" not set. Using the same value as "sensor_name" for this parameter. 143,917075 xsensmt - Parameter "xsensmt_period" not set. Using the default value 0.01 seconds for this parameter. 143,917082 xsensmt: Opening serial port /dev/ttyXsens with baud rate 115200 and output period 0.0100 seconds. 143,917089 xsensmt: Putting device into configuration mode. 143,927170 xsensmt: Found a device with id: 0378267E @ port: /dev/ttyXsens , baudrate: 4098 . 143,937498 xsensmt: Device: MTi-300-2A8G4 opened. 143,937635 xsensmt: Configuring the device of type 0378267E. 144,163702 xsensmt: Putting device into measurement mode. 144,173867 Created device . See C++ class yarp::dev::XsensMT for documentation. 144,183943 Port /icub/xsens_inertial/measures:o active at tcp://10.0.0.2:10045/ 144,184042 Port /icub/xsens_inertial/rpc:o active at tcp://10.0.0.2:10046/ 144,184055 Subdevice "xsensmt" successfully configured and attached. 144,184066 xsensmt: sens_index must be equal to 0, since there is only one sensor in consideration 144,184074 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 144,184085 xsensmt: sens_index must be equal to 0, since there is only one sensor in consideration 144,184093 xsensmt: sens_index must be equal to 0, since there is only one sensor in consideration 144,184100 xsensmt: sens_index must be equal to 0, since there is only one sensor in consideration 144,184107 Opening device waist-eb5-inertials with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.5) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "torso-eb5-j0_2") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials) (PROPERTIES (CANBOARDS (type eobrd_mtb) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id waist_ems_gyro_eb5) (type eoas_gyros_st_l3g4200d) (location ETH:1))) (SETTINGS (acquisitionRate 50) (enabledSensors waist_ems_gyro_eb5))")] 144,184123 xsensmt: Missing orientation message, skipping orientation update. 144,194064 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.5") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name torso-eb5-j0_2) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_inertials) (PROPERTIES (CANBOARDS (type eobrd_mtb) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id waist_ems_gyro_eb5) (type eoas_gyros_st_l3g4200d) (location "ETH:1"))) (SETTINGS (acquisitionRate 50) (enabledSensors waist_ems_gyro_eb5))) (device embObjInertials) (id waist-eb5-inertials) (robotName icub) 144,194236 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 144,194248 The embObjInertials device using BOARD torso-eb5-j0_2 w/ IP 10.0.1.5 has the following service config: 144,194257 - acquisitionrate = 50 144,194264 - number of sensors = 1 defined as follows: 144,194271 - id = waist_ems_gyro_eb5 type = eoas_gyros_st_l3g4200d on MTB w/ loc = [E, T, H, :, 1, 144,204558 from BOARD 10.0.1.5 (torso-eb5-j0_2) @ 24s 683m 560u: CAN discovery has started for 0 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. 144,204602 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 24s 683m 699u: (code 0x05000017, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheInertial can be correctly configured. tbd + . 144,204614 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 24s 684m 482u: (code 0x0000000b, par16 0x01c5 par64 0x00200039007d0020) -> 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] + . 144,224751 Created device . See C++ class yarp::dev::embObjInertials for documentation. 144,224794 Opening device left_arm-mais_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/left_hand/analog:o")] 144,224816 Parameters are (device analogServer) (id left_arm-mais_wrapper) (name "/icub/left_hand/analog:o") (period 10) (robotName icub) 144,224835 The 'AnalogWrapper' device is deprecated. 144,224849 Possible alternatives, depending on the specific type sensor data, are: 144,234805 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 144,234828 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 144,234841 Please update your scripts. 144,234851 No ROS group found in config file ... skipping ROS initialization. 144,234860 Port /icub/left_hand/analog:o/rpc:i active at tcp://10.0.0.2:10047/ 144,234872 : no ROS initialization required 144,234882 Created wrapper . See C++ class AnalogWrapper for documentation. 144,234895 Opening device right_arm-mais_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/right_hand/analog:o")] 144,234905 Parameters are (device analogServer) (id right_arm-mais_wrapper) (name "/icub/right_hand/analog:o") (period 10) (robotName icub) 144,234917 The 'AnalogWrapper' device is deprecated. 144,234926 Possible alternatives, depending on the specific type sensor data, are: 144,234935 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 144,234944 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 144,234953 Please update your scripts. 144,234962 No ROS group found in config file ... skipping ROS initialization. 144,244886 Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10048/ 144,244909 : no ROS initialization required 144,244923 Created wrapper . See C++ class AnalogWrapper for documentation. 144,244936 Opening device left_arm-eb26-j12_15-mais with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.26) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb26-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location CAN1:14))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))")] 144,254973 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.26") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb26-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location "CAN1:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))) (device embObjMais) (id left_arm-eb26-j12_15-mais) (robotName icub) 144,255004 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 144,255015 The embObjMais device using BOARD left_arm-eb26-j12_15 w/ IP 10.0.1.26 has the following service config: 144,255023 - acquisitionrate = 10 144,255030 - MAIS named id_x_hand_mais @ [C, A, N, 1, :, 1, 4, 144,305413 Created device . See C++ class yarp::dev::embObjMais for documentation. 144,305437 Opening device right_arm-eb29-j12_15-mais with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.29) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb29-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location CAN1:14))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))")] 144,305455 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.29") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb29-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location "CAN1:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))) (device embObjMais) (id right_arm-eb29-j12_15-mais) (robotName icub) 144,315500 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 144,315520 The embObjMais device using BOARD right_arm-eb29-j12_15 w/ IP 10.0.1.29 has the following service config: 144,315530 - acquisitionrate = 10 144,315537 - MAIS named id_x_hand_mais @ [C, A, N, 1, :, 1, 4, 144,355861 Created device . See C++ class yarp::dev::embObjMais for documentation. 144,355885 Opening device left_arm-skin_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("total_taxels" = "1344"), ("device" = "skinWrapper"), ("ports" = "(left_hand left_forearm left_arm)"), ("left_hand" = "0 191 0 191"), ("left_forearm" = "192 575 0 383"), ("left_arm" = "576 1343 0 767")] 144,396191 Parameters are (device skinWrapper) (id left_arm-skin_wrapper) (left_arm 576 1343 0 767) (left_forearm 192 575 0 383) (left_hand 0 191 0 191) (period 20) (ports (left_hand left_forearm left_arm)) (robotName icub) (total_taxels 1344) 144,396243 Parameters are (channels 1344) (device analogServer) (id left_arm-skin_wrapper) (left_arm 576 1343 0 767) (left_forearm 192 575 0 383) (left_hand 0 191 0 191) (name "/icub/skin") (period 20) (ports (left_hand left_forearm left_arm)) (robotName icub) 144,396258 The 'AnalogWrapper' device is deprecated. 144,396269 Possible alternatives, depending on the specific type sensor data, are: 144,396302 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 144,396313 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 144,396344 Please update your scripts. 144,396353 No ROS group found in config file ... skipping ROS initialization. 144,396362 --> 0 191 0 191 144,396387 opening port left_hand 144,396395 --> 192 575 0 383 144,396403 opening port left_forearm 144,396411 --> 576 1343 0 767 144,396419 opening port left_arm 144,406273 Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10049/ 144,416348 Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10050/ 144,416477 Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10051/ 144,416525 : no ROS initialization required 144,416535 Created wrapper . See C++ class AnalogWrapper for documentation. 144,416546 Created device . See C++ class skinWrapper for documentation. 144,416556 Opening device left_arm-eb24-j4_7-skin with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.24) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb24-j4_7") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("patches" [group] = "(skinCanAddrsPatch1 14 13 12 11 10 9 8)"), ("defaultCfgBoard" [group] = "(period 50) (skinType 8) (noLoad 0xf0) (diagnostic false)"), ("defaultCfgTriangle" [group] = "(enabled true) (shift 2) (cdcOffset 0x2200)"), ("specialCfgTriangles" [group] = "(numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 0x2000) (triangleSetCfg2 1 14 8 11 1 2 0x2200) (triangleSetCfg3 1 13 0 15 1 2 0x2200) (triangleSetCfg4 1 12 0 1 1 2 0x2200) (triangleSetCfg5 1 12 3 3 1 2 0x2200) (triangleSetCfg6 1 12 6 6 1 2 0x2200) (triangleSetCfg7 1 12 8 9 1 2 0x2200) (triangleSetCfg8 1 12 12 13 1 2 0x2200) (triangleSetCfg9 1 11 1 4 1 2 0x2200) (triangleSetCfg10 1 11 8 13 1 2 0x2200) (triangleSetCfg11 1 10 0 1 1 2 0x2200) (triangleSetCfg12 1 10 6 6 1 2 0x2200) (triangleSetCfg13 1 10 8 15 1 2 0x2200) (triangleSetCfg14 1 9 0 8 1 2 0x2200) (triangleSetCfg15 1 9 12 13 1 2 0x2200) (triangleSetCfg16 1 8 0 0 1 2 0x2200) (triangleSetCfg17 1 8 8 9 1 2 0x2200) (triangleSetCfg18 1 8 10 11 1 2 0x2200) (triangleSetCfg19 1 8 13 13 1 2 0x2200) (triangleSetCfg20 1 8 15 15 1 2 0x2200)")] 144,436686 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.24") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb24-j4_7) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (defaultCfgBoard (period 50) (skinType 8) (noLoad 240) (diagnostic false)) (defaultCfgTriangle (enabled true) (shift 2) (cdcOffset 8704)) (device embObjSkin) (id left_arm-eb24-j4_7-skin) (patches (skinCanAddrsPatch1 14 13 12 11 10 9 8)) (robotName icub) (specialCfgTriangles (numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 8192) (triangleSetCfg2 1 14 8 11 1 2 8704) (triangleSetCfg3 1 13 0 15 1 2 8704) (triangleSetCfg4 1 12 0 1 1 2 8704) (triangleSetCfg5 1 12 3 3 1 2 8704) (triangleSetCfg6 1 12 6 6 1 2 8704) (triangleSetCfg7 1 12 8 9 1 2 8704) (triangleSetCfg8 1 12 12 13 1 2 8704) (triangleSetCfg9 1 11 1 4 1 2 8704) (triangleSetCfg10 1 11 8 13 1 2 8704) (triangleSetCfg11 1 10 0 1 1 2 8704) (triangleSetCfg12 1 10 6 6 1 2 8704) (triangleSetCfg13 1 10 8 15 1 2 8704) (triangleSetCfg14 1 9 0 8 1 2 8704) (triangleSetCfg15 1 9 12 13 1 2 8704) (triangleSetCfg16 1 8 0 0 1 2 8704) (triangleSetCfg17 1 8 8 9 1 2 8704) (triangleSetCfg18 1 8 10 11 1 2 8704) (triangleSetCfg19 1 8 13 13 1 2 8704) (triangleSetCfg20 1 8 15 15 1 2 8704)) 144,436749 ServiceParser::parseService(SKIN) has received an invalid SERVICE group: using defaults 144,446825 from BOARD 10.0.1.24 (left_arm-eb24-j4_7) @ 25s 83m 74u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x7f00, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. 144,446882 from BOARD 10.0.1.24 (left_arm-eb24-j4_7) @ 25s 83m 246u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 144,446898 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 25s 83m 418u: (code 0x05000005, par16 0x0001 par64 0x00007f0000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . 144,446911 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 25s 83m 996u: (code 0x0000000b, par16 0x0250 par64 0x006f001300810016) -> 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] + . 144,446923 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 25s 88m 60u: (code 0x0000000d, par16 0x015f par64 0x0007001600540081) -> 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] + . 144,457162 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 25s 99m 169u: (code 0x0000000d, par16 0x01ce par64 0x00070017004f0081) -> 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] + . 145,194550 Created device . See C++ class EmbObjSkin for documentation. 145,194606 Opening device right_arm-skin_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("total_taxels" = "1344"), ("device" = "skinWrapper"), ("ports" = "(right_hand right_forearm right_arm)"), ("right_hand" = "0 191 0 191"), ("right_forearm" = "192 575 0 383"), ("right_arm" = "576 1343 0 767")] 145,194636 Parameters are (device skinWrapper) (id right_arm-skin_wrapper) (period 20) (ports (right_hand right_forearm right_arm)) (right_arm 576 1343 0 767) (right_forearm 192 575 0 383) (right_hand 0 191 0 191) (robotName icub) (total_taxels 1344) 145,194671 Parameters are (channels 1344) (device analogServer) (id right_arm-skin_wrapper) (name "/icub/skin") (period 20) (ports (right_hand right_forearm right_arm)) (right_arm 576 1343 0 767) (right_forearm 192 575 0 383) (right_hand 0 191 0 191) (robotName icub) 145,194685 The 'AnalogWrapper' device is deprecated. 145,194699 Possible alternatives, depending on the specific type sensor data, are: 145,194709 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 145,194753 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 145,194762 Please update your scripts. 145,194771 No ROS group found in config file ... skipping ROS initialization. 145,194780 --> 0 191 0 191 145,194788 opening port right_hand 145,204665 --> 192 575 0 383 145,204783 opening port right_forearm 145,204829 --> 576 1343 0 767 145,204840 opening port right_arm 145,214774 Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10052/ 145,235039 Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10053/ 145,245181 Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10054/ 145,245217 : no ROS initialization required 145,245229 Created wrapper . See C++ class AnalogWrapper for documentation. 145,245240 Created device . See C++ class skinWrapper for documentation. 145,245250 Opening device right_arm-eb27-j4_7-skin with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.27) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb27-j4_7") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("patches" [group] = "(skinCanAddrsPatch1 14 13 12 11 10 9 8)"), ("defaultCfgBoard" [group] = "(period 50) (skinType 8) (noLoad 0xf0) (diagnostic false)"), ("defaultCfgTriangle" [group] = "(enabled true) (shift 2) (cdcOffset 0x2200)"), ("specialCfgTriangles" [group] = "(numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 0x2000) (triangleSetCfg2 1 14 8 11 1 2 0x2200) (triangleSetCfg3 1 13 0 15 1 2 0x2200) (triangleSetCfg4 1 12 0 1 1 2 0x2200) (triangleSetCfg5 1 12 3 3 1 2 0x2200) (triangleSetCfg6 1 12 6 6 1 2 0x2200) (triangleSetCfg7 1 12 8 9 1 2 0x2200) (triangleSetCfg8 1 12 12 13 1 2 0x2200) (triangleSetCfg9 1 11 1 4 1 2 0x2200) (triangleSetCfg10 1 11 8 13 1 2 0x2200) (triangleSetCfg11 1 9 0 1 1 2 0x2200) (triangleSetCfg12 1 9 6 6 1 2 0x2200) (triangleSetCfg13 1 9 8 15 1 2 0x2200) (triangleSetCfg14 1 10 0 8 1 2 0x2200) (triangleSetCfg15 1 10 12 13 1 2 0x2200) (triangleSetCfg16 1 8 0 0 1 2 0x2200) (triangleSetCfg17 1 8 8 9 1 2 0x2200) (triangleSetCfg18 1 8 10 11 1 2 0x2200) (triangleSetCfg19 1 8 13 13 1 2 0x2200) (triangleSetCfg20 1 8 15 15 1 2 0x2200)")] 145,245271 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.27") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb27-j4_7) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (defaultCfgBoard (period 50) (skinType 8) (noLoad 240) (diagnostic false)) (defaultCfgTriangle (enabled true) (shift 2) (cdcOffset 8704)) (device embObjSkin) (id right_arm-eb27-j4_7-skin) (patches (skinCanAddrsPatch1 14 13 12 11 10 9 8)) (robotName icub) (specialCfgTriangles (numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 8192) (triangleSetCfg2 1 14 8 11 1 2 8704) (triangleSetCfg3 1 13 0 15 1 2 8704) (triangleSetCfg4 1 12 0 1 1 2 8704) (triangleSetCfg5 1 12 3 3 1 2 8704) (triangleSetCfg6 1 12 6 6 1 2 8704) (triangleSetCfg7 1 12 8 9 1 2 8704) (triangleSetCfg8 1 12 12 13 1 2 8704) (triangleSetCfg9 1 11 1 4 1 2 8704) (triangleSetCfg10 1 11 8 13 1 2 8704) (triangleSetCfg11 1 9 0 1 1 2 8704) (triangleSetCfg12 1 9 6 6 1 2 8704) (triangleSetCfg13 1 9 8 15 1 2 8704) (triangleSetCfg14 1 10 0 8 1 2 8704) (triangleSetCfg15 1 10 12 13 1 2 8704) (triangleSetCfg16 1 8 0 0 1 2 8704) (triangleSetCfg17 1 8 8 9 1 2 8704) (triangleSetCfg18 1 8 10 11 1 2 8704) (triangleSetCfg19 1 8 13 13 1 2 8704) (triangleSetCfg20 1 8 15 15 1 2 8704)) 145,245293 ServiceParser::parseService(SKIN) has received an invalid SERVICE group: using defaults 145,255262 from BOARD 10.0.1.27 (right_arm-eb27-j4_7) @ 25s 896m 517u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x7f00, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. 145,255282 from BOARD 10.0.1.27 (right_arm-eb27-j4_7) @ 25s 896m 690u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 145,255293 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 25s 896m 862u: (code 0x05000005, par16 0x0001 par64 0x00007f0000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . 145,255302 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 25s 897m 441u: (code 0x0000000b, par16 0x024f par64 0x0458001200850400) -> 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] + . 145,265535 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 25s 902m 503u: (code 0x0000000d, par16 0x0547 par64 0x0007046f00540085) -> 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] + . 145,275661 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 25s 912m 616u: (code 0x0000000d, par16 0x05b7 par64 0x00070401004f0085) -> 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] + . 146,004308 Created device . See C++ class EmbObjSkin for documentation. 146,014388 Opening device torso-skin_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("total_taxels" = "768"), ("device" = "skinWrapper"), ("ports" = "(torso)"), ("torso" = "0 767 0 767")] 146,014410 Parameters are (device skinWrapper) (id torso-skin_wrapper) (period 20) (ports (torso)) (robotName icub) (torso 0 767 0 767) (total_taxels 768) 146,014424 Parameters are (channels 768) (device analogServer) (id torso-skin_wrapper) (name "/icub/skin") (period 20) (ports (torso)) (robotName icub) (torso 0 767 0 767) 146,014437 The 'AnalogWrapper' device is deprecated. 146,014450 Possible alternatives, depending on the specific type sensor data, are: 146,014460 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 146,014469 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 146,014477 Please update your scripts. 146,014485 No ROS group found in config file ... skipping ROS initialization. 146,014493 --> 0 767 0 767 146,014501 opening port torso 146,054723 Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10055/ 146,054747 : no ROS initialization required 146,054759 Created wrapper . See C++ class AnalogWrapper for documentation. 146,054773 Created device . See C++ class skinWrapper for documentation. 146,054784 Opening device torso-eb22-skin with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.22) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "face-eb22-j0") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("patches" [group] = "(skinCanAddrsPatch1 7 8 9 10)"), ("defaultCfgBoard" [group] = "(period 50) (skinType 8) (noLoad 0xf0) (diagnostic false)"), ("defaultCfgTriangle" [group] = "(enabled true) (shift 2) (cdcOffset 0x2200)")] 146,054801 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.22") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name face-eb22-j0) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (defaultCfgBoard (period 50) (skinType 8) (noLoad 240) (diagnostic false)) (defaultCfgTriangle (enabled true) (shift 2) (cdcOffset 8704)) (device embObjSkin) (id torso-eb22-skin) (patches (skinCanAddrsPatch1 7 8 9 10)) (robotName icub) 146,054817 ServiceParser::parseService(SKIN) has received an invalid SERVICE group: using defaults 146,064810 from BOARD 10.0.1.22 (face-eb22-j0) @ 26s 706m 792u: CAN discovery has started for 4 eobrd_mtb boards on (can1map, can2map) = (0x0780, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0. 146,064830 from BOARD 10.0.1.22 (face-eb22-j0) @ 26s 706m 964u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 4 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms 146,064868 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 26s 707m 130u: (code 0x05000005, par16 0x0001 par64 0x0000078000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + . 146,064877 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 26s 707m 716u: (code 0x0000000b, par16 0x0248 par64 0x00160020002d005d) -> 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] + . 146,611874 Created device . See C++ class EmbObjSkin for documentation. 146,611946 Opening device left_arm-FT_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/left_arm/FT")] 146,611963 Parameters are (device multipleanalogsensorsserver) (id left_arm-FT_wrapper) (name "/icub/left_arm/FT") (period 10) (robotName icub) 146,611998 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 146,612025 Opening device right_arm-FT_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/right_arm/FT")] 146,612033 Parameters are (device multipleanalogsensorsserver) (id right_arm-FT_wrapper) (name "/icub/right_arm/FT") (period 10) (robotName icub) 146,612044 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 146,612054 Opening device left_arm-eb1-j0_3-strain with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb1-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (id l_arm_ft) (framename l_arm_ft) (type eoas_strain) (location CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors l_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))")] 146,652237 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb1-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (id l_arm_ft) (framename l_arm_ft) (type eoas_strain) (location "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors l_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))) (device embObjFTsensor) (id left_arm-eb1-j0_3-strain) (robotName icub) 146,652284 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 146,662325 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 27s 148m 290u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.2.0. 146,662364 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 27s 149m 294u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.2.0 Search time was 0 ms 146,662418 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 27s 149m 455u: CAN discovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.2.0. Search time was 1 ms 146,662427 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 27s 149m 612u: (code 0x05000008, par16 0x010d par64 0x0000000202000202) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . 146,662437 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 27s 150m 215u: (code 0x0000000b, par16 0x0234 par64 0x00230134009b0068) -> 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] + . 146,662446 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 27s 153m 293u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.2.0. 146,662454 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 27s 154m 294u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.2.0 Search time was 0 ms 146,662462 from BOARD 10.0.1.1 (left_arm-eb1-j0_3) @ 27s 154m 455u: CAN discovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.2.0. Search time was 0 ms 146,672742 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 27s 154m 590u: (code 0x05000035, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheTemperatures can be correctly configured. tbd + . 146,672784 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 27s 155m 215u: (code 0x0000000b, par16 0x021d par64 0x00210137009b006a) -> 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] + . 147,723762 Created device . See C++ class yarp::dev::embObjFTsensor for documentation. 147,723952 Opening device right_arm-eb3-j0_3-strain with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.3) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb3-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (id r_arm_ft) (framename r_arm_ft) (type eoas_strain) (location CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors r_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))")] 147,724084 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.3") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb3-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (id r_arm_ft) (framename r_arm_ft) (type eoas_strain) (location "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors r_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))) (device embObjFTsensor) (id right_arm-eb3-j0_3-strain) (robotName icub) 147,724206 ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName 147,734158 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 28s 218m 934u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.2.0. 147,734307 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 28s 219m 938u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.2.0 Search time was 0 ms 147,734366 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 28s 220m 100u: CAN discovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.2.0. Search time was 0 ms 147,734415 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 28s 220m 259u: (code 0x05000008, par16 0x010d par64 0x0000000202000202) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits. Byte 5 of p64: 0x01 is strain, 0x02 is strain2 + . 147,734466 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 28s 220m 857u: (code 0x0000000b, par16 0x0239 par64 0x001f0138009c0067) -> 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] + . 147,744511 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 28s 224m 937u: CAN discovery has started for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.2.0. 147,744653 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 28s 225m 938u: CAN discovery has detected a eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.2.0 Search time was 0 ms 147,744712 from BOARD 10.0.1.3 (right_arm-eb3-j0_3) @ 28s 226m 100u: CAN discovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.2.0. Search time was 0 ms 147,744780 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 28s 226m 234u: (code 0x05000035, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheTemperatures can be correctly configured. tbd + . 147,744831 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 28s 226m 857u: (code 0x0000000b, par16 0x0223 par64 0x0020013b009d0069) -> 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] + . 148,785578 Created device . See C++ class yarp::dev::embObjFTsensor for documentation. 148,795702 Opening device left_arm-VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "( 0 3 0 3 )"), ("SecondSetOfJoints" = "( 4 6 0 2 )"), ("channels" = "7"), ("name" = "/icub/joint_vsens/left_arm:i")] 148,826123 Parameters are (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id left_arm-VFTserver) (name "/icub/joint_vsens/left_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) 148,826297 (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id left_arm-VFTserver) (name "/icub/joint_vsens/left_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) 148,826375 Using VirtualAnalogServer 148,846325 Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10056/ 148,846360 Created wrapper . See C++ class VirtualAnalogWrapper for documentation. 148,846388 Opening device right_arm-VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "( 0 3 0 3 )"), ("SecondSetOfJoints" = "( 4 6 0 2 )"), ("channels" = "7"), ("name" = "/icub/joint_vsens/right_arm:i")] 148,846403 Parameters are (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id right_arm-VFTserver) (name "/icub/joint_vsens/right_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) 148,846417 (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id right_arm-VFTserver) (name "/icub/joint_vsens/right_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub) 148,846447 Using VirtualAnalogServer 148,846456 Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10057/ 148,846472 Created wrapper . See C++ class VirtualAnalogWrapper for documentation. 148,846483 Opening device torso-VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints)"), ("FirstSetOfJoints" = "( 0 2 0 2 )"), ("channels" = "3"), ("name" = "/icub/joint_vsens/torso:i")] 148,846492 Parameters are (FirstSetOfJoints (0 2 0 2)) (channels 3) (device virtualAnalogServer) (id torso-VFTserver) (name "/icub/joint_vsens/torso:i") (networks (FirstSetOfJoints)) (period 10) (robotName icub) 148,846517 (FirstSetOfJoints (0 2 0 2)) (channels 3) (device virtualAnalogServer) (id torso-VFTserver) (name "/icub/joint_vsens/torso:i") (networks (FirstSetOfJoints)) (period 10) (robotName icub) 148,856406 Using VirtualAnalogServer 148,856427 Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10058/ 148,856443 Created wrapper . See C++ class VirtualAnalogWrapper for documentation. 148,856456 Opening device left_arm-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 16) (deviceName Left_Arm_Calibrator)"), ("HOME" [group] = "(positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 58559 22639 48830 51983 -1500 450 11679 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 3140 1780 255 480 255 491 255 494 780) (calibration5 0 0 0 0 0 0 0 3295 2665 0 18 0 18 0 11 198) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 -9.2 -17.1 -2.7 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 35 50 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)"), ("CALIB_ORDER" = "(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)")] 148,866502 Parameters are (CALIBRATION (calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 58559 22639 48830 51983 -1500 450 11679 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 3140 1780 255 480 255 491 255 494 780) (calibration5 0 0 0 0 0 0 0 3295 2665 0 18 0 18 0 11 198) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 -9.19999999999999928946 -17.1000000000000014211 -2.70000000000000017764 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 35 50 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)) (CALIB_ORDER (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 16) (deviceName Left_Arm_Calibrator)) (HOME (positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)) (device parametricCalibratorEth) (id left_arm-calibrator) (robotName icub) 148,866565 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 148,866579 Opening device right_arm-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 16) (deviceName Right_Arm_Calibrator)"), ("HOME" [group] = "(positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 35535 33135 24960 25983 1500 11700 55950 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 1720 2600 241 510 255 510 255 510 785) (calibration5 0 0 0 0 0 0 0 1945 3600 40 0 0 23 0 0 210) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 1.0 -9.2 -14.2 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 35 50 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 5 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)"), ("CALIB_ORDER" = "(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)")] 148,866597 Parameters are (CALIBRATION (calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 35535 33135 24960 25983 1500 11700 55950 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 1720 2600 241 510 255 510 255 510 785) (calibration5 0 0 0 0 0 0 0 1945 3600 40 0 0 23 0 0 210) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 1.0 -9.19999999999999928946 -14.1999999999999992895 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 35 50 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 5 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)) (CALIB_ORDER (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 16) (deviceName Right_Arm_Calibrator)) (HOME (positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)) (device parametricCalibratorEth) (id right_arm-calibrator) (robotName icub) 148,866617 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 148,866628 Opening device torso-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 3) (deviceName Torso_Calibrator)"), ("HOME" [group] = "(positionHome 0 0 -20) (velocityHome 10 10 10)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12) (calibration1 17759 20300 43551) (calibration2 0 0 0) (calibration3 0 0 0) (calibration4 0 0 0) (calibration5 0 0 0) (calibrationZero 0 0 0) (calibrationDelta 0 0 0) (startupPosition 0 0 0) (startupVelocity 10 10 10) (startupMaxPwm 8500 8500 8500) (startupPosThreshold 2 2 2)"), ("CALIB_ORDER" = "(0 1 2)")] 148,866641 Parameters are (CALIBRATION (calibrationType 12 12 12) (calibration1 17759 20300 43551) (calibration2 0 0 0) (calibration3 0 0 0) (calibration4 0 0 0) (calibration5 0 0 0) (calibrationZero 0 0 0) (calibrationDelta 0 0 0) (startupPosition 0 0 0) (startupVelocity 10 10 10) (startupMaxPwm 8500 8500 8500) (startupPosThreshold 2 2 2)) (CALIB_ORDER (0 1 2)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 3) (deviceName Torso_Calibrator)) (HOME (positionHome 0 0 -20) (velocityHome 10 10 10)) (device parametricCalibratorEth) (id torso-calibrator) (robotName icub) 148,866655 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 148,866668 Opening device head-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 6) (deviceName HeadV3_Calibrator)"), ("HOME" [group] = "(positionHome 0 0 0 0 0 0) (velocityHome 10 10 10 10 10 10)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 5 5) (calibration1 52543 64079 33231 52175 3000 3000) (calibration2 0 0 0 0 8192 8192) (calibration3 0 0 0 0 0 0) (calibration4 0 0 0 0 0 0) (calibration5 0 0 0 0 0 0) (calibrationZero 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 -6 0) (startupPosition 0 0 0 0 0 0) (startupVelocity 10 10 20 20 20 20) (startupMaxPwm 3000 3000 3000 3000 0 0) (startupPosThreshold 90 90 2 2 2 2)"), ("CALIB_ORDER" = "(0 1 2) (3) (4 5)")] 148,866682 Parameters are (CALIBRATION (calibrationType 12 12 12 12 5 5) (calibration1 52543 64079 33231 52175 3000 3000) (calibration2 0 0 0 0 8192 8192) (calibration3 0 0 0 0 0 0) (calibration4 0 0 0 0 0 0) (calibration5 0 0 0 0 0 0) (calibrationZero 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 -6 0) (startupPosition 0 0 0 0 0 0) (startupVelocity 10 10 20 20 20 20) (startupMaxPwm 3000 3000 3000 3000 0 0) (startupPosThreshold 90 90 2 2 2 2)) (CALIB_ORDER (0 1 2) (3) (4 5)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 6) (deviceName HeadV3_Calibrator)) (HOME (positionHome 0 0 0 0 0 0) (velocityHome 10 10 10 10 10 10)) (device parametricCalibratorEth) (id head-calibrator) (robotName icub) 148,866697 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 148,866707 Opening device face-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 1) (deviceName FaceV3_Calibrator)"), ("HOME" [group] = "(positionHome 0) (velocityHome 10)"), ("CALIBRATION" [group] = "(calibrationType 12) (calibration1 -3110) (calibration2 0) (calibration3 0) (calibration4 0) (calibration5 0) (calibrationZero 0) (calibrationDelta 0) (startupPosition 0) (startupVelocity 10) (startupMaxPwm 3360) (startupPosThreshold 90)"), ("CALIB_ORDER" = "(0)")] 148,876584 Parameters are (CALIBRATION (calibrationType 12) (calibration1 -3110) (calibration2 0) (calibration3 0) (calibration4 0) (calibration5 0) (calibrationZero 0) (calibrationDelta 0) (startupPosition 0) (startupVelocity 10) (startupMaxPwm 3360) (startupPosThreshold 90)) (CALIB_ORDER (0)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 1) (deviceName FaceV3_Calibrator)) (HOME (positionHome 0) (velocityHome 10)) (device parametricCalibratorEth) (id face-calibrator) (robotName icub) 148,876612 Created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. 148,876626 Entering action level 5 of phase startup 148,876634 Executing attach action, level 5 on device left_arm-mc_remapper with parameters [("networks" = "(left_arm_joints1 left_arm_joints2 left_arm_joints3 left_arm_joints4)"), ("left_arm_joints1" = "left_arm-eb1-j0_3-mc"), ("left_arm_joints2" = "left_arm-eb24-j4_7-mc"), ("left_arm_joints3" = "left_arm-eb25-j8_11-mc"), ("left_arm_joints4" = "left_arm-eb26-j12_15-mc")] 148,876646 Executing attach action, level 5 on device right_arm-mc_remapper with parameters [("networks" = "(right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4)"), ("right_arm_joints1" = "right_arm-eb3-j0_3-mc"), ("right_arm_joints2" = "right_arm-eb27-j4_7-mc"), ("right_arm_joints3" = "right_arm-eb28-j8_11-mc"), ("right_arm_joints4" = "right_arm-eb29-j12_15-mc")] 148,876656 Executing attach action, level 5 on device head-mc_remapper with parameters [("networks" = "(head_joints1 head_joints2)"), ("head_joints1" = "head-eb20-j0_1-mc"), ("head_joints2" = "head-eb21-j2_5-mc")] 148,876667 Executing attach action, level 5 on device face-mc_remapper with parameters [("networks" = "(face_joints)"), ("face_joints" = "face-eb22-j0-mc")] 148,876676 face-mc_remapper is not an IWrapper. Trying IMultipleWrapper 148,876683 Executing attach action, level 5 on device torso-mc_remapper with parameters [("networks" = "(torso_joints)"), ("torso_joints" = "torso-eb5-j0_2-mc")] 148,876691 torso-mc_remapper is not an IWrapper. Trying IMultipleWrapper 148,876697 Executing attach action, level 5 on device head-imuFilter with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "head-inertial")] 148,876705 head-imuFilter is not an IWrapper. Trying IMultipleWrapper 148,876712 PassThroughInertial: attach finished with success 148,876719 Executing attach action, level 5 on device head-inertials_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "head-inertial")] 148,876726 head-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper 148,876733 Port /icub/head/inertials/measures:o active at tcp://10.0.0.2:10059/ 148,886665 Port /icub/head/inertials/rpc:o active at tcp://10.0.0.2:10060/ 148,886711 Executing attach action, level 5 on device waist-inertials_remapper with parameters [("networks" = "(inertialsOnEb5)"), ("inertialsOnEb5" = "waist-eb5-inertials")] 148,886723 waist-inertials_remapper is not an IWrapper. Trying IMultipleWrapper 148,886731 Executing attach action, level 5 on device waist-inertials_wrapper with parameters [("networks" = "(InertialsRemapper)"), ("InertialsRemapper" = "waist-inertials_remapper")] 148,886739 waist-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper 148,886747 Port /icub/waist/inertials/measures:o active at tcp://10.0.0.2:10061/ 148,896721 Port /icub/waist/inertials/rpc:o active at tcp://10.0.0.2:10062/ 148,896754 Executing attach action, level 5 on device waist-eb5-inertials_wrapper with parameters [("networks" = "(SetOfInertials)"), ("SetOfInertials" = "waist-eb5-inertials")] 148,896766 waist-eb5-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper 148,896775 Port /icub/waist/inertialEMS5 active at tcp://10.0.0.2:10063/ 148,896811 Executing attach action, level 5 on device left_arm-mais_wrapper with parameters [("networks" = "(leftMais)"), ("leftMais" = "left_arm-eb26-j12_15-mais")] 148,906802 left_arm-mais_wrapper is not an IWrapper. Trying IMultipleWrapper 148,906822 Port /icub/left_hand/analog:o active at tcp://10.0.0.2:10064/ 148,906837 Executing attach action, level 5 on device right_arm-mais_wrapper with parameters [("networks" = "(leftMais)"), ("leftMais" = "right_arm-eb29-j12_15-mais")] 148,906847 right_arm-mais_wrapper is not an IWrapper. Trying IMultipleWrapper 148,916889 Port /icub/right_hand/analog:o active at tcp://10.0.0.2:10065/ 148,916913 Executing attach action, level 5 on device left_arm-skin_wrapper with parameters [("networks" = "(FirstSetOfSkins)"), ("FirstSetOfSkins" = "left_arm-eb24-j4_7-skin")] 148,916924 left_arm-skin_wrapper is not an IWrapper. Trying IMultipleWrapper 148,926946 Port /icub/skin/left_hand active at tcp://10.0.0.2:10066/ 148,926970 Port /icub/skin/left_forearm active at tcp://10.0.0.2:10067/ 148,937033 Port /icub/skin/left_arm active at tcp://10.0.0.2:10068/ 148,937057 Executing attach action, level 5 on device right_arm-skin_wrapper with parameters [("networks" = "(FirstSetOfSkins)"), ("FirstSetOfSkins" = "right_arm-eb27-j4_7-skin")] 148,937068 right_arm-skin_wrapper is not an IWrapper. Trying IMultipleWrapper 148,947089 Port /icub/skin/right_hand active at tcp://10.0.0.2:10069/ 148,947116 Port /icub/skin/right_forearm active at tcp://10.0.0.2:10070/ 148,957143 Port /icub/skin/right_arm active at tcp://10.0.0.2:10071/ 148,957165 Executing attach action, level 5 on device torso-skin_wrapper with parameters [("networks" = "(FirstSetOfSkins)"), ("FirstSetOfSkins" = "torso-eb22-skin")] 148,957177 torso-skin_wrapper is not an IWrapper. Trying IMultipleWrapper 148,967198 Port /icub/skin/torso active at tcp://10.0.0.2:10072/ 148,967220 Executing attach action, level 5 on device left_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "left_arm-eb1-j0_3-strain")] 148,967235 left_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper 148,967244 Port /icub/left_arm/FT/measures:o active at tcp://10.0.0.2:10073/ 148,977253 Port /icub/left_arm/FT/rpc:o active at tcp://10.0.0.2:10074/ 148,977273 Executing attach action, level 5 on device right_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "right_arm-eb3-j0_3-strain")] 148,977283 right_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper 148,977291 Port /icub/right_arm/FT/measures:o active at tcp://10.0.0.2:10075/ 148,987325 Port /icub/right_arm/FT/rpc:o active at tcp://10.0.0.2:10076/ 148,987390 Executing attach action, level 5 on device left_arm-VFTserver with parameters [("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "left_arm-eb1-j0_3-mc"), ("SecondSetOfJoints" = "left_arm-eb24-j4_7-mc")] 148,987401 Executing attach action, level 5 on device right_arm-VFTserver with parameters [("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "right_arm-eb3-j0_3-mc"), ("SecondSetOfJoints" = "right_arm-eb27-j4_7-mc")] 148,987411 Executing attach action, level 5 on device torso-VFTserver with parameters [("networks" = "(FirstSetOfJoints)"), ("FirstSetOfJoints" = "torso-eb5-j0_2-mc")] 148,987422 torso-VFTserver is not an IWrapper. Trying IMultipleWrapper 148,987429 All actions for action level 5 of startup phase started. Waiting for unfinished actions. 148,987437 All actions for action level 5 of startup phase finished. 148,987444 Entering action level 6 of phase startup 148,987451 Executing attach action, level 6 on device head-imuFilter_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "head-imuFilter")] 148,987459 head-imuFilter_wrapper is not an IWrapper. Trying IMultipleWrapper 148,997377 Port /imuFilter/measures:o active at tcp://10.0.0.2:10077/ 148,997399 Port /imuFilter/rpc:o active at tcp://10.0.0.2:10078/ 148,997411 All actions for action level 6 of startup phase started. Waiting for unfinished actions. 148,997420 All actions for action level 6 of startup phase finished. 148,997429 Entering action level 10 of phase startup 149,007446 Executing attach action, level 10 on device left_arm-mc_nws_yarp with parameters [("device" = "left_arm-mc_remapper")] 149,007540 Executing attach action, level 10 on device right_arm-mc_nws_yarp with parameters [("device" = "right_arm-mc_remapper")] 149,007575 Executing attach action, level 10 on device head-mc_nws_yarp with parameters [("device" = "head-mc_remapper")] 149,007583 Executing attach action, level 10 on device face-mc_nws_yarp with parameters [("device" = "face-mc_remapper")] 149,007590 Executing attach action, level 10 on device torso-mc_nws_yarp with parameters [("device" = "torso-mc_remapper")] 149,007598 Executing calibrate action, level 10 on device left_arm-calibrator with parameters [("target" = "left_arm-mc_remapper")] 149,007605 left_arm-calibrator starting calibration of device left_arm-mc_remapper 149,007612 Executing calibrate action, level 10 on device right_arm-calibrator with parameters [("target" = "right_arm-mc_remapper")] 149,007620 Left_Arm_Calibrator : starting calibration 149,007628 Left_Arm_Calibrator : Joints calibration order: 0 1 2 3 4 5 6 7 8 9 11 13 10 12 14 15 149,007636 right_arm-calibrator starting calibration of device right_arm-mc_remapper 149,007643 Executing calibrate action, level 10 on device torso-calibrator with parameters [("target" = "torso-mc_remapper")] 149,007651 Right_Arm_Calibrator : starting calibration 149,007658 Right_Arm_Calibrator : Joints calibration order: 0 1 2 3 4 5 6 7 8 9 11 13 10 12 14 15 149,007665 torso-calibrator starting calibration of device torso-mc_remapper 149,007672 Executing calibrate action, level 10 on device head-calibrator with parameters [("target" = "head-mc_remapper")] 149,007680 Torso_Calibrator : starting calibration 149,007686 Torso_Calibrator : Joints calibration order: 0 1 2 149,007693 head-calibrator starting calibration of device head-mc_remapper 149,007701 Executing calibrate action, level 10 on device face-calibrator with parameters [("target" = "face-mc_remapper")] 149,007709 HeadV3_Calibrator : starting calibration 149,007715 HeadV3_Calibrator : Joints calibration order: 0 1 2 3 4 5 149,007722 face-calibrator starting calibration of device face-mc_remapper 149,007729 All actions for action level 10 of startup phase started. Waiting for unfinished actions. 149,007736 FaceV3_Calibrator : starting calibration 149,007743 FaceV3_Calibrator : Joints calibration order: 0 149,007750 FaceV3_Calibrator : joint 0 has max_output already limited to a safe value: 3300 149,109203 FaceV3_Calibrator : Calling calibrateJoint on joint 0 : type 12 with params: -3110 0 0 0 0 149,109344 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 29s 748m 741u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 0: offset=40169 zero=-13768 149,109427 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 29s 749m 143u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=-25367 enc_zero=-13768 149,109479 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 29s 749m 254u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,119333 Left_Arm_Calibrator : Calling calibrateJoint on joint 0 : type 12 with params: 58559 0 0 0 0 149,119465 Torso_Calibrator : Calling calibrateJoint on joint 0 : type 12 with params: 17759 0 0 0 0 149,119498 HeadV3_Calibrator : Calling calibrateJoint on joint 0 : type 12 with params: 52543 0 0 0 0 149,119506 Torso_Calibrator : Calling calibrateJoint on joint 1 : type 12 with params: 20300 0 0 0 0 149,119513 Torso_Calibrator : Calling calibrateJoint on joint 2 : type 12 with params: 43551 0 0 0 0 149,119520 Left_Arm_Calibrator : Calling calibrateJoint on joint 1 : type 12 with params: 22639 0 0 0 0 149,129416 HeadV3_Calibrator : Calling calibrateJoint on joint 1 : type 12 with params: 64079 0 0 0 0 149,129434 Left_Arm_Calibrator : Calling calibrateJoint on joint 2 : type 12 with params: 48830 0 0 0 0 149,129448 HeadV3_Calibrator : Calling calibrateJoint on joint 2 : type 12 with params: 33231 0 0 0 0 149,129457 Left_Arm_Calibrator : Calling calibrateJoint on joint 3 : type 12 with params: 51983 0 0 0 0 149,129464 Right_Arm_Calibrator : Calling calibrateJoint on joint 0 : type 12 with params: 35535 0 0 0 0 149,129471 Right_Arm_Calibrator : Calling calibrateJoint on joint 1 : type 12 with params: 33135 0 0 0 0 149,129477 Right_Arm_Calibrator : Calling calibrateJoint on joint 2 : type 12 with params: 24960 0 0 0 0 149,129484 Right_Arm_Calibrator : Calling calibrateJoint on joint 3 : type 12 with params: 25983 0 0 0 0 149,129490 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 611m 240u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 0: offset=25791 zero=-32768 149,129498 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 2, time 29s 604m 506u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 2: offset=50527 zero=32768 149,129506 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 29s 763m 142u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 0: offset=19775 zero=32768 149,129513 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 29s 765m 210u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 0: offset=463 zero=32768 149,129521 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 1, time 29s 763m 291u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 1: offset=31311 zero=-32768 149,129529 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 611m 748u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=25791 enc_zero=-32768 149,129536 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 29s 604m 660u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 0: offset=53068 zero=32768 149,129543 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 29s 765m 663u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=463 enc_zero=32768 149,129550 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 29s 604m 995u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=-12468 enc_zero=32768 149,129558 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 29s 763m 570u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=19775 enc_zero=32768 149,129565 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 611m 876u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=0 149,129572 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 29s 765m 781u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,129579 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 29s 605m 125u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=0 149,129586 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 29s 763m 704u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=31311 enc_zero=-32768 149,129594 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 1, time 29s 612m 238u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 1: offset=55407 zero=-34443 149,139511 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 29s 763m 819u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,139549 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 29s 605m 478u: (code 0x0000000b, par16 0x019a par64 0x00230039007d007c) -> 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] + . 149,139561 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 2, time 29s 612m 392u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 2: offset=16062 zero=29655 149,139570 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 1, time 29s 605m 647u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 1: offset=10783 zero=32768 149,139577 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 1, time 29s 763m 925u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,139585 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 3, time 29s 612m 553u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 3: offset=19215 zero=-33260 149,139592 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 29s 605m 983u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=-12468 enc_zero=32768 149,139599 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 29s 764m 199u: (code 0x0000000d, par16 0x017f par64 0x0000001601560245) -> 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] + . 149,139608 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 29s 614m 884u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 0: offset=2767 zero=32950 149,139618 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 612m 914u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=25791 enc_zero=-32768 149,139626 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 29s 606m 121u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=10783 enc_zero=32768 149,139647 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 1, time 29s 615m 40u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 1: offset=367 zero=31093 149,139674 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 613m 46u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=-10129 enc_zero=-34443 149,139681 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 29s 606m 249u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=-15009 enc_zero=32768 149,139688 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 2, time 29s 615m 199u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 2: offset=57728 zero=-35353 149,139696 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 613m 179u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=16062 enc_zero=29655 149,139703 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 3, time 29s 615m 356u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 3: offset=58751 zero=32768 149,139710 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 29s 606m 391u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,139717 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 613m 315u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,139726 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 29s 615m 738u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=2767 enc_zero=32950 149,139733 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 1, time 29s 606m 498u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,139740 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 1, time 29s 613m 421u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,139747 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 2, time 29s 606m 606u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,149592 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 29s 615m 865u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=367 enc_zero=31093 149,149612 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 2, time 29s 613m 535u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,149622 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 29s 615m 990u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=-7808 enc_zero=-35353 149,149630 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 613m 668u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=19215 enc_zero=-33260 149,149638 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 29s 616m 131u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,149645 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 3, time 29s 613m 788u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,149655 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 1, time 29s 616m 235u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,149662 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 614m 313u: (code 0x0000000b, par16 0x022e par64 0x0026010001b60115) -> 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] + . 149,149671 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 614m 461u: (code 0x0000000d, par16 0x018d par64 0x00080115022e0158) -> 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] + . 149,149680 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 29s 615m 218u: (code 0x0000000b, par16 0x01d0 par64 0x0115022e0158018d) -> 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] + . 149,149688 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 2, time 29s 616m 339u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,149695 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 29s 616m 478u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=-6785 enc_zero=32768 149,149702 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 3, time 29s 616m 592u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 149,149709 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 29s 617m 192u: (code 0x0000000b, par16 0x02e4 par64 0x0020004100a80020) -> 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] + . 149,149717 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 29s 617m 340u: (code 0x0000000d, par16 0x0273 par64 0x0009002002e401fb) -> 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] + . 149,211903 FaceV3_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 0.0549318 149,212009 FaceV3_Calibrator : calib joint 0 ended 149,212061 FaceV3_Calibrator : set 1 : Calibration ended, going to zero! 149,222006 Torso_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 0 149,222052 Torso_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 0.0164795 149,222061 Torso_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: -0.175782 149,222069 HeadV3_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 0.351563 149,222076 Left_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -33.4864 149,222083 HeadV3_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -0.0878908 149,222090 HeadV3_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 0.966799 149,222096 Left_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 27.746 149,232153 Left_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 0.494386 149,232178 Left_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 49.9 149,232188 Right_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -33.5194 149,232209 Right_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 29.8554 149,232216 Right_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 0.758058 149,232223 Right_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 49.7462 149,232229 HeadV3_Calibrator : calib joint 0 ended 149,232236 Left_Arm_Calibrator : calib joint 0 ended 149,232243 Torso_Calibrator : calib joint 0 ended 149,232249 Right_Arm_Calibrator : calib joint 0 ended 149,232255 Left_Arm_Calibrator : calib joint 1 ended 149,232262 HeadV3_Calibrator : calib joint 1 ended 149,232268 Torso_Calibrator : calib joint 1 ended 149,232275 Right_Arm_Calibrator : calib joint 1 ended 149,232280 Left_Arm_Calibrator : calib joint 2 ended 149,242242 Torso_Calibrator : calib joint 2 ended 149,242260 Torso_Calibrator : set 1 : Calibration ended, going to zero! 149,242289 HeadV3_Calibrator : calib joint 2 ended 149,242296 HeadV3_Calibrator : set 1 : Calibration ended, going to zero! 149,242303 Left_Arm_Calibrator : calib joint 3 ended 149,242310 Left_Arm_Calibrator : set 1 : Calibration ended, going to zero! 149,242319 Right_Arm_Calibrator : calib joint 2 ended 149,242326 Right_Arm_Calibrator : calib joint 3 ended 149,242332 Right_Arm_Calibrator : set 1 : Calibration ended, going to zero! 149,714593 FaceV3_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) 149,734836 Torso_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) 149,734974 Torso_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) 149,735030 Torso_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) 149,735074 HeadV3_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) 149,744932 HeadV3_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) 149,744965 HeadV3_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 20 ) 149,744981 Left_Arm_Calibrator : Sending positionMove to joint 0 (desired pos: -35 desired speed: 10 ) 149,744989 Left_Arm_Calibrator : Sending positionMove to joint 1 (desired pos: 30 desired speed: 10 ) 149,744996 Left_Arm_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) 149,745003 Left_Arm_Calibrator : Sending positionMove to joint 3 (desired pos: 50 desired speed: 10 ) 149,745010 Right_Arm_Calibrator : Sending positionMove to joint 0 (desired pos: -35 desired speed: 10 ) 149,745016 Right_Arm_Calibrator : Sending positionMove to joint 1 (desired pos: 30 desired speed: 10 ) 149,745023 Right_Arm_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) 149,745029 Right_Arm_Calibrator : Sending positionMove to joint 3 (desired pos: 50 desired speed: 10 ) 150,720072 FaceV3_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.055 des: 0.000 -> delta: 0.055 threshold: 90.000 output: 0.000 mode: pos 150,720209 FaceV3_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.055 over: 90.000 150,720288 FaceV3_Calibrator : set 1 : Reached zero position! 150,720335 face-calibrator finished calibration of device face-mc_remapper 150,740616 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 90.000 output: 383.000 mode: pos 150,740758 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.000 over: 90.000 150,740812 Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 2.000 output: 16.000 mode: pos 150,740859 Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.000 over: 2.000 150,750700 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 0.088 des: 0.000 -> delta: 0.088 threshold: 90.000 output: -47.000 mode: pos 150,750751 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -33.486 des: -35.000 -> delta: 1.514 threshold: 2.000 output: -1242.000 mode: pos 150,750761 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.088 over: 90.000 150,750770 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 1.514 over: 2.000 150,750791 Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 0.104 des: 0.000 -> delta: 0.104 threshold: 2.000 output: 200.000 mode: pos 150,750798 Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.104 over: 2.000 150,750918 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 150,750928 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.264 des: 0.000 -> delta: 0.264 threshold: 2.000 output: -136.000 mode: pos 150,750935 Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.176 des: 0.000 -> delta: 0.176 threshold: 2.000 output: -1131.000 mode: pos 150,750942 Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.176 over: 2.000 150,750948 Torso_Calibrator : set 1 : Reached zero position! 150,750955 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -33.519 des: -35.000 -> delta: 1.481 threshold: 5.000 output: 1219.000 mode: pos 150,750962 torso-calibrator finished calibration of device torso-mc_remapper 150,750969 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 1.481 over: 5.000 150,760816 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.264 over: 2.000 150,760923 HeadV3_Calibrator : set 1 : Reached zero position! 150,760964 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 30.383 des: 30.000 -> delta: 0.383 threshold: 2.000 output: 561.000 mode: pos 150,760972 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.383 over: 2.000 150,760979 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.055 des: 0.000 -> delta: 0.055 threshold: 2.000 output: 203.000 mode: pos 150,760987 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.055 over: 2.000 150,771155 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 49.834 des: 50.000 -> delta: 0.166 threshold: 2.000 output: -1120.000 mode: pos 150,771297 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.166 over: 2.000 150,771351 Right_Arm_Calibrator : set 1 : Reached zero position! 150,862372 HeadV3_Calibrator : Calling calibrateJoint on joint 3 : type 12 with params: 52175 0 0 0 0 150,862518 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 1, time 31s 501m 212u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 1: offset=19407 zero=32768 150,862581 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 31s 501m 674u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=19407 enc_zero=32768 150,862630 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 1, time 31s 501m 791u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 150,872488 Right_Arm_Calibrator : Calling calibrateJoint on joint 4 : type 5 with params: 1500 16384 0 0 0 150,882601 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 31s 516m 464u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Pos lp:0, pos fbk:0, zero:16384 150,954720 HeadV3_Calibrator : set 2 j 3 : Calibrating... enc values AFTER calib: 0 150,964836 HeadV3_Calibrator : calib joint 3 ended 150,964942 HeadV3_Calibrator : set 2 : Calibration ended, going to zero! 150,974945 Right_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 9.62405 151,261091 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 151,466203 HeadV3_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 20 ) 151,764671 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 152,175052 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 32s 816m 927u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Hw lim reached: cp16384 cz16384 co-42 152,185376 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 32s 817m 919u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=0 152,185521 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 32s 818m 38u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 152,266461 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 152,470567 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 2.000 output: 0.000 mode: pos 152,470711 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.000 over: 2.000 152,470796 HeadV3_Calibrator : set 2 : Reached zero position! 152,470843 HeadV3_Calibrator : skipping startupMaxPWM=0 of joint 4 152,480937 HeadV3_Calibrator : skipping startupMaxPWM=0 of joint 5 152,583663 HeadV3_Calibrator : Calling calibrateJoint on joint 4 : type 5 with params: 3000 8192 0 0 0 152,583753 HeadV3_Calibrator : Calling calibrateJoint on joint 5 : type 5 with params: 3000 8192 0 0 0 152,583789 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 2, time 33s 224m 214u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Pos lp:0, pos fbk:0, zero:9284 152,583838 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 3, time 33s 224m 363u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Pos lp:0, pos fbk:0, zero:8192 152,684837 HeadV3_Calibrator : set 3 j 4 : Calibrating... enc values AFTER calib: 34.3324 152,684909 HeadV3_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: -2.93885 152,776222 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 152,990979 Right_Arm_Calibrator : calib joint 4 ended 152,991112 Right_Arm_Calibrator : set 2 : Calibration ended, going to zero! 153,289374 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 153,492146 Right_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 ) 153,785935 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 153,888348 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 2, time 34s 524m 693u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Hw lim reached: cp9284 cz9284 co29 153,888444 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 3, time 34s 524m 831u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Hw lim reached: cp8192 cz8192 co41 153,888482 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 34s 525m 681u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=0 153,888515 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 34s 525m 810u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=0 153,888544 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 2, time 34s 525m 924u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 153,888573 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 3, time 34s 526m 33u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 154,294197 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 154,497595 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 74.405 des: 0.000 -> delta: 74.405 threshold: 90.000 output: -626.000 mode: pos 154,691051 HeadV3_Calibrator : calib joint 4 ended 154,701370 HeadV3_Calibrator : calib joint 5 ended 154,701506 HeadV3_Calibrator : set 3 : Calibration ended, going to zero! 154,804204 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 155,001297 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 47.554 des: 0.000 -> delta: 47.554 threshold: 90.000 output: -817.000 mode: pos 155,196379 HeadV3_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 20 ) 155,196507 HeadV3_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 20 ) 155,308890 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2455.000 mode: pos 155,505432 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 19.951 des: 0.000 -> delta: 19.951 threshold: 90.000 output: -777.000 mode: pos 155,814239 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 156,021106 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.730 des: 0.000 -> delta: 2.730 threshold: 90.000 output: -512.000 mode: pos 156,206545 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 27.625 des: 0.000 -> delta: 27.625 threshold: 2.000 output: -760.000 mode: pos 156,320011 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 156,527395 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -1.285 des: 0.000 -> delta: 1.285 threshold: 90.000 output: -221.000 mode: pos 156,527533 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 1.285 over: 90.000 156,527589 Right_Arm_Calibrator : set 2 : Reached zero position! 156,527633 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 5 156,537860 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 6 156,537994 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 7 156,640163 Right_Arm_Calibrator : Calling calibrateJoint on joint 5 : type 12 with params: 11700 0 0 0 0 156,640293 Right_Arm_Calibrator : Calling calibrateJoint on joint 6 : type 12 with params: 55950 0 0 0 0 156,640347 Right_Arm_Calibrator : Calling calibrateJoint on joint 7 : type 7 with params: 0 0 0 1720 1945 156,640390 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 1, time 37s 281m 470u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 1: offset=44468 zero=32768 156,640439 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 2, time 37s 281m 622u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 2: offset=23182 zero=-32768 156,640484 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 37s 281m 971u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=-21068 enc_zero=32768 156,650247 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 37s 282m 110u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=23182 enc_zero=-32768 156,650279 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 1, time 37s 282m 229u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 156,650289 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 2, time 37s 282m 344u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 156,650298 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 37s 282m 626u: (code 0x0000000b, par16 0x01ab par64 0x046e003b008e0402) -> 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] + . 156,650313 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 37s 282m 946u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 156,650322 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 37s 283m 80u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=0 156,650330 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 3, time 37s 283m 194u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 156,650338 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 37s 283m 532u: (code 0x0000000d, par16 0x0560 par64 0x000005c401870209) -> 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] + . 156,712328 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 9.728 des: 0.000 -> delta: 9.728 threshold: 2.000 output: -845.000 mode: pos 156,743489 Right_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: 24.9335 156,743632 Right_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib: 28.4711 156,743716 Right_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib: 35.3321 156,743763 Right_Arm_Calibrator : calib joint 5 ended 156,743829 Right_Arm_Calibrator : calib joint 6 ended 156,753608 Right_Arm_Calibrator : calib joint 7 ended 156,753728 Right_Arm_Calibrator : set 3 : Calibration ended, going to zero! 156,825786 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 157,219609 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 0.654 des: 0.000 -> delta: 0.654 threshold: 2.000 output: -586.000 mode: pos 157,250298 Right_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 ) 157,250422 Right_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 ) 157,250475 Right_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 35 desired speed: 60 ) 157,332999 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 157,716097 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 0.110 des: 0.000 -> delta: 0.110 threshold: 2.000 output: -389.000 mode: pos 157,716235 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.110 over: 2.000 157,726567 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.066 des: 0.000 -> delta: 0.066 threshold: 2.000 output: -10.000 mode: pos 157,726705 HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.066 over: 2.000 157,726759 HeadV3_Calibrator : set 3 : Reached zero position! 157,726803 head-calibrator finished calibration of device head-mc_remapper 157,839688 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 158,263485 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 1.906 des: 0.000 -> delta: 1.906 threshold: 90.000 output: -1026.000 mode: pos 158,263629 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 1.906 over: 90.000 158,263684 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 3.598 des: 0.000 -> delta: 3.598 threshold: 90.000 output: -1888.000 mode: pos 158,263732 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 3.598 over: 90.000 158,273856 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 33.552 des: 35.000 -> delta: 1.448 threshold: 90.000 output: -239.000 mode: pos 158,274017 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 1.448 over: 90.000 158,274075 Right_Arm_Calibrator : set 3 : Reached zero position! 158,274121 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 8 158,283988 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 9 158,284123 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 11 158,294420 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 13 158,346339 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 158,387189 Right_Arm_Calibrator : Calling calibrateJoint on joint 8 : type 7 with params: 0 0 0 2600 3600 158,387228 Right_Arm_Calibrator : Calling calibrateJoint on joint 9 : type 6 with params: 0 9102 -1 241 40 158,397280 Right_Arm_Calibrator : Calling calibrateJoint on joint 11 : type 6 with params: 0 9102 -1 255 0 158,397318 Right_Arm_Calibrator : Calling calibrateJoint on joint 13 : type 6 with params: 0 9102 -1 255 0 158,397328 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 1, time 39s 35m 452u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=40,vim=241 158,397337 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 1, time 39s 35m 130u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=0,vim=255 158,397345 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 3, time 39s 35m 585u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=0,vim=255 158,397352 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 1, time 39s 36m 568u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:0 and zero:-16384 158,397360 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 1, time 39s 36m 866u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:82 and zero:-19644 158,397367 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 1, time 39s 36m 734u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=0.00 target=0.00 lim:16384.00 0. 158,397374 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 1, time 39s 37m 570u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=0 158,397381 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 1, time 39s 37m 43u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=82.00 target=0.00 lim:16384.00 0 158,397388 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 3, time 39s 37m 183u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:129 and zero:-16384 158,397397 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 1, time 39s 37m 706u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-932065 m_max=7645848 158,407367 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 3, time 39s 37m 356u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=129.00 target=0.00 lim:16384.00 158,407386 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 1, time 39s 38m 550u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 158,407395 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 1, time 39s 37m 868u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=0 158,407403 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 39s 38m 666u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 158,407411 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 1, time 39s 37m 998u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=0 m_max=0 158,407418 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 39s 38m 796u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-16384 158,407425 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 3, time 39s 38m 141u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=0 158,407432 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 1, time 39s 38m 907u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 158,407439 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 3, time 39s 38m 271u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-932065 m_max=5825408 158,407449 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 39s 39m 204u: (code 0x0000000d, par16 0x0174 par64 0x000000a000130239) -> 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] + . 158,407458 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 1, time 39s 38m 847u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 158,407465 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 39s 38m 963u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 158,407473 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 39s 39m 92u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=0 158,407480 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 39s 39m 217u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-19644 158,407487 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 39s 39m 338u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 158,407494 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 1, time 39s 39m 443u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 158,407501 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 3, time 39s 39m 566u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 158,417482 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 39s 39m 687u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 158,417546 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 39s 39m 811u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-16384 158,417557 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 3, time 39s 39m 922u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 158,417566 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 39s 40m 449u: (code 0x0000000d, par16 0x0138 par64 0x00000047031b01f9) -> 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] + . 158,489716 Right_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib: 49.6803 158,489764 Right_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib: 0.450441 158,489778 Right_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib: 0.70862 158,489789 Right_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib: 0 158,500092 Right_Arm_Calibrator : calib joint 8 ended 158,500146 Right_Arm_Calibrator : calib joint 9 ended 158,510438 Right_Arm_Calibrator : calib joint 11 ended 158,510504 Right_Arm_Calibrator : calib joint 13 ended 158,510536 Right_Arm_Calibrator : set 4 : Calibration ended, going to zero! 158,851024 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 159,015543 Right_Arm_Calibrator : Sending positionMove to joint 8 (desired pos: 50 desired speed: 100 ) 159,015585 Right_Arm_Calibrator : Sending positionMove to joint 9 (desired pos: 0 desired speed: 100 ) 159,015596 Right_Arm_Calibrator : Sending positionMove to joint 11 (desired pos: 0 desired speed: 100 ) 159,015604 Right_Arm_Calibrator : Sending positionMove to joint 13 (desired pos: 0 desired speed: 100 ) 159,357223 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 159,863688 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 160,019468 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 49.439 des: 50.000 -> delta: 0.561 threshold: 90.000 output: -44.000 mode: pos 160,019574 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 0.561 over: 90.000 160,019627 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 0.450 des: 0.000 -> delta: 0.450 threshold: 90.000 output: -141.000 mode: pos 160,019662 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 0.450 over: 90.000 160,029594 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: 0.709 des: 0.000 -> delta: 0.709 threshold: 90.000 output: -367.000 mode: pos 160,029729 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.709 over: 90.000 160,029784 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 90.000 output: 0.000 mode: pos 160,029830 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.000 over: 90.000 160,039901 Right_Arm_Calibrator : set 4 : Reached zero position! 160,040039 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 10 160,040093 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 12 160,050021 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 14 160,050164 Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint 15 160,152097 Right_Arm_Calibrator : Calling calibrateJoint on joint 10 : type 6 with params: 0 9102 1 510 0 160,152128 Right_Arm_Calibrator : Calling calibrateJoint on joint 12 : type 6 with params: 0 9102 1 510 23 160,152137 Right_Arm_Calibrator : Calling calibrateJoint on joint 14 : type 6 with params: 0 9102 1 510 0 160,152144 Right_Arm_Calibrator : Calling calibrateJoint on joint 15 : type 6 with params: 0 10000 1 785 210 160,162212 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 2, time 40s 798m 433u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=0,vim=510 160,162325 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 40s 798m 131u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=23,vim=510 160,162378 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 2, time 40s 799m 882u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:5269 and zero:-32768 160,162386 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 2, time 40s 800m 70u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=5269.00 target=32768.00 lim:3276 160,162394 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 2, time 40s 798m 265u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=0,vim=510 160,162406 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 3, time 40s 798m 406u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=210,vim=785 160,162414 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 40s 799m 123u: (code 0x0000000b, par16 0x01bc par64 0x0017001c00780017) -> 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] + . 160,162423 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 40s 799m 560u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:0 and zero:-34315 160,162430 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 40s 799m 736u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=0.00 target=32768.00 lim:32768.0 160,162437 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 2, time 40s 799m 880u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:0 and zero:-32768 160,162444 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 2, time 40s 800m 59u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=0.00 target=32768.00 lim:32768.0 160,172328 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 3, time 40s 800m 192u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:1710 and zero:-67103 160,172438 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 3, time 40s 800m 370u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=1710.00 target=49152.00 lim:4915 160,255397 Right_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib: 28.9436 160,255518 Right_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib: 0 160,255572 Right_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib: 0 160,255634 Right_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib: 9.39333 160,367543 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 160,873961 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 27.746 des: 30.000 -> delta: 2.254 threshold: 2.000 output: 2549.000 mode: pos 160,874105 Left_Arm_Calibrator : checkGoneToZeroThreshold: joint 1 Timeout while going to zero! 160,874161 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.494 des: 0.000 -> delta: 0.494 threshold: 2.000 output: -515.000 mode: pos 160,874208 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.494 over: 2.000 160,884090 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 49.900 des: 50.000 -> delta: 0.100 threshold: 2.000 output: 1047.000 mode: pos 160,884225 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.100 over: 2.000 160,884279 Left_Arm_Calibrator : set 1 : some axis got timeout while reaching zero position... disabling this set of axes 160,884327 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 41s 373m 222u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + SET CONTROLMODE 160,884390 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 1, time 41s 373m 336u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + SET CONTROLMODE 160,884436 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 2, time 41s 373m 450u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + SET CONTROLMODE 160,894405 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 41s 374m 212u: (code 0x0000000b, par16 0x01e2 par64 0x0024004f00c40021) -> 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] + . 160,915198 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 3, time 41s 403m 225u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + SET CONTROLMODE 161,038746 Left_Arm_Calibrator : Calling calibrateJoint on joint 4 : type 5 with params: -1500 16384 0 0 0 161,038877 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 41s 680m 28u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Pos lp:0, pos fbk:0, zero:16384 161,141657 Left_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 10.5634 162,344364 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 42s 980m 484u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Hw lim reached: cp16384 cz16384 co8 162,344505 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 42s 981m 477u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=0 162,344563 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 42s 981m 594u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 163,068639 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 2, time 43s 708m 885u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=-51909 163,068785 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 2, time 43s 709m 25u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-932065 m_max=12743080 163,078981 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 2, time 43s 709m 862u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 163,079124 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 43s 709m 978u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 163,079183 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 43s 710m 111u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-32768 163,079233 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 2, time 43s 710m 222u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 163,079277 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 43s 710m 515u: (code 0x0000000d, par16 0x017a par64 0x000000ab00140241) -> 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] + . 163,150952 Left_Arm_Calibrator : calib joint 4 ended 163,151074 Left_Arm_Calibrator : set 2 : Calibration ended, going to zero! 163,274013 Right_Arm_Calibrator : calib joint 10 ended 163,365374 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 44s 8m 565u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=35282 163,365505 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 44s 8m 701u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-11832860 m_max=932065 163,365564 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 44s 9m 542u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 163,375464 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 44s 9m 657u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 163,375484 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 44s 9m 787u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-34315 163,375494 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 44s 9m 897u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 163,375502 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 44s 10m 252u: (code 0x0000000d, par16 0x01a3 par64 0x000000b300130248) -> 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] + . 163,396390 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 2, time 44s 38m 591u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=-44729 163,396487 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 2, time 44s 38m 729u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-932065 m_max=11832860 163,406875 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 2, time 44s 39m 568u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 163,406925 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 44s 39m 689u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 163,406938 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 44s 39m 813u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-32768 163,406948 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 2, time 44s 39m 924u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 163,406956 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 44s 40m 253u: (code 0x0000000d, par16 0x01a4 par64 0x000000b400130248) -> 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] + . 163,654142 Left_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 ) 164,285587 Right_Arm_Calibrator : calib joint 12 ended 164,285719 Right_Arm_Calibrator : calib joint 14 ended 164,450136 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 3, time 45s 88m 603u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=46514 164,450270 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 3, time 45s 88m 740u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-11832860 m_max=932065 164,450329 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 3, time 45s 89m 580u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 164,450405 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 45s 89m 700u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 164,450456 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 45s 89m 825u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-67103 164,460604 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 3, time 45s 89m 936u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 164,460749 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 45s 90m 251u: (code 0x0000000d, par16 0x01a2 par64 0x000000b200130246) -> 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] + . 164,656975 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 74.174 des: 0.000 -> delta: 74.174 threshold: 90.000 output: 568.000 mode: pos 165,162474 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 47.472 des: 0.000 -> delta: 47.472 threshold: 90.000 output: 788.000 mode: pos 165,297179 Right_Arm_Calibrator : calib joint 15 ended 165,297245 Right_Arm_Calibrator : set 5 : Calibration ended, going to zero! 165,670309 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 19.819 des: 0.000 -> delta: 19.819 threshold: 90.000 output: 703.000 mode: pos 165,804163 Right_Arm_Calibrator : Sending positionMove to joint 10 (desired pos: 0 desired speed: 100 ) 165,804208 Right_Arm_Calibrator : Sending positionMove to joint 12 (desired pos: 0 desired speed: 100 ) 165,804218 Right_Arm_Calibrator : Sending positionMove to joint 14 (desired pos: 0 desired speed: 100 ) 165,804225 Right_Arm_Calibrator : Sending positionMove to joint 15 (desired pos: 0 desired speed: 100 ) 166,176628 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.856 des: 0.000 -> delta: 2.856 threshold: 90.000 output: 465.000 mode: pos 166,673721 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -1.214 des: 0.000 -> delta: 1.214 threshold: 90.000 output: 191.000 mode: pos 166,673867 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 1.214 over: 90.000 166,673921 Left_Arm_Calibrator : set 2 : Reached zero position! 166,684130 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 5 166,684267 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 6 166,694295 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 7 166,787175 Left_Arm_Calibrator : Calling calibrateJoint on joint 5 : type 12 with params: 450 0 0 0 0 166,787224 Left_Arm_Calibrator : Calling calibrateJoint on joint 6 : type 12 with params: 11679 0 0 0 0 166,787236 Left_Arm_Calibrator : Calling calibrateJoint on joint 7 : type 7 with params: 0 0 0 3140 3295 166,797592 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 1, time 47s 433m 23u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 1: offset=33218 zero=-32768 166,797661 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 2, time 47s 433m 172u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + CALIB 12 j 2: offset=44447 zero=32768 166,797687 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 47s 433m 490u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=-32318 enc_zero=-32768 166,797703 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 47s 433m 628u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=-21089 enc_zero=32768 166,797715 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 1, time 47s 433m 747u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 166,797728 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 2, time 47s 433m 862u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 166,797739 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 47s 434m 488u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 166,797760 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 1, time 47s 434m 604u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + SET CONTROLMODE 166,807906 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 70.593 des: 0.000 -> delta: 70.593 threshold: 90.000 output: 1486.000 mode: pos 166,807966 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 47s 434m 737u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 166,807987 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 47s 434m 867u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=0 166,808004 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 3, time 47s 434m 978u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 166,849276 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 47s 484m 510u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 166,889946 Left_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: 22.5165 166,890055 Left_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib: -64.1548 166,890093 Left_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib: 41.2867 166,900151 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 167,303038 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 32.476 des: 0.000 -> delta: 32.476 threshold: 90.000 output: 3360.000 mode: pos 167,819707 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 31.415 des: 0.000 -> delta: 31.415 threshold: 90.000 output: 3360.000 mode: pos 167,819927 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 31.415 over: 90.000 167,820016 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 90.000 output: -292.000 mode: pos 167,820080 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 0.000 over: 90.000 167,820132 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 0.357 des: 0.000 -> delta: 0.357 threshold: 90.000 output: 383.000 mode: pos 167,830063 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 0.357 over: 90.000 167,830202 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 30.526 des: 0.000 -> delta: 30.526 threshold: 90.000 output: -1249.000 mode: pos 167,902460 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 168,337199 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 9.393 des: 0.000 -> delta: 9.393 threshold: 90.000 output: -1989.000 mode: pos 168,843443 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 9.393 des: 0.000 -> delta: 9.393 threshold: 90.000 output: -2141.000 mode: pos 168,843589 Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 9.393 over: 90.000 168,843645 Right_Arm_Calibrator : set 5 : Reached zero position! 168,843690 right_arm-calibrator finished calibration of device right_arm-mc_remapper 168,905413 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 169,910693 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 170,916525 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 171,797075 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 52s 435m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 171,848532 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 52s 484m 504u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 171,921005 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 172,924537 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 173,928421 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 174,933822 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 175,938926 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 176,798919 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 57s 436m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 176,850085 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 57s 485m 507u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 176,943317 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 177,947621 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 178,952943 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 179,961065 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 180,967260 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 181,405050 Receiving input from /yarpmotorgui0//icub/face/rpc:o to /icub/face/rpc:i using tcp 181,415104 Receiving input from /yarpmotorgui0//icub/face/command:o to /icub/face/command:i using udp 181,415131 Sending output from /icub/face/stateExt:o to /yarpmotorgui0//icub/face/stateExt:i using udp 181,566587 Receiving input from /yarpmotorgui0//icub/head/rpc:o to /icub/head/rpc:i using tcp 181,566624 Receiving input from /yarpmotorgui0//icub/head/command:o to /icub/head/command:i using udp 181,576641 Sending output from /icub/head/stateExt:o to /yarpmotorgui0//icub/head/stateExt:i using udp 181,799874 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 62s 437m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 181,850738 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 62s 486m 504u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 181,962757 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 182,093967 Receiving input from /yarpmotorgui0//icub/left_arm/rpc:o to /icub/left_arm/rpc:i using tcp 182,094002 Receiving input from /yarpmotorgui0//icub/left_arm/command:o to /icub/left_arm/command:i using udp 182,104021 Sending output from /icub/left_arm/stateExt:o to /yarpmotorgui0//icub/left_arm/stateExt:i using udp 182,975063 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 183,978574 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 184,597203 Receiving input from /yarpmotorgui0//icub/right_arm/rpc:o to /icub/right_arm/rpc:i using tcp 184,607262 Receiving input from /yarpmotorgui0//icub/right_arm/command:o to /icub/right_arm/command:i using udp 184,607303 Sending output from /icub/right_arm/stateExt:o to /yarpmotorgui0//icub/right_arm/stateExt:i using udp 184,980658 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 185,982971 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 186,256748 Receiving input from /yarpmotorgui0//icub/torso/rpc:o to /icub/torso/rpc:i using tcp 186,256806 Receiving input from /yarpmotorgui0//icub/torso/command:o to /icub/torso/command:i using udp 186,266803 Sending output from /icub/torso/stateExt:o to /yarpmotorgui0//icub/torso/stateExt:i using udp 186,801294 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 67s 438m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 186,851590 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 67s 487m 504u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 186,992761 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 187,991297 unable to complete calibration: joint 1 in 'hw_fault status' inside doneRaw() function 187,991324 Left_Arm_Calibrator : Timeout while calibrating 5 189,003400 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 190,001925 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 191,010813 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 191,797668 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 72s 439m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 191,848124 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 72s 488m 504u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 192,009477 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 193,018013 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 194,015509 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 195,023745 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 196,032300 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 196,797769 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 77s 440m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 196,848020 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 77s 489m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 197,029444 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 198,037801 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 199,045956 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 200,044778 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 201,052702 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 201,807282 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 82s 441m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 201,847508 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 82s 490m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 202,058709 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 203,059291 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 204,066602 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 205,072903 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 206,079259 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 206,804338 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 87s 442m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 206,854788 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 87s 491m 504u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 207,076758 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 208,085639 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 209,092624 unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function 209,092653 Left_Arm_Calibrator : Timeout while calibrating 6 210,089251 Left_Arm_Calibrator : calib joint 7 ended 210,089281 Left_Arm_Calibrator : set 3 : Calibration went wrong! Disabling axes and keeping safe pid limit 210,099341 embObjMotionControl::checkRemoteControlModeStatus(1, 7103593) is unable to check the control mode of BOARD left_arm-eb24-j4_7 IP 10.0.1.24 because it is now in HW_FAULT 210,099362 embObjMotionControl::checkRemoteControlModeStatus(2, 7103593) is unable to check the control mode of BOARD left_arm-eb24-j4_7 IP 10.0.1.24 because it is now in HW_FAULT 210,109427 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 3, time 90s 746m 999u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + SET CONTROLMODE 210,129602 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 8 210,129622 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 9 210,139689 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 11 210,139709 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 13 210,240589 Left_Arm_Calibrator : Calling calibrateJoint on joint 8 : type 7 with params: 0 0 0 1780 2665 210,240620 Left_Arm_Calibrator : Calling calibrateJoint on joint 9 : type 6 with params: 0 9102 -1 255 0 210,240630 Left_Arm_Calibrator : Calling calibrateJoint on joint 11 : type 6 with params: 0 9102 -1 255 0 210,250671 Left_Arm_Calibrator : Calling calibrateJoint on joint 13 : type 6 with params: 0 9102 -1 255 0 210,250695 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 1, time 90s 887m 458u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=0,vim=255 210,250720 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 1, time 90s 888m 223u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=0,vim=255 210,250729 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 1, time 90s 889m 665u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:1029 and zero:-16384 210,250737 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 3, time 90s 887m 593u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=0,vim=255 210,250745 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 1, time 90s 888m 873u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:7903 and zero:-16384 210,250753 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 1, time 90s 889m 841u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=1029.00 target=0.00 lim:16384.00 210,250761 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 1, time 90s 889m 54u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=7903.00 target=0.00 lim:16384.00 210,250768 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 3, time 90s 889m 194u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:0 and zero:-16384 210,250776 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 3, time 90s 889m 361u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=0.00 target=0.00 lim:16384.00 0. 210,250786 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 3, time 90s 889m 897u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=0 210,260763 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 3, time 90s 890m 37u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-932065 m_max=5825408 210,260784 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 3, time 90s 890m 876u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 210,260794 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 90s 890m 998u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 210,260803 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 90s 891m 126u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-16384 210,260811 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 3, time 90s 891m 238u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 210,260819 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 90s 891m 519u: (code 0x0000000d, par16 0x0179 par64 0x000000a70013023f) -> 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] + . 210,331351 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 1, time 90s 975m 667u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=-883 210,331375 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 1, time 90s 975m 805u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-932065 m_max=5825408 210,341439 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 1, time 90s 976m 645u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 210,341463 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 90s 976m 762u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 210,341475 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 90s 976m 893u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-16384 210,341483 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 1, time 90s 977m 6u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 210,341491 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 90s 977m 302u: (code 0x0000000d, par16 0x0176 par64 0x000000a60013023f) -> 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] + . 210,341501 Left_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib: 39.2872 210,341508 Left_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib: 43.4126 210,341515 Left_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib: 0 210,341522 Left_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib: 3.88368 210,956584 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 1, time 91s 594m 878u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=-10771 210,956735 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 1, time 91s 595m 10u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=0 m_max=0 210,956750 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 1, time 91s 595m 853u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 210,956759 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 91s 595m 970u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 210,956768 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 91s 596m 100u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=0 210,966709 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 91s 596m 226u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-16384 210,966820 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 91s 596m 348u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 210,966877 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 1, time 91s 596m 454u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 211,349980 Left_Arm_Calibrator : calib joint 8 ended 211,360073 Left_Arm_Calibrator : calib joint 9 ended 211,360102 Left_Arm_Calibrator : calib joint 11 ended 211,370159 Left_Arm_Calibrator : calib joint 13 ended 211,370202 Left_Arm_Calibrator : set 4 : Calibration ended, going to zero! 211,803401 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 92s 443m 481u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 211,853695 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 92s 492m 504u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 211,873876 Left_Arm_Calibrator : Sending positionMove to joint 8 (desired pos: 50 desired speed: 100 ) 211,873895 Left_Arm_Calibrator : Sending positionMove to joint 9 (desired pos: 0 desired speed: 100 ) 211,873905 Left_Arm_Calibrator : Sending positionMove to joint 11 (desired pos: 0 desired speed: 100 ) 211,873912 Left_Arm_Calibrator : Sending positionMove to joint 13 (desired pos: 0 desired speed: 100 ) 212,871021 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 47.604 des: 50.000 -> delta: 2.396 threshold: 90.000 output: -541.000 mode: pos 212,881110 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 2.396 over: 90.000 212,881129 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 0.709 des: 0.000 -> delta: 0.709 threshold: 90.000 output: -444.000 mode: pos 212,881144 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 0.709 over: 90.000 212,881153 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 90.000 output: 0.000 mode: pos 212,891228 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.000 over: 90.000 212,891247 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 90.000 output: -7.000 mode: pos 212,891277 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.000 over: 90.000 212,891285 Left_Arm_Calibrator : set 4 : Reached zero position! 212,891293 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 10 212,901315 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 12 212,901352 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 14 212,911400 Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint 15 213,012225 Left_Arm_Calibrator : Calling calibrateJoint on joint 10 : type 6 with params: 0 9102 1 480 18 213,012264 Left_Arm_Calibrator : Calling calibrateJoint on joint 12 : type 6 with params: 0 9102 1 491 18 213,012275 Left_Arm_Calibrator : Calling calibrateJoint on joint 14 : type 6 with params: 0 9102 1 494 11 213,012297 Left_Arm_Calibrator : Calling calibrateJoint on joint 15 : type 6 with params: 0 10000 1 780 198 213,012305 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 2, time 93s 654m 440u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=18,vim=480 213,012313 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 93s 655m 225u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=18,vim=491 213,012321 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 2, time 93s 655m 887u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:780 and zero:-34044 213,022282 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 2, time 93s 655m 360u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=11,vim=494 213,022317 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 2, time 93s 656m 74u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=780.00 target=32768.00 lim:32768 213,022328 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 3, time 93s 655m 502u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + vmax=198,vim=780 213,022337 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 93s 656m 215u: (code 0x0000000b, par16 0x01cc par64 0x001700130072007a) -> 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] + . 213,022352 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 93s 656m 656u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:-70 and zero:-34014 213,022361 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 93s 656m 840u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=-70.00 target=32768.00 lim:32768 213,022369 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 2, time 93s 656m 985u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:475 and zero:-33514 213,022377 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 2, time 93s 657m 170u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=475.00 target=32768.00 lim:32768 213,022385 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 3, time 93s 657m 304u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Encoder pos:1351 and zero:-65873 213,022393 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 3, time 93s 657m 488u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + init traj: cpos=1351.00 target=49152.00 lim:4915 213,112863 Left_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib: 4.28468 213,112896 Left_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib: -0.384522 213,112907 Left_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib: 2.60926 213,112915 Left_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib: 7.42128 216,137327 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 2, time 96s 776m 687u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=40056 216,137359 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 2, time 96s 776m 825u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-11832860 m_max=932065 216,137370 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 2, time 96s 777m 664u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 216,137379 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 96s 777m 786u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 216,137388 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 96s 777m 912u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-33514 216,137396 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 2, time 96s 778m 26u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 216,369285 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 2, time 97s 6m 890u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=47109 216,369318 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 2, time 97s 7m 29u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-12743080 m_max=932065 216,369329 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 2, time 97s 7m 868u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 216,369338 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 97s 7m 984u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 216,369351 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 97s 8m 112u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-34044 216,369359 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 2, time 97s 8m 223u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 216,379373 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 97s 8m 515u: (code 0x0000000d, par16 0x0175 par64 0x000000c90013023d) -> 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] + . 216,389462 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 97s 26m 660u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=-44837 216,389482 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 97s 26m 797u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-932065 m_max=11832860 216,389493 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 97s 27m 637u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 216,389501 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 97s 27m 754u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 216,389509 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 97s 27m 885u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-34014 216,389517 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 97s 27m 996u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 216,803139 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 97s 444m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 216,853557 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 97s 493m 504u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 217,135906 Left_Arm_Calibrator : calib joint 10 ended 217,135938 Left_Arm_Calibrator : calib joint 12 ended 217,145993 Left_Arm_Calibrator : calib joint 14 ended 217,569505 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 3, time 98s 207m 698u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + c6M:pos reached: cp=0 co=-45599 217,569538 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 3, time 98s 207m 837u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Mtr limits: m_min=-932065 m_max=11832860 217,569549 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 3, time 98s 208m 674u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + Calib Completed 217,569558 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 98s 208m 796u: (code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 + JointSet_do_wait_calibration_mixed: calib comple 217,569567 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 98s 208m 922u: (code 0x04000002, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag02 + enc_off=o->offset=0 enc_zero=-65873 217,569575 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 3, time 98s 209m 35u: (code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01 + SET CONTROLMODE 218,154791 Left_Arm_Calibrator : calib joint 15 ended 218,154822 Left_Arm_Calibrator : set 5 : Calibration ended, going to zero! 218,659528 Left_Arm_Calibrator : Sending positionMove to joint 10 (desired pos: 0 desired speed: 100 ) 218,659560 Left_Arm_Calibrator : Sending positionMove to joint 12 (desired pos: 0 desired speed: 100 ) 218,659570 Left_Arm_Calibrator : Sending positionMove to joint 14 (desired pos: 0 desired speed: 100 ) 218,659577 Left_Arm_Calibrator : Sending positionMove to joint 15 (desired pos: 0 desired speed: 100 ) 219,657635 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 73.636 des: 0.000 -> delta: 73.636 threshold: 90.000 output: -3360.000 mode: pos 220,171858 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 11.299 des: 0.000 -> delta: 11.299 threshold: 90.000 output: -3360.000 mode: pos 220,676034 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 10.909 des: 0.000 -> delta: 10.909 threshold: 90.000 output: -3360.000 mode: pos 220,676086 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 10.909 over: 90.000 220,676116 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 90.000 output: 201.000 mode: pos 220,676125 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 0.000 over: 90.000 220,676132 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: -0.374 des: 0.000 -> delta: 0.374 threshold: 90.000 output: -5.000 mode: pos 220,686127 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 0.374 over: 90.000 220,686146 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 26.906 des: 0.000 -> delta: 26.906 threshold: 90.000 output: 585.000 mode: pos 221,191234 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 7.883 des: 0.000 -> delta: 7.883 threshold: 90.000 output: 1663.000 mode: pos 221,696106 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 7.883 des: 0.000 -> delta: 7.883 threshold: 90.000 output: 1800.000 mode: pos 221,696158 Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 7.883 over: 90.000 221,696169 Left_Arm_Calibrator : set 5 : Reached zero position! 221,696193 left_arm-calibrator finished calibration of device left_arm-mc_remapper 221,696220 All actions for action level 10 of startup phase finished. 221,696229 Entering action level 15 of phase startup 221,696236 Executing attach action, level 15 on device left_arm-cartesian with parameters [("networks" = "(torso left_arm)"), ("torso" = "torso-mc_remapper"), ("left_arm" = "left_arm-mc_remapper")] 221,696245 ***** Attaching drivers to cartesian controller icub/cartesianController/left_arm ***** 221,696252 Received list of 2 driver(s) 221,696259 Acquiring info on driver torso... 221,696265 driver torso successfully open 221,696272 Acquiring info on driver left_arm... 221,696278 driver left_arm successfully open 221,706161 icub/cartesianController/left_arm: IControlMode available 221,706203 icub/cartesianController/left_arm: IEncodersTimed interface will be used 221,706213 icub/cartesianController/left_arm: IPidControl available 221,706221 icub/cartesianController/left_arm: IPositionDirect available 221,706228 icub/cartesianController/left_arm: IPositionDirect interface will be used 221,706252 icub/cartesianController/left_arm: multiple joints control will be used 221,706259 icub/cartesianController/left_arm: aligning joints bounds ... 221,706266 part #0: torso 221,706273 joint #0: [-19.9897, 69.9886] deg 221,706280 joint #1: [-29.9873, 29.9873] deg 221,706286 joint #2: [-49.9879, 49.9879] deg 221,706293 part #1: left_arm 221,716214 joint #3: [-95.4879, 7.98708] deg 221,716232 joint #4: [0.0109864, 159.989] deg 221,726309 joint #5: [-31.9868, 79.9917] deg 221,726330 joint #6: [15.0129, 105.991] deg 221,736362 joint #7: [-59.991, 59.991] deg 221,736381 joint #8: [-69.9886, 24.9885] deg 221,746452 joint #9: [-14.9909, 34.9915] deg 221,746472 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 221,746482 Starting icub/cartesianController/left_arm at 10 ms 221,746492 icub/cartesianController/left_arm started successfully 221,746500 Executing attach action, level 15 on device right_arm-cartesian with parameters [("networks" = "(torso right_arm)"), ("torso" = "torso-mc_remapper"), ("right_arm" = "right_arm-mc_remapper")] 221,746510 ***** Attaching drivers to cartesian controller icub/cartesianController/right_arm ***** 221,746517 Received list of 2 driver(s) 221,746524 Acquiring info on driver torso... 221,746531 driver torso successfully open 221,756506 Acquiring info on driver right_arm... 221,756525 driver right_arm successfully open 221,756534 icub/cartesianController/right_arm: IControlMode available 221,756542 icub/cartesianController/right_arm: IEncodersTimed interface will be used 221,756552 icub/cartesianController/right_arm: IPidControl available 221,756560 icub/cartesianController/right_arm: IPositionDirect available 221,756567 icub/cartesianController/right_arm: IPositionDirect interface will be used 221,756574 icub/cartesianController/right_arm: multiple joints control will be used 221,756581 icub/cartesianController/right_arm: aligning joints bounds ... 221,756588 part #0: torso 221,756595 joint #0: [-19.9897, 69.9886] deg 221,756602 joint #1: [-29.9873, 29.9873] deg 221,756608 joint #2: [-49.9879, 49.9879] deg 221,756615 part #1: right_arm 221,766789 joint #3: [-95.4879, 7.98708] deg 221,766830 joint #4: [0.0109864, 159.989] deg 221,776884 joint #5: [-31.9868, 79.9917] deg 221,776913 joint #6: [15.0129, 105.991] deg 221,786987 joint #7: [-59.991, 59.991] deg 221,787006 joint #8: [-69.9886, 24.9885] deg 221,797045 joint #9: [-14.9909, 34.9915] deg 221,797082 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 221,797093 Starting icub/cartesianController/right_arm at 10 ms 221,797101 icub/cartesianController/right_arm started successfully 221,797112 All actions for action level 15 of startup phase started. Waiting for unfinished actions. 221,797120 All actions for action level 15 of startup phase finished. 221,797127 startup phase finished. 221,797134 run phase starting... 221,797162 yarprobotinterface running happily 221,807138 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 102s 445m 486u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 221,857599 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 102s 494m 507u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 222,756424 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 222,806909 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 223,775299 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 223,825750 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 224,792680 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 224,842987 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 225,809694 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 225,860000 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 226,807254 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 107s 446m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 226,827445 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 226,857725 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 107s 495m 515u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 226,877942 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 227,845330 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 227,895759 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 228,862284 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 228,912685 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 229,879479 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 229,929775 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 230,897470 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 230,947802 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 231,804234 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 112s 447m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 231,854607 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 112s 496m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 231,915147 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 231,965637 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 232,932957 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 232,983399 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 233,950807 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 234,001264 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 234,960138 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 235,010634 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 235,978232 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 236,028611 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 236,814503 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 117s 448m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 236,864882 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 117s 497m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 236,995739 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 237,046091 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 238,013732 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 238,064139 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 239,032024 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 239,082384 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 240,051032 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 240,101483 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 241,070172 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 241,120632 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 241,815778 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 122s 449m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 241,866097 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 122s 498m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 242,087513 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 242,137885 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 243,105929 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 243,156300 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 244,114258 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 244,174862 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 244,769427 xsensmt: Missing orientation message, skipping orientation update. 244,769475 xsensmt: Missing accelerometer message, skipping accelerometer update. 244,769486 xsensmt: Missing gyroscope message, skipping gyroscope update. 244,769495 xsensmt: Missing magnetometer message, skipping magnetometer update. 245,132335 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 245,182691 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 246,149952 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 246,200311 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 246,815709 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 127s 450m 486u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 246,866047 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 127s 499m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 247,168884 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 247,219428 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 248,187363 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 248,237730 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 249,205256 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 249,255641 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 250,223376 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 250,273855 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 251,242339 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 251,292716 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 251,816391 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 132s 451m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 251,866804 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 132s 500m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 252,259410 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 252,309780 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 253,275954 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 253,326253 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 254,292577 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 254,343001 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 255,309349 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 255,359778 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 256,326626 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 256,377090 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 256,819603 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 137s 452m 485u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 256,859802 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 137s 501m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 257,342995 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 257,393321 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 258,360510 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 258,410884 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 259,377469 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 259,427885 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 260,394186 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 260,444533 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 261,411821 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 261,462087 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 261,814492 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 142s 453m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 261,864871 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 142s 502m 508u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 262,429201 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 262,479625 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 263,448787 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 263,499271 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 264,468873 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 264,519317 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 265,488309 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 265,538795 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 266,505962 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 266,556249 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 266,818283 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 147s 454m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 266,858518 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 147s 503m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 267,523441 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 267,573718 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 268,541287 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 268,591766 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 269,559285 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 269,609695 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 270,578158 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 270,628469 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 271,595039 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 271,645370 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 271,816457 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 152s 455m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 271,866766 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 152s 504m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 272,611032 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 272,661301 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 273,628572 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 273,678961 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 274,646285 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 274,696693 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 275,665185 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 275,715623 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 276,674584 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 276,725012 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 276,815826 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 157s 456m 486u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 276,866253 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 157s 505m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 277,692012 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 277,742306 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 278,710166 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 278,760453 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 279,727365 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 279,777743 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 280,745557 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 280,795888 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 281,763043 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 281,793335 yarprobotinterface running happily 281,813489 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 281,823547 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 162s 457m 487u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 281,863799 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 162s 506m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 282,781957 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 282,832252 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 283,799827 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 283,850172 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 284,818964 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 284,869436 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 285,838049 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 285,888452 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 286,816754 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 167s 458m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 286,857656 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 286,867732 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 167s 507m 513u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 286,907971 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 287,875545 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 287,925838 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 288,892753 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 288,943137 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 289,909935 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 289,960326 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 290,927241 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 290,977554 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 291,824092 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 172s 459m 488u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 291,874449 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 172s 508m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 291,945043 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 291,995448 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 292,963960 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 293,014285 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 293,972449 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 294,022799 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 294,991465 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 295,041935 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 296,010184 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 296,060682 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 296,827903 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 177s 460m 488u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 296,868327 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 177s 509m 515u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 297,029819 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 297,080263 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 298,049720 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 298,100168 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 299,067971 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 299,118444 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 300,085678 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 300,135995 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 301,102948 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 301,153332 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 301,818545 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 182s 461m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 301,868887 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 182s 510m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 302,120793 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 302,171170 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 303,138568 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 303,189024 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 304,156070 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 304,206575 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 305,174144 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 305,224579 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 306,191938 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 306,242285 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 306,826807 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 187s 462m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 306,867085 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 187s 511m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 307,209441 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 307,259844 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 308,226708 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 308,277097 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 309,244799 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 309,295226 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 310,263412 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 310,313687 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 311,281091 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 311,331516 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 311,825253 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 192s 463m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 311,875626 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 192s 512m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 312,298561 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 312,348902 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 313,315496 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 313,365818 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 314,333850 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 314,384253 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 315,351297 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 315,401591 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 316,368063 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 316,418432 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 316,831124 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 197s 464m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 316,871356 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 197s 513m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 317,385021 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 317,435388 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 318,403531 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 318,453935 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 319,421684 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 319,472000 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 320,439250 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 320,489722 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 321,458036 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 321,508460 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 321,831128 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 202s 465m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 321,881555 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 202s 514m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 322,466522 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 322,516975 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 323,484857 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 323,535218 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 324,503438 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 324,553881 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 325,522167 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 325,572687 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 326,539554 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 326,589842 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 326,831598 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 207s 466m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 326,871825 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 207s 515m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 327,556523 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 327,606968 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 328,574804 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 328,625198 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 329,603477 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 329,653813 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 330,622095 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 330,672457 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 331,641049 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 331,691553 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 331,822546 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 212s 467m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 331,872863 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 212s 516m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 332,659183 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 332,709621 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 333,676602 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 333,726934 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 334,684044 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 334,734378 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 335,703177 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 335,753624 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 336,721835 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 336,772179 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 336,832637 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 217s 468m 486u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 336,882999 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 217s 517m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 337,740010 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 337,790328 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 338,757916 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 338,808194 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 339,775962 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 339,826410 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 340,793890 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 340,844181 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 341,801592 yarprobotinterface running happily 341,811652 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 341,831797 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 222s 469m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 341,862036 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 341,882177 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 222s 518m 508u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 342,830817 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 342,881334 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 343,849295 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 343,899730 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 344,866644 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 344,917043 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 345,883977 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 345,934373 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 346,831472 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 227s 470m 493u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 346,881808 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 227s 519m 515u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 346,901916 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 346,952239 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 347,919729 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 347,970011 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 348,937129 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 348,987475 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 349,954610 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 350,004958 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 350,972041 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 351,022334 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 351,828796 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 232s 471m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 351,879250 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 232s 520m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 351,990242 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 352,040643 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 353,008793 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 353,059256 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 354,017182 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 354,067560 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 355,034195 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 355,084489 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 356,051326 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 356,101755 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 356,836423 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 237s 472m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 356,886822 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 237s 521m 509u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 357,078030 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 357,128344 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 358,094633 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 358,145023 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 359,111197 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 359,161525 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 360,128222 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 360,178510 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 361,144927 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 361,195363 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 361,839633 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 242s 473m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 361,879858 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 242s 522m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 362,161780 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 362,212087 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 363,179217 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 363,229522 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 364,197305 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 364,247747 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 365,216102 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 365,266538 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 366,233887 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 366,284212 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 366,838025 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 247s 474m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 366,888484 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 247s 523m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 367,251405 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 367,301709 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 368,268871 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 368,319203 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 369,286730 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 369,337225 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 370,304249 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 370,354666 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 371,322072 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 371,372389 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 371,835965 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 252s 475m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 371,886271 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 252s 524m 508u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 372,340119 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 372,390580 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 373,358110 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 373,408580 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 374,368191 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 374,418700 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 375,387806 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 375,438242 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 376,406123 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 376,456530 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 376,840232 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 257s 476m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 376,890671 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 257s 525m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 377,425971 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 377,476378 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 378,443163 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 378,493435 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 379,461448 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 379,511753 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 380,479732 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 380,530096 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 381,498071 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 381,548511 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 381,840626 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 262s 477m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 381,890953 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 262s 526m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 382,515934 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 382,566281 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 383,532967 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 383,583530 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 384,550192 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 384,600869 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 385,569674 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 385,620126 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 386,587199 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 386,637544 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 386,838802 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 267s 478m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 386,889155 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 267s 527m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 387,604447 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 387,654716 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 388,620610 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 388,671015 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 389,638657 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 389,689041 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 390,656644 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 390,706952 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 391,673206 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 391,723496 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 391,844176 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 272s 479m 486u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 391,894446 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 272s 528m 508u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 392,689645 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 392,739952 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 393,707586 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 393,757944 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 394,725835 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 394,776308 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 395,743457 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 395,793906 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 396,759689 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 396,809968 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 396,840136 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 277s 480m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 396,890434 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 277s 529m 514u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 397,776371 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 397,826811 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 398,795350 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 398,845702 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 399,813526 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 399,863802 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 400,831680 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 400,882096 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 401,798242 yarprobotinterface running happily 401,848692 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 401,848766 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 282s 481m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 401,889040 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 282s 530m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 401,899125 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 402,858070 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 402,908442 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 403,874891 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 403,925198 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 404,901081 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 404,951351 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 405,916917 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 405,967342 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 406,843920 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 287s 482m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 406,894261 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 287s 531m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 406,934576 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 406,985100 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 407,760566 xsensmt: Missing orientation message, skipping orientation update. 407,760627 xsensmt: Missing accelerometer message, skipping accelerometer update. 407,760674 xsensmt: Missing gyroscope message, skipping gyroscope update. 407,760703 xsensmt: Missing magnetometer message, skipping magnetometer update. 407,952048 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 408,002639 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 408,969829 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 409,020201 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 409,987307 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 410,037602 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 411,004920 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 411,055214 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 411,841619 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 292s 483m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 411,891951 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 292s 532m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 412,022947 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 412,073232 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 413,041056 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 413,091469 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 414,050224 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 414,100625 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 415,068972 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 415,119405 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 416,087725 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 416,138066 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 416,844075 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 297s 484m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 416,894487 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 297s 533m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 417,106240 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 417,156671 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 418,125982 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 418,176393 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 419,145551 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 419,196002 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 419,418035 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 300s 53m 685u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,418072 from BOARD 10.0.1.27 (right_arm-eb27-j4_7), src LOCAL, adr 0, time 300s 54m 131u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,418083 from BOARD 10.0.1.25 (left_arm-eb25-j8_11), src LOCAL, adr 0, time 300s 54m 121u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,418092 from BOARD 10.0.1.28 (right_arm-eb28-j8_11), src LOCAL, adr 0, time 300s 55m 115u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,418099 from BOARD 10.0.1.26 (left_arm-eb26-j12_15), src LOCAL, adr 0, time 300s 54m 938u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,418107 from BOARD 10.0.1.29 (right_arm-eb29-j12_15), src LOCAL, adr 0, time 300s 54m 844u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,428124 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 300s 69m 875u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,448267 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 300s 87m 442u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,448301 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 300s 86m 823u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,579472 from BOARD 10.0.1.1 (left_arm-eb1-j0_3), src LOCAL, adr 0, time 300s 60m 950u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,599675 from BOARD 10.0.1.5 (torso-eb5-j0_2), src LOCAL, adr 0, time 300s 73m 177u: (code 0x06000005, par16 0x0005 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 419,599710 from BOARD 10.0.1.3 (right_arm-eb3-j0_3), src LOCAL, adr 0, time 300s 80m 553u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 420,163412 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 420,213825 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 421,180592 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 421,230907 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 421,844997 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 302s 485m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 421,895283 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 302s 534m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 422,197347 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 422,247630 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 423,214144 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 423,264591 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 424,232608 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 424,283127 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 424,383866 xsensmt: Missing orientation message, skipping orientation update. 424,383926 xsensmt: Missing accelerometer message, skipping accelerometer update. 424,383935 xsensmt: Missing gyroscope message, skipping gyroscope update. 424,383944 xsensmt: Missing magnetometer message, skipping magnetometer update. 425,250869 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 425,301245 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 426,268257 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 426,318619 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 426,852737 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 307s 486m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 426,893088 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 307s 535m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 427,286173 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 427,336613 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 428,305363 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 428,355738 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 429,313773 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 429,374296 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 430,332293 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 430,392776 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 431,350451 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 431,411014 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 431,855426 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 312s 487m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 431,895770 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 312s 536m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 432,369218 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 432,419506 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 433,386870 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 433,447205 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 434,404893 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 434,455281 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 435,424569 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 435,474961 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 436,442827 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 436,493293 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 436,856388 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 317s 488m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 436,896629 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 317s 537m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 437,460898 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 437,511298 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 438,478526 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 438,528840 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 439,495901 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 439,546258 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 440,514184 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 440,564686 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 441,524108 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 441,584631 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 441,846865 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 322s 489m 491u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 441,897411 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 322s 538m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 442,543174 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 442,603706 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 443,561828 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 443,612277 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 444,580035 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 444,630378 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 445,598753 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 445,649193 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 446,616979 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 446,667380 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 446,848462 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 327s 490m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 446,898724 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 327s 539m 514u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 447,633052 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 447,683336 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 448,650082 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 448,700369 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 449,666675 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 449,716963 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 450,683537 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 450,733950 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 451,702571 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 451,752996 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 451,853847 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 332s 491m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 451,904292 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 332s 540m 513u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 452,721678 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 452,772042 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 453,739872 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 453,790298 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 454,758020 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 454,808291 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 455,775284 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 455,825736 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 456,794479 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 456,844913 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 456,854998 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 337s 492m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 456,905427 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 337s 541m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 457,803985 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 457,854429 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 458,823338 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 458,873712 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 459,842574 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 459,893015 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 459,923290 xsensmt: Missing orientation message, skipping orientation update. 459,923310 xsensmt: Missing accelerometer message, skipping accelerometer update. 459,923319 xsensmt: Missing gyroscope message, skipping gyroscope update. 459,923327 xsensmt: Missing magnetometer message, skipping magnetometer update. 460,861743 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 460,912249 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 461,799834 yarprobotinterface running happily 461,850258 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 342s 493m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 461,880515 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 461,900697 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 342s 542m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 461,930959 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 462,899489 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 462,949969 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 463,918762 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 463,959082 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 464,928741 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 464,979153 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 465,948435 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 465,998939 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 466,856529 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 347s 494m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 466,906799 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 347s 543m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 466,967179 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 467,017570 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 467,986217 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 468,036692 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 469,003137 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 469,053483 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 470,021037 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 470,071360 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 471,037704 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 471,088105 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 471,854504 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 352s 495m 493u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 471,904929 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 352s 544m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 472,056076 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 472,106447 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 473,072864 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 473,123168 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 474,091010 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 474,141342 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 475,109028 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 475,159420 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 476,126405 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 476,176741 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 476,851592 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 357s 496m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 476,901893 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 357s 545m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 477,143546 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 477,193959 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 478,161004 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 478,211388 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 479,178459 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 479,228911 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 480,196618 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 480,247072 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 481,213988 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 481,264274 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 481,858408 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 362s 497m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 481,908690 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 362s 546m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 482,231071 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 482,281393 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 483,248704 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 483,299024 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 484,266114 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 484,316541 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 485,283840 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 485,334160 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 486,301316 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 486,351719 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 486,855544 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 367s 498m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 486,905926 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 367s 547m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 487,318613 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 487,368955 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 488,337046 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 488,387484 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 489,354764 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 489,405044 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 490,372430 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 490,422713 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 491,389700 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 491,440083 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 491,863484 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 372s 499m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 491,913833 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 372s 548m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 492,407161 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 492,457479 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 493,424407 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 493,474835 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 494,443613 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 494,494047 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 495,452235 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 495,502662 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 496,470737 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 496,521168 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 496,864084 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 377s 500m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 496,904406 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 377s 549m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 497,489573 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 497,539980 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 498,506276 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 498,556596 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 499,524861 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 499,575302 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 500,543833 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 500,594248 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 501,562509 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 501,613023 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 501,865265 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 382s 501m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 501,915724 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 382s 550m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 502,581665 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 502,632032 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 503,591156 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 503,641548 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 504,610384 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 504,660792 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 505,630025 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 505,680457 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 506,649800 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 506,700284 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 506,861706 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 387s 502m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 506,912117 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 387s 551m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 507,668722 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 507,719009 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 508,686522 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 508,737043 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 509,704533 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 509,754980 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 510,722596 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 510,772907 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 511,738945 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 511,789240 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 511,869671 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 392s 503m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 511,909880 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 392s 552m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 512,755944 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 512,806396 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 513,773839 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 513,824121 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 514,791064 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 514,841358 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 515,446610 xsensmt: Missing orientation message, skipping orientation update. 515,446649 xsensmt: Missing accelerometer message, skipping accelerometer update. 515,446660 xsensmt: Missing gyroscope message, skipping gyroscope update. 515,446668 xsensmt: Missing magnetometer message, skipping magnetometer update. 515,809146 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 515,859457 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 516,826887 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 516,867140 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 397s 504m 486u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 516,877196 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 516,917443 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 397s 553m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 517,844057 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 517,894366 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 518,861061 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 518,911343 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 519,878279 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 519,928579 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 520,895574 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 520,945955 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 521,802577 yarprobotinterface running happily 521,863081 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 402s 505m 486u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 521,913528 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 521,913548 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 402s 554m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 521,963987 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 522,931212 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 522,981544 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 523,948362 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 523,998675 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 524,966028 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 525,016335 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 525,984241 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 526,034685 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 526,862488 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 407s 506m 488u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 526,912930 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 407s 555m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 526,993625 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 527,044004 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 528,012338 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 528,062648 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 529,032722 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 529,083157 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 530,051981 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 530,102382 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 531,071496 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 531,121930 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 531,867936 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 412s 507m 486u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 531,918336 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 412s 556m 508u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 532,089753 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 532,130043 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 533,098844 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 533,149293 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 534,118546 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 534,169034 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 535,138476 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 535,188968 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 536,157253 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 536,207572 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 536,872941 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 417s 508m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 536,913240 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 417s 557m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 537,175085 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 537,225447 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 538,192136 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 538,242451 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 539,209719 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 539,260204 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 540,227880 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 540,278245 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 541,246589 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 541,297013 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 541,872426 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 422s 509m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 541,922862 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 422s 558m 515u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 542,255723 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 542,305996 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 543,274221 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 543,324642 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 544,293372 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 544,343665 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 545,309525 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 545,359859 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 546,326276 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 546,376609 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 546,869614 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 427s 510m 487u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 546,919963 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 427s 559m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 547,343179 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 547,393577 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 548,360897 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 548,411298 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 549,379261 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 549,429671 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 550,397897 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 550,448259 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 551,416676 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 551,467041 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 551,870340 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 432s 511m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 551,920782 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 432s 560m 510u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 552,435091 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 552,485512 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 553,451715 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 553,501998 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 554,468489 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 554,518788 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 555,486297 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 555,536683 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 556,504975 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 556,555388 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 556,877794 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 437s 512m 482u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 556,918038 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 437s 561m 505u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 557,523330 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 557,573843 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 558,532930 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 558,583369 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 559,551987 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 559,602429 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 560,570625 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 560,621098 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 561,590163 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 561,640527 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 561,872541 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 442s 513m 483u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 561,922942 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 442s 562m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 562,608422 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 562,658787 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 563,617096 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 563,677553 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 563,899653 xsensmt: Missing orientation message, skipping orientation update. 563,899705 xsensmt: Missing accelerometer message, skipping accelerometer update. 563,899716 xsensmt: Missing gyroscope message, skipping gyroscope update. 563,899724 xsensmt: Missing magnetometer message, skipping magnetometer update. 564,635945 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 564,686270 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 565,655120 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 565,705605 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 566,674079 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 566,724350 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 566,875508 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 447s 514m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 566,925945 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 447s 563m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 567,691247 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 567,741750 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 568,710574 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 568,761061 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 569,727376 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 569,777712 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 570,743665 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 570,793976 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 571,760642 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 571,811124 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 571,881782 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 452s 515m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 571,922127 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 452s 564m 514u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 572,780190 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 572,830628 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 573,799408 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 573,849849 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 574,818019 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 574,868383 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 575,835760 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 575,886081 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 576,853042 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 576,873191 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 457s 516m 492u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 576,903406 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 576,923547 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 457s 565m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 577,870999 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 577,921330 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 578,888187 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 578,938511 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 579,897341 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 579,947763 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 580,916396 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 580,966841 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 581,794127 yarprobotinterface running happily 581,874808 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 462s 517m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 581,925248 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 462s 566m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 581,935336 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 581,985779 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 582,954786 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 583,005279 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 583,974511 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 584,024947 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 584,992600 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 585,043075 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 586,009446 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 586,059772 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 586,875493 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 467s 518m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 586,925770 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 467s 567m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 587,026407 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 587,076811 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 588,045275 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 588,095682 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 589,064135 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 589,104445 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 590,080777 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 590,131063 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 591,096910 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 591,147192 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 591,882400 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 472s 519m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 591,932868 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 472s 568m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 592,114157 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 592,164600 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 593,130801 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 593,181319 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 594,148108 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 594,198596 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 595,164959 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 595,215353 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 596,183256 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 596,233541 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 596,878276 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 477s 520m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 596,928639 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 477s 569m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 597,201439 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 597,251961 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 598,218607 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 598,268931 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 599,235548 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 599,285928 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 600,252684 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 600,303023 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 601,270499 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 601,320950 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 601,886121 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 482s 521m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 601,926409 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 482s 570m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 602,288792 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 602,339075 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 603,305269 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 603,355606 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 604,322387 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 604,372769 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 605,340013 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 605,390302 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 606,357665 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 606,408065 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 606,881520 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 487s 522m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 606,931822 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 487s 571m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 607,375342 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 607,425769 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 608,393595 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 608,443949 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 609,411066 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 609,461441 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 610,428125 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 610,478469 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 611,437350 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 611,487830 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 611,881741 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 492s 523m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 611,932129 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 492s 572m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 612,457333 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 612,507777 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 613,477592 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 613,527992 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 614,497067 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 614,547489 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 615,515373 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 615,565810 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 616,534154 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 616,584793 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 616,887437 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 497s 524m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 616,937777 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 497s 573m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 617,552606 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 617,593141 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 618,562803 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 618,613297 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 619,582314 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 619,632752 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 620,602084 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 620,652560 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 621,620500 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 621,670895 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 621,882845 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 502s 525m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 621,933315 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 502s 574m 514u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 622,638130 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 622,688486 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 623,655708 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 623,705988 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 624,673321 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 624,723608 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 625,690591 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 625,740967 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 626,707852 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 626,758239 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 626,889429 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 507s 526m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 626,939873 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 507s 575m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 627,724916 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 627,775259 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 628,741317 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 628,791858 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 629,760020 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 629,810482 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 630,778095 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 630,828495 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 631,795795 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 631,846113 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 631,886359 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 512s 527m 488u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 631,936656 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 512s 576m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 632,813452 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 632,863783 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 633,830801 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 633,881112 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 634,849697 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 634,900101 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 635,858219 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 635,908626 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 636,877040 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 636,887122 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 517s 528m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 636,927465 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 636,937558 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 517s 577m 515u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 637,895852 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 637,946256 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 638,915384 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 638,965792 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 639,934291 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 639,984771 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 640,953825 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 641,004245 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 641,801512 yarprobotinterface running happily 641,882064 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 522s 529m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 641,932373 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 522s 578m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 641,972721 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 642,023158 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 642,981534 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 643,031941 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 644,000710 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 644,051147 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 645,019180 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 645,069613 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 646,038052 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 646,088424 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 646,895326 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 527s 530m 489u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 646,935647 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 527s 579m 511u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 647,056643 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 647,107042 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 648,075908 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 648,126349 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 649,094695 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 649,145134 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 650,103818 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 650,154197 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 651,122771 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 651,173233 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 651,888903 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 532s 531m 492u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 651,939329 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 532s 580m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 652,140919 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 652,191358 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 653,159948 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 653,210323 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 654,178823 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 654,229228 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 655,197351 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 655,247772 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 656,216166 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 656,266571 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 656,892007 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 537s 532m 490u: (code 0x02000010, par16 0x0002 par64 0x0000000000000000) -> MC: hard limit reached. The joint position is outside its hardware boundaries. par16 = ID of joint. + . 656,942457 from BOARD 10.0.1.24 (left_arm-eb24-j4_7), src LOCAL, adr 0, time 537s 581m 512u: (code 0x02000008, par16 0x0002 par64 0x0000000000000002) -> MC: AEA encoder invalid data. Hardware problem in the magnetic position sensor of the joint caused invalid position readings. par16 = AEA port (msb) and ID of joint (lsb). + . 657,234892 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 657,285265 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 658,252756 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 658,303068 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 659,270835 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 659,321253 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet 660,289170 icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet 660,339618 icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet