The left arm must be helped during calibration

robotology / icub-tech-support

Virtual repository that provides support requests for individual robots

GNU General Public License v2.0

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[ERROR]Left_Arm_Calibrator : detected an hardware fault on joint 3 before starting the calibration procedure! .... [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function

icub@pc104:~$ robotInterface ||| configuring ||| no policy found ||| default config file specified as robotInterface.ini ||| checking [/home/icub/robotInterface.ini] (pwd) ||| checking [/home/icub/.config/yarp/robots/iCubSheffield01] (robot YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01] (robot YARP_DATA_HOME) ||| found /home/icub/.local/share/yarp/robots/iCubSheffield01 ||| checking [/etc/yarp/robots/iCubSheffield01] (robot YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/robots/iCubSheffield01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01] (robot YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01 ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/robots/iCubSheffield01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/robotInterface.ini] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/robotInterface.ini] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/robotInterface.ini yarp: Port /robotInterface active at tcp://10.0.0.2:10006 ||| finding file [config] ||| checking [/home/icub/./icub_all.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/./icub_all.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/./icub_all.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/./icub_all.xml yarp: Port /log/pc104/robotInterface/3349 active at tcp://10.0.0.2:10066 ||| finding file hardware/electronics/pc104.xml ||| checking [/home/icub/hardware/electronics/pc104.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/pc104.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/pc104.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/pc104.xml ||| finding file cartesian/left_arm-cartesian.xml ||| checking [/home/icub/cartesian/left_arm-cartesian.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/cartesian/left_arm-cartesian.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/left_arm-cartesian.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/left_arm-cartesian.xml ||| finding file cartesian/right_arm-cartesian.xml ||| checking [/home/icub/cartesian/right_arm-cartesian.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/cartesian/right_arm-cartesian.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/right_arm-cartesian.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/right_arm-cartesian.xml ||| finding file hardware/motorControl/head-cfw2_can0-mc.xml ||| checking [/home/icub/hardware/motorControl/head-cfw2_can0-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/head-cfw2_can0-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/head-cfw2_can0-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/head-cfw2_can0-mc.xml ||| finding file general.xml ||| checking [/home/icub/general.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/general.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/general.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/general.xml ||| finding file hardware/electronics/head-cfw2_can0-eln.xml ||| checking [/home/icub/hardware/electronics/head-cfw2_can0-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/head-cfw2_can0-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/head-cfw2_can0-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/head-cfw2_can0-eln.xml ||| finding file hardware/mechanicals/head-cfw2_can0-mec.xml ||| checking [/home/icub/hardware/mechanicals/head-cfw2_can0-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/head-cfw2_can0-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/head-cfw2_can0-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/head-cfw2_can0-mec.xml ||| finding file wrappers/motorControl/head-mc_wrapper.xml ||| checking [/home/icub/wrappers/motorControl/head-mc_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/head-mc_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/head-mc_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/head-mc_wrapper.xml ||| finding file hardware/motorControl/torso-ems5-mc.xml ||| checking [/home/icub/hardware/motorControl/torso-ems5-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/torso-ems5-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/torso-ems5-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/torso-ems5-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/torso-ems5-eln.xml ||| checking [/home/icub/hardware/electronics/torso-ems5-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/torso-ems5-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/torso-ems5-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/torso-ems5-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/torso-ems5-mec.xml ||| checking [/home/icub/hardware/mechanicals/torso-ems5-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/torso-ems5-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/torso-ems5-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/torso-ems5-mec.xml ||| finding file wrappers/motorControl/torso-mc_wrapper.xml ||| checking [/home/icub/wrappers/motorControl/torso-mc_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/torso-mc_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/torso-mc_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/torso-mc_wrapper.xml ||| finding file hardware/motorControl/left_upper_arm-ems1-mc.xml ||| checking [/home/icub/hardware/motorControl/left_upper_arm-ems1-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/left_upper_arm-ems1-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_upper_arm-ems1-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_upper_arm-ems1-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/left_upper_arm-ems1-eln.xml ||| checking [/home/icub/hardware/electronics/left_upper_arm-ems1-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/left_upper_arm-ems1-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_upper_arm-ems1-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_upper_arm-ems1-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/left_upper_arm-ems1-mec.xml ||| checking [/home/icub/hardware/mechanicals/left_upper_arm-ems1-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/left_upper_arm-ems1-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_upper_arm-ems1-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_upper_arm-ems1-mec.xml ||| finding file hardware/motorControl/left_lower_arm-ems2-mc.xml ||| checking [/home/icub/hardware/motorControl/left_lower_arm-ems2-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/left_lower_arm-ems2-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_lower_arm-ems2-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_lower_arm-ems2-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/left_lower_arm-ems2-eln.xml ||| checking [/home/icub/hardware/electronics/left_lower_arm-ems2-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/left_lower_arm-ems2-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_lower_arm-ems2-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_lower_arm-ems2-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/left_lower_arm-ems2-mec.xml ||| checking [/home/icub/hardware/mechanicals/left_lower_arm-ems2-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/left_lower_arm-ems2-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_lower_arm-ems2-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_lower_arm-ems2-mec.xml ||| finding file wrappers/motorControl/left_arm-mc_wrapper.xml ||| checking [/home/icub/wrappers/motorControl/left_arm-mc_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/left_arm-mc_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/left_arm-mc_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/left_arm-mc_wrapper.xml ||| finding file hardware/motorControl/right_upper_arm-ems3-mc.xml ||| checking [/home/icub/hardware/motorControl/right_upper_arm-ems3-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/right_upper_arm-ems3-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_upper_arm-ems3-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_upper_arm-ems3-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/right_upper_arm-ems3-eln.xml ||| checking [/home/icub/hardware/electronics/right_upper_arm-ems3-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/right_upper_arm-ems3-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_upper_arm-ems3-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_upper_arm-ems3-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/right_upper_arm-ems3-mec.xml ||| checking [/home/icub/hardware/mechanicals/right_upper_arm-ems3-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/right_upper_arm-ems3-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_upper_arm-ems3-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_upper_arm-ems3-mec.xml ||| finding file hardware/motorControl/right_lower_arm-ems4-mc.xml ||| checking [/home/icub/hardware/motorControl/right_lower_arm-ems4-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/right_lower_arm-ems4-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_lower_arm-ems4-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_lower_arm-ems4-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/right_lower_arm-ems4-eln.xml ||| checking [/home/icub/hardware/electronics/right_lower_arm-ems4-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/right_lower_arm-ems4-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_lower_arm-ems4-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_lower_arm-ems4-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/right_lower_arm-ems4-mec.xml ||| checking [/home/icub/hardware/mechanicals/right_lower_arm-ems4-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/right_lower_arm-ems4-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_lower_arm-ems4-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_lower_arm-ems4-mec.xml ||| finding file wrappers/motorControl/right_arm-mc_wrapper.xml ||| checking [/home/icub/wrappers/motorControl/right_arm-mc_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/right_arm-mc_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/right_arm-mc_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/right_arm-mc_wrapper.xml ||| finding file wrappers/FT/left_arm-FT_wrapper.xml ||| checking [/home/icub/wrappers/FT/left_arm-FT_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml ||| finding file wrappers/FT/right_arm-FT_wrapper.xml ||| checking [/home/icub/wrappers/FT/right_arm-FT_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml ||| finding file hardware/FT/left_upper_arm-ems1-strain.xml ||| checking [/home/icub/hardware/FT/left_upper_arm-ems1-strain.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/FT/left_upper_arm-ems1-strain.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/left_upper_arm-ems1-strain.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/left_upper_arm-ems1-strain.xml ||| finding file general.xml ||| finding file hardware/electronics/left_upper_arm-ems1-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/FT/right_upper_arm-ems3-strain.xml ||| checking [/home/icub/hardware/FT/right_upper_arm-ems3-strain.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/FT/right_upper_arm-ems3-strain.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/right_upper_arm-ems3-strain.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/right_upper_arm-ems3-strain.xml ||| finding file general.xml ||| finding file hardware/electronics/right_upper_arm-ems3-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file wrappers/VFT/left_arm-VFT_wrapper.xml ||| checking [/home/icub/wrappers/VFT/left_arm-VFT_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/VFT/left_arm-VFT_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/left_arm-VFT_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/left_arm-VFT_wrapper.xml ||| finding file wrappers/VFT/right_arm-VFT_wrapper.xml ||| checking [/home/icub/wrappers/VFT/right_arm-VFT_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/VFT/right_arm-VFT_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/right_arm-VFT_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/right_arm-VFT_wrapper.xml ||| finding file wrappers/VFT/torso-VFT_wrapper.xml ||| checking [/home/icub/wrappers/VFT/torso-VFT_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/VFT/torso-VFT_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/torso-VFT_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/torso-VFT_wrapper.xml ||| finding file wrappers/MAIS/left_hand-mais_wrapper.xml ||| checking [/home/icub/wrappers/MAIS/left_hand-mais_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 1 . No DTD found. Assuming version robotInterfaceV1.0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubSheffield01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 ||| finding file wrappers/MAIS/right_hand-mais_wrapper.xml ||| checking [/home/icub/wrappers/MAIS/right_hand-mais_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 1 . No DTD found. Assuming version robotInterfaceV1.0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubSheffield01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 ||| finding file hardware/MAIS/left_hand-ems2-mais.xml ||| checking [/home/icub/hardware/MAIS/left_hand-ems2-mais.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/MAIS/left_hand-ems2-mais.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/left_hand-ems2-mais.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/left_hand-ems2-mais.xml ||| finding file general.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/electronics/left_lower_arm-ems2-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/MAIS/right_hand-ems4-mais.xml ||| checking [/home/icub/hardware/MAIS/right_hand-ems4-mais.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/MAIS/right_hand-ems4-mais.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/right_hand-ems4-mais.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/right_hand-ems4-mais.xml ||| finding file general.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/electronics/right_lower_arm-ems4-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/inertial.xml ||| checking [/home/icub/hardware/inertial.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/inertial.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/inertial.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/inertial.xml ||| finding file general.xml ||| finding file wrappers/skin/left_arm-skin_wrapper.xml ||| checking [/home/icub/wrappers/skin/left_arm-skin_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/skin/left_arm-skin_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/left_arm-skin_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/left_arm-skin_wrapper.xml ||| finding file wrappers/skin/right_arm-skin_wrapper.xml ||| checking [/home/icub/wrappers/skin/right_arm-skin_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/skin/right_arm-skin_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/right_arm-skin_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/right_arm-skin_wrapper.xml ||| finding file wrappers/skin/torso-skin_wrapper.xml ||| checking [/home/icub/wrappers/skin/torso-skin_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/skin/torso-skin_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/torso-skin_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/torso-skin_wrapper.xml ||| finding file hardware/skin/torso-cfw2_can9-skin.xml ||| checking [/home/icub/hardware/skin/torso-cfw2_can9-skin.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skin.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skin.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skin.xml ||| finding file general.xml ||| finding file hardware/skin/torso-cfw2_can9-skinSpec.xml ||| checking [/home/icub/hardware/skin/torso-cfw2_can9-skinSpec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skinSpec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skinSpec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skinSpec.xml ||| finding file hardware/skin/left_arm-ems2-skin.xml ||| checking [/home/icub/hardware/skin/left_arm-ems2-skin.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skin.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skin.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skin.xml ||| finding file general.xml ||| finding file hardware/electronics/left_lower_arm-ems2-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/skin/left_arm-ems2-skinSpec.xml ||| checking [/home/icub/hardware/skin/left_arm-ems2-skinSpec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skinSpec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skinSpec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skinSpec.xml ||| finding file hardware/skin/right_arm-ems4-skin.xml ||| checking [/home/icub/hardware/skin/right_arm-ems4-skin.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skin.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skin.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skin.xml ||| finding file general.xml ||| finding file hardware/electronics/right_lower_arm-ems4-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/skin/right_arm-ems4-skinSpec.xml ||| checking [/home/icub/hardware/skin/right_arm-ems4-skinSpec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skinSpec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skinSpec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skinSpec.xml ||| finding file calibrators/left_arm-calib.xml ||| checking [/home/icub/calibrators/left_arm-calib.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/left_arm-calib.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/left_arm-calib.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/left_arm-calib.xml ||| finding file general.xml ||| finding file calibrators/right_arm-calib.xml ||| checking [/home/icub/calibrators/right_arm-calib.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/right_arm-calib.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/right_arm-calib.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/right_arm-calib.xml ||| finding file general.xml ||| finding file calibrators/torso-calib.xml ||| checking [/home/icub/calibrators/torso-calib.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/torso-calib.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/torso-calib.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/torso-calib.xml ||| finding file general.xml ||| finding file calibrators/head-calib.xml ||| checking [/home/icub/calibrators/head-calib.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/head-calib.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/head-calib.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/head-calib.xml ||| finding file general.xml [INFO]startup phase starting... ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/plugins] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/plugins] (robot) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) [INFO]***** Configuring cartesian controller ***** [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type left_v2) (numLinks 10) (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_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D 0.10774) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D 0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A 0.015) (D 0.15228) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A 0.023365) (D -0.1433) (alpha -90.0) (offset 105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D -0.02598) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10008 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10009 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10010 yarp: Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10011 yarp: Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10012 yarp: Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10013 yarp: Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10014 [INFO]created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation. [INFO]***** Configuring cartesian controller ***** [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type right_v2) (numLinks 10) (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_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D -0.10774) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D -0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A -0.015) (D -0.15228) (alpha -90.0) (offset -105.0) (min -37.0) (max 100.0)) (link_6 (A 0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A -0.023365) (D -0.1433) (alpha 90.0) (offset -105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D 0.02598) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10015 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10016 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10017 yarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10018 yarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10019 yarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10020 yarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10021 [INFO]created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation. [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]maxPosStep: Using default MaxPosStep=10 degs [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]maxPosStep: Using default MaxPosStep=10 degs [INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation. printing destinations and inverted map 0 1 2 2 4 3 [INFO]using ICUB_CANMASKS_STRICT_FILTER option [DEBUG]class 0 set [DEBUG]class 1 set [DEBUG]class 2 set [DEBUG]class 3 set [DEBUG]Can read/write buffers created, buffer size: 500 [INFO]CanBusResources::initialized correctly Registering new thread 0 out of 500 [INFO] [INFO]********************************** [INFO]iCubInterface CAN protocol: 1.2 [INFO]Firmware report: [INFO]cfw2can [0] joint: 0 can_address: 1 board type: 4 (BLL) version: 1.62 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 1 can_address: 1 board type: 4 (BLL) version: 1.62 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 2 can_address: 2 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 3 can_address: 2 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 4 can_address: 3 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 5 can_address: 3 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]********************************** [INFO] [DEBUG]CanBusMotionControl::open returned true [INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/head : no ROS initialization required [INFO]/icub/head initting YARP initialization yarp: Port /icub/head/rpc:i active at tcp://10.0.0.2:10022 yarp: Port /icub/head/command:i active at tcp://10.0.0.2:10023 yarp: Port /icub/head/state:o active at tcp://10.0.0.2:10024 yarp: Port /icub/head/stateExt:o active at tcp://10.0.0.2:10025 [INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]torque control disabled on this robot part. [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]EthSender is a RateThread with rate = 1 ms [DEBUG]EthReceiver is a RateThread with rate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE= [INFO] from BOARD 5, src LOCAL, adr 0, time 3s 500m 318u: (code 0x00000009, par16 0x0000 par64 0x0000000000000000) -> SYS: the board is running happily + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 5, src CAN1, adr 3, time 4s 0m 75u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 4, time 4s 0m 140u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 1, time 4s 0m 204u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 5 at 5 ms [DEBUG]ethResources::goToConfig() called for BOARD 5 MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 5 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 5 in cfg mode [DEBUG]ethResources::goToRun() called for BOARD 5 MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [INFO] from BOARD 5, src CAN1, adr 3, time 236s 697m 85u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 4, time 236s 697m 148u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 1, time 236s 697m 211u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::goToRun() detected BOARD 5 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 5 in run mode [INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/torso : no ROS initialization required [INFO]/icub/torso initting YARP initialization yarp: Port /icub/torso/rpc:i active at tcp://10.0.0.2:10026 yarp: Port /icub/torso/command:i active at tcp://10.0.0.2:10027 yarp: Port /icub/torso/state:o active at tcp://10.0.0.2:10028 yarp: Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10029 [INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]torque control disabled on this robot part. [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 1, src CAN1, adr 1, time 3s 999m 72u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 1, src CAN1, adr 2, time 3s 999m 137u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 3, time 3s 999m 201u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 4, time 3s 999m 265u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 1, src CAN2, adr 13, time 10s 180m 691u: (code 0x0000001b, par16 0x62d0 par64 0x0000000001000101) -> SYS: the EOappCanSP could not parse a rx can frame. In par16 there is frame.id and frame.size (in most significant nibble). In par64 there is the frame.data + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 1 at 5 ms [DEBUG]ethResources::goToConfig() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 1 in cfg mode [DEBUG]ethResources::goToRun() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 1, src CAN1, adr 1, time 237s 118m 85u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 2, time 237s 118m 148u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 3, time 237s 118m 211u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 1 in run mode [INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] from BOARD 1, src CAN1, adr 4, time 237s 118m 275u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 2, src LOCAL, adr 0, time 3s 499m 601u: (code 0x00000009, par16 0x0000 par64 0x0000000000000000) -> SYS: the board is running happily + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 2, src CAN1, adr 3, time 3s 999m 79u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 3, time 3s 999m 143u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 4, time 3s 999m 207u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [INFO] from BOARD 2, src CAN1, adr 4, time 3s 999m 272u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 3s 999m 336u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 3s 999m 400u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 3s 999m 465u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 3s 999m 529u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 2 at 1 ms [DEBUG]ethResources::goToConfig() called for BOARD 2 [INFO] from BOARD 2, src CAN1, adr 7, time 3s 999m 593u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 7, time 3s 999m 658u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 8, time 3s 999m 723u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 2 in cfg mode [INFO] from BOARD 2, src CAN1, adr 8, time 3s 999m 788u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 2 [INFO] from BOARD 2, src CAN1, adr 3, time 237s 992m 86u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 3, time 237s 992m 149u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 4, time 237s 992m 213u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 2, src CAN1, adr 4, time 237s 992m 276u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 237s 992m 341u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 237s 992m 408u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 237s 992m 471u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 237s 992m 537u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 7, time 237s 992m 607u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 7, time 237s 992m 670u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 8, time 237s 992m 736u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 8, time 237s 992m 800u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 237s 993m 74u: (code 0x0000000b, par16 0x03df par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 2 in run mode [INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/left_arm : no ROS initialization required [INFO]/icub/left_arm initting YARP initialization yarp: Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10030 yarp: Port /icub/left_arm/command:i active at tcp://10.0.0.2:10031 yarp: Port /icub/left_arm/state:o active at tcp://10.0.0.2:10032 yarp: Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10033 [INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]torque control disabled on this robot part. [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 3, src CAN1, adr 1, time 3s 999m 72u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 3, src CAN1, adr 2, time 3s 999m 137u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 3, time 3s 999m 201u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 4, time 3s 999m 265u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 3, src CAN2, adr 13, time 10s 176m 278u: (code 0x0000001b, par16 0x62d0 par64 0x0000000001000101) -> SYS: the EOappCanSP could not parse a rx can frame. In par16 there is frame.id and frame.size (in most significant nibble). In par64 there is the frame.data + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 3 at 5 ms [DEBUG]ethResources::goToConfig() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 3 in cfg mode [DEBUG]ethResources::goToRun() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 3, src CAN1, adr 1, time 238s 412m 85u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 2, time 238s 412m 148u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 3, time 238s 412m 211u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 3 in run mode [INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] from BOARD 3, src CAN1, adr 4, time 238s 412m 275u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 4, src LOCAL, adr 0, time 3s 502m 779u: (code 0x00000009, par16 0x0000 par64 0x0000000000000000) -> SYS: the board is running happily + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 4, src CAN1, adr 3, time 4s 2m 78u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 3, time 4s 2m 143u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 4, time 4s 2m 207u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [INFO] from BOARD 4, src CAN1, adr 4, time 4s 2m 271u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 4s 2m 336u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 4s 2m 400u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 4s 2m 464u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 4s 2m 529u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 4 at 1 ms [DEBUG]ethResources::goToConfig() called for BOARD 4 [INFO] from BOARD 4, src CAN1, adr 7, time 4s 2m 593u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 7, time 4s 2m 657u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 8, time 4s 2m 722u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 4 in cfg mode [INFO] from BOARD 4, src CAN1, adr 8, time 4s 2m 787u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 4 [INFO] from BOARD 4, src CAN1, adr 3, time 239s 286m 87u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 3, time 239s 286m 153u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 4, time 239s 286m 216u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 4, src CAN1, adr 4, time 239s 286m 282u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 239s 286m 348u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 239s 286m 412u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 239s 286m 475u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 239s 286m 538u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 7, time 239s 286m 605u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 7, time 239s 286m 668u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 8, time 239s 286m 732u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 8, time 239s 286m 796u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 239s 287m 62u: (code 0x0000000b, par16 0x0333 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 4 in run mode [INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/right_arm : no ROS initialization required [INFO]/icub/right_arm initting YARP initialization yarp: Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10034 yarp: Port /icub/right_arm/command:i active at tcp://10.0.0.2:10035 yarp: Port /icub/right_arm/state:o active at tcp://10.0.0.2:10036 yarp: Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10037 [INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [WARNING] AnalogServer device: ************************************************************************************************ AnalogServer is using deprecated parameters for port name! It should be: name: full name of the port, like /robotName/deviceId/sensorType:o period: refresh period of the broadcasted values in ms (optional, default 20ms) ************************************************************************************************ [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]left_arm : no ROS initialization required yarp: Port /icub/left_arm/analog:o/rpc:i active at tcp://10.0.0.2:10038 [INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation. [WARNING] AnalogServer device: ************************************************************************************************ AnalogServer is using deprecated parameters for port name! It should be: name: full name of the port, like /robotName/deviceId/sensorType:o period: refresh period of the broadcasted values in ms (optional, default 20ms) ************************************************************************************************ [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]right_arm : no ROS initialization required yarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10039 [INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 1 [DEBUG]ethResources::goToRun() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 1 in run mode [INFO]created device <embObjAnalogSensor>. See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 1 [DEBUG]ethResources::goToRun() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 3 in run mode [INFO]created device <embObjAnalogSensor>. See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/left_arm") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) (deviceId left_arm) [DEBUG]Using VirtualAnalogServer yarp: Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10040 [INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/right_arm") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) (deviceId right_arm) [DEBUG]Using VirtualAnalogServer yarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10041 [INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints)) (channels 3) (robotName icub) (name "/torso") (device virtualAnalogServer) (FirstSetOfJoints 0 2 0 2) (deviceId torso) [DEBUG]Using VirtualAnalogServer yarp: Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10042 [INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [WARNING] AnalogServer device: ************************************************************************************************ AnalogServer is using deprecated parameters for port name! It should be: name: full name of the port, like /robotName/deviceId/sensorType:o period: refresh period of the broadcasted values in ms (optional, default 20ms) ************************************************************************************************ [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]left_hand : no ROS initialization required yarp: Port /icub/left_hand/analog:o/rpc:i active at tcp://10.0.0.2:10043 [INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation. [WARNING] AnalogServer device: ************************************************************************************************ AnalogServer is using deprecated parameters for port name! It should be: name: full name of the port, like /robotName/deviceId/sensorType:o period: refresh period of the broadcasted values in ms (optional, default 20ms) ************************************************************************************************ [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]right_hand : no ROS initialization required yarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10044 [INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 10 [DEBUG]ethResources::goToRun() called for BOARD 2 MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 2 in run mode [INFO]created device <embObjAnalogSensor>. See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 10 [DEBUG]ethResources::goToRun() called for BOARD 4 MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 4 in run mode [INFO]created device <embObjAnalogSensor>. See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG]covariance size is 9 [DEBUG]Subdevice xsensmtx ||| finding paths [plugins] XSensMtX init check: device ok. [INFO]created device <xsensmtx>. See C++ class yarp::dev::XSensMTx for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/inertial active at tcp://10.0.0.2:10045 [INFO]Server Inertial : no ROS initialization required [[INFO]created wrapper <inertial>. See C++ class yarp::dev::ServerInertial for documentation. INFO]Server Inertial starting [DEBUG]Writing an Inertial measurement. [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_hand : 0 191 0 191 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_forearm : 192 575 0 383 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_arm : 576 1343 0 767 yarp: Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10046 yarp: Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10047 yarp: Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10048 [INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_hand : 0 191 0 191 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_forearm : 192 575 0 383 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_arm : 576 1343 0 767 yarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10049 yarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10050 yarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10051 [INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part torso mapping port/taxels--> torso : 0 767 0 767 yarp: Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10052 [INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation. [DEBUG]cfw2can [0] thread ran 597 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.01[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 6.08 seconds [WARNING]CanBusSkin id list contains more than one entry -> devices will be merged. [INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation. [INFO]Skin on can bus 9 uses NEW configuration version!!! yarp: Port /diagnostics/skin/errors:o active at tcp://10.0.0.2:10053 [INFO]created device <canBusSkin>. See C++ class CanBusSkin for documentation. [WARNING] from BOARD 2, src LOCAL, adr 0, time 242s 955m 95u: (code 0x0000000d, par16 0x01c4 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 242s 966m 190u: (code 0x0000000d, par16 0x0223 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 2 MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 2 in run mode [INFO]created device <embObjSkin>. See C++ class EmbObjSkin for documentation. [WARNING] from BOARD 4, src LOCAL, adr 0, time 243s 530m 97u: (code 0x0000000d, par16 0x01c6 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 243s 539m 192u: (code 0x0000000d, par16 0x0223 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 4 MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [WARNING] from BOARD 4, src LOCAL, adr 0, time 244s 81m 105u: (code 0x0000000d, par16 0x01cc par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE[DEBUG]ethResources::goToRun() successfully sent BOARD 4 in run mode [INFO]created device <embObjSkin>. See C++ class EmbObjSkin for documentation. [INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]Entering action level 5 of phase startup yarp: Port /icub/left_arm/analog:o active at tcp://10.0.0.2:10055 yarp: Port /icub/right_arm/analog:o active at tcp://10.0.0.2:10056 yarp: Port /icub/left_hand/analog:o active at tcp://10.0.0.2:10057 yarp: Port /icub/right_hand/analog:o active at tcp://10.0.0.2:10058 yarp: Port /icub/skin/left_hand active at tcp://10.0.0.2:10059 yarp: Port /icub/skin/left_forearm active at tcp://10.0.0.2:10060 yarp: Port /icub/skin/left_arm active at tcp://10.0.0.2:10061 yarp: Port /icub/skin/right_hand active at tcp://10.0.0.2:10062 yarp: Port /icub/skin/right_forearm active at tcp://10.0.0.2:10063 yarp: Port /icub/skin/right_arm active at tcp://10.0.0.2:10064 yarp: Port /icub/skin/torso active at tcp://10.0.0.2:10065 [INFO]All actions for action level 5 of startup phase started. Waiting for unfinished actions. [INFO]All actions for action level 5 of startup phase finished. [INFO]Entering action level 10 of phase startup [DEBUG]left_arm_calibrator starting calibration of device left_arm_mc_wrapper [DEBUG]right_arm_calibrator starting calibration of device right_arm_mc_wrapper [INFO]Right_Arm_Calibrator : starting calibration [DEBUG]Right_Arm_Calibrator : Joints calibration order: ( 0 1 2 3 ) ( 4 ) ( 5 6 7 ) ( 8 9 11 13 ) ( 10 12 14 15 ) Registering new thread 0 out of 500 [DEBUG]torso_calibrator starting calibration of device torso_mc_wrapper [INFO]Torso_Calibrator : starting calibration [DEBUG]Torso_Calibrator : Joints calibration order: ( 0 1 2 ) Registering new thread 0 out of 500 [INFO]All actions for action level 10 of startup phase started. Waiting for unfinished actions. [DEBUG]head_calibrator starting calibration of device head_mc_wrapper [INFO]Head_Calibrator : starting calibration [DEBUG]Head_Calibrator : Joints calibration order: ( 0 1 2 ) ( 3 ) ( 4 ) ( 5 ) Registering new thread 1 out of 500 [INFO]Left_Arm_Calibrator : starting calibration [DEBUG]Left_Arm_Calibrator : Joints calibration order: ( 0 1 2 3 ) ( 4 ) ( 5 6 7 ) ( 8 9 11 13 ) ( 10 12 14 15 ) Registering new thread 0 out of 500 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 0 with params: 3 32767.9 10 20528.1 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 1 with params: 3 32767.9 10 29864.1 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 2 with params: 3 32767.9 10 5968.1 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 0 with params: 3 27306.6 10 41839.9 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 1 with params: 3 13653.3 10 48158 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 2 with params: 3 32767.9 10 55783.9 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 3 with params: 3 40959.9 10 5904.1 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 0 with params: 3 38229.2 10 30422.1 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 1 with params: 3 51882.5 10 43582 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 2 with params: 3 32767.9 10 32642.1 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 3 with params: 3 24575.9 10 25602.1 [WARNING] from BOARD 3, src LOCAL, adr 0, time 244s 371m 330u: (code 0x0000000d, par16 0x02af par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 5, src LOCAL, adr 0, time 244s 372m 175u: (code 0x0000000d, par16 0x0214 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 244s 378m 332u: (code 0x0000000d, par16 0x02b1 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Torso_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 2.4292 [DEBUG]Torso_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -2.12561 [DEBUG]Torso_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: -22.1045 [DEBUG]Right_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -17.473 [DEBUG]Right_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 27.6875 [DEBUG]Right_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 14.5555 [DEBUG]Right_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 50.1034 [DEBUG]Left_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -12.3541 [DEBUG]Left_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 30.9896 [DEBUG]Left_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 18.6335 [DEBUG]Left_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 65.4076 [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 2 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 0 with params: 3 2047.5 10 3642.5 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 1 with params: 3 2047.5 10 3213.5 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 2 with params: 3 2047.5 10 3789.5 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA CH0 [DEBUG]cfw2can [0] msg from board 1: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 1: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA COUPLED:0 & 1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA CH1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA:0 [DEBUG]Head_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -30 [DEBUG]Head_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -0.010989 [DEBUG]Head_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: -0.021978 [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 1 : Calibration ended, going to zero! [DEBUG]Torso_Calibrator : calib joint ended [DEBUG]Torso_Calibrator : set 1 : Calibration ended, going to zero! [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 1 : Calibration ended, going to zero! [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 1 : Calibration ended, going to zero! [DEBUG]Head_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Torso_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) [DEBUG]Torso_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) [DEBUG]Torso_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 0 (desired pos: -30 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 1 (desired pos: 30 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 3 (desired pos: 45 desired speed: 10 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 0 (desired pos: -30 desired speed: 10 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 1 (desired pos: 30 desired speed: 10 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 3 (desired pos: 45 desired speed: 10 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.604 des: 0.000 -> delta: 25.604 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.032 des: 0.000 -> delta: 0.032 threshold: 2.000 output: 92.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -26.268 des: -30.000 -> delta: 3.732 threshold: 2.000 output: 1400.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -20.973 des: -30.000 -> delta: 9.027 threshold: 2.000 output: -1400.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -16.989 des: 0.000 -> delta: 16.989 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.144 des: 0.000 -> delta: 0.144 threshold: 2.000 output: -475.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.144 over: 2.000 [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 0.072 des: 0.000 -> delta: 0.072 threshold: 2.000 output: 1082.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -30.750 des: -30.000 -> delta: 0.750 threshold: 2.000 output: 11.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.750 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 28.391 des: 30.000 -> delta: 1.609 threshold: 2.000 output: -1400.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -28.004 des: -30.000 -> delta: 1.996 threshold: 2.000 output: -1400.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -8.549 des: 0.000 -> delta: 8.549 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.016 des: 0.000 -> delta: 0.016 threshold: 2.000 output: 1023.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.016 over: 2.000 [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -11.821 des: 0.000 -> delta: 11.821 threshold: 2.000 output: -976.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 12.09 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 12.09 seconds [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 30.148 des: 30.000 -> delta: 0.148 threshold: 2.000 output: -202.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.148 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.136 des: 0.000 -> delta: 0.136 threshold: 2.000 output: 745.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -30.289 des: -30.000 -> delta: 0.289 threshold: 2.000 output: 468.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.289 over: 2.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 29.056 des: 30.000 -> delta: 0.944 threshold: 2.000 output: 1400.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -2.220 des: 0.000 -> delta: 2.220 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -9.882 des: 0.000 -> delta: 9.882 threshold: 2.000 output: -1100.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.040 des: 0.000 -> delta: 0.040 threshold: 2.000 output: -54.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.040 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 45.182 des: 45.000 -> delta: 0.182 threshold: 2.000 output: 270.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 30.111 des: 30.000 -> delta: 0.111 threshold: 2.000 output: -521.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.111 over: 2.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.093 des: 0.000 -> delta: 0.093 threshold: 2.000 output: -447.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.901 des: 0.000 -> delta: 0.901 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -8.036 des: 0.000 -> delta: 8.036 threshold: 2.000 output: -1105.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 45.094 des: 45.000 -> delta: 0.094 threshold: 2.000 output: 205.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.094 over: 2.000 [DEBUG]Right_Arm_Calibrator : set 1 : Reached zero position! Registering new thread 0 out of 500 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.093 des: 0.000 -> delta: 0.093 threshold: 2.000 output: 121.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.093 over: 2.000 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 4 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 44.748 des: 45.000 -> delta: 0.252 threshold: 2.000 output: 619.000 mode: pos [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 4 with params: 0 500 -20 0 [INFO]from BOARD 4, src CAN1, adr 3, time 249s 483m 182u: CAN PRINT MESSAGE[id 0] -> CMODE SET:32 [INFO]from BOARD 4, src CAN1, adr 3, time 249s 484m 100u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [DEBUG]Right_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 77.829 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.549 des: 0.000 -> delta: 0.549 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.549 over: 2.000 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 0.077 des: 0.000 -> delta: 0.077 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.077 over: 2.000 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.022 over: 2.000 [DEBUG]Head_Calibrator : set 1 : Reached zero position! [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -5.312 des: 0.000 -> delta: 5.312 threshold: 2.000 output: -971.000 mode: pos [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 3 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 44.924 des: 45.000 -> delta: 0.076 threshold: 2.000 output: 169.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.076 over: 2.000 [DEBUG]Left_Arm_Calibrator : set 1 : Reached zero position! Registering new thread 0 out of 500 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 4 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 3 with params: 3 2047.5 10 3763.5 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA:1 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 4 with params: 0 500 20 0 [INFO]from BOARD 2, src CAN1, adr 3, time 249s 992m 174u: CAN PRINT MESSAGE[id 0] -> CMODE SET:32 [INFO]from BOARD 2, src CAN1, adr 3, time 249s 992m 307u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [DEBUG]Head_Calibrator : set 2 j 3 : Calibrating... enc values AFTER calib: 1.84615 [DEBUG]Left_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 84.7559 [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -1.093 des: 0.000 -> delta: 1.093 threshold: 2.000 output: -938.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 1.093 over: 2.000 [DEBUG]Torso_Calibrator : set 1 : Reached zero position! [DEBUG]torso_calibrator finished calibration of device torso_mc_wrapper [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 2 : Calibration ended, going to zero! [DEBUG]Head_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -0.088 des: 0.000 -> delta: 0.088 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.088 over: 2.000 [DEBUG]Head_Calibrator : set 2 : Reached zero position! [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 4 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 4 with params: 0 900 20 0 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]Head_Calibrator : set 3 j 4 : Calibrating... enc values AFTER calib: 54.1008 [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 2 : Calibration ended, going to zero! [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 ) [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 2 : Calibration ended, going to zero! [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 ) [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 2 TIMES! [DEBUG]cfw2can [0] printing boards infos: [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 9.70 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 9.70 seconds [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.660 des: 0.000 -> delta: 51.660 threshold: 2.000 output: 65208.000 mode: pos [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 3 : Calibration ended, going to zero! [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.512 des: 0.000 -> delta: 24.512 threshold: 2.000 output: 65174.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.720 des: 0.000 -> delta: 51.720 threshold: 2.000 output: 346.000 mode: pos [DEBUG]Head_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.523 des: 0.000 -> delta: 4.523 threshold: 2.000 output: 65319.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.326 des: 0.000 -> delta: 24.326 threshold: 2.000 output: 372.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.015 des: 0.000 -> delta: 0.015 threshold: 2.000 output: 65418.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.567 des: 0.000 -> delta: 4.567 threshold: 2.000 output: 277.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 48.226 des: 0.000 -> delta: 48.226 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 0.002 des: 0.000 -> delta: 0.002 threshold: 2.000 output: 65446.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.002 over: 2.000 [DEBUG]Right_Arm_Calibrator : set 2 : Reached zero position! [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 5 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.020 des: 0.000 -> delta: 0.020 threshold: 2.000 output: 108.000 mode: pos [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 6 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 7 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 5 with params: 3 2047.5 10 1702.5 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 6 with params: 3 2047.5 10 1172.5 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 7 with params: 3 1420 100 0 [INFO]from BOARD 4, src CAN1, adr 3, time 256s 500m 185u: CAN PRINT MESSAGE[id 2] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 3, time 256s 501m 103u: CAN PRINT MESSAGE[id 3] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 3, time 256s 501m 460u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 3, time 256s 501m 597u: CAN PRINT MESSAGE[id 2] -> PWM ENA:3 [WARNING] from BOARD 4, src LOCAL, adr 0, time 256s 501m 660u: (code 0x0000000b, par16 0x0244 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 3, time 256s 502m 103u: CAN PRINT MESSAGE[id 0] -> PWM ENA COUPLED:1 & 2 [DEBUG]Right_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: 22.6978 [DEBUG]Right_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib: 33.9642 [DEBUG]Right_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib: 16.6657 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 43.070 des: 0.000 -> delta: 43.070 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.020 des: 0.000 -> delta: 0.020 threshold: 2.000 output: 65488.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.020 over: 2.000 [DEBUG]Left_Arm_Calibrator : set 2 : Reached zero position! [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 5 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 6 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 7 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 5 with params: 3 2047.5 10 2282.5 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 6 with params: 3 2047.5 10 1179.5 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 7 with params: 3 1345 100 0 [INFO]from BOARD 2, src CAN1, adr 3, time 257s 8m 192u: CAN PRINT MESSAGE[id 2] -> CMODE SET:1 [INFO]from BOARD 2, src CAN1, adr 3, time 257s 8m 338u: CAN PRINT MESSAGE[id 3] -> CMODE SET:1 [INFO]from BOARD 2, src CAN1, adr 3, time 257s 9m 395u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1 [INFO]from BOARD 2, src CAN1, adr 3, time 257s 9m 534u: CAN PRINT MESSAGE[id 2] -> PWM ENA:3 [INFO]from BOARD 2, src CAN1, adr 3, time 257s 9m 612u: CAN PRINT MESSAGE[id 0] -> PWM ENA COUPLED:1 & 2 [WARNING] from BOARD 2, src LOCAL, adr 0, time 257s 9m 747u: (code 0x0000000b, par16 0x029b par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 257s 10m 141u: (code 0x0000000d, par16 0x013f par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: 0.269165 [DEBUG]Left_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib: 34.7498 [DEBUG]Left_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib: 14.121 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 35.506 des: 0.000 -> delta: 35.506 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 26.322 des: 0.000 -> delta: 26.322 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 3 : Calibration ended, going to zero! [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 17.037 des: 0.000 -> delta: 17.037 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 15 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 3 : Calibration ended, going to zero! [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 9.112 des: 0.000 -> delta: 9.112 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 15 desired speed: 100 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.343 des: 0.000 -> delta: 4.343 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.703 des: 0.000 -> delta: 0.703 threshold: 2.000 output: 65163.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.937 des: 0.000 -> delta: 2.937 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.527 des: 0.000 -> delta: 0.527 threshold: 2.000 output: 65152.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.527 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.269 des: 0.000 -> delta: 0.269 threshold: 90.000 output: 65421.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 1.763 des: 0.000 -> delta: 1.763 threshold: 2.000 output: 342.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 15.71 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 15.71 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 7.56 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 7.56 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 6.36 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 6.36 seconds [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.572 des: 0.000 -> delta: 2.572 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.269 des: 0.000 -> delta: 0.269 threshold: 90.000 output: 65417.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 0.269 over: 90.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 14.666 des: 15.000 -> delta: 0.334 threshold: 90.000 output: 65260.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 1.763 des: 0.000 -> delta: 1.763 threshold: 2.000 output: 420.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 1.763 over: 2.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 2.285 des: 0.000 -> delta: 2.285 threshold: 90.000 output: 433.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.540 des: 0.000 -> delta: 2.540 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 14.666 des: 15.000 -> delta: 0.334 threshold: 90.000 output: 65260.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 0.334 over: 90.000 [DEBUG]Right_Arm_Calibrator : set 3 : Reached zero position! [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 8 [WARNING] from BOARD 4, src LOCAL, adr 0, time 260s 900m 116u: (code 0x0000000d, par16 0x01d9 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 1.758 des: 0.000 -> delta: 1.758 threshold: 90.000 output: 436.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 1.758 over: 90.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 15.297 des: 15.000 -> delta: 0.297 threshold: 90.000 output: 468.000 mode: pos [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 9 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 11 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 13 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 8 with params: 3 1256.7 10 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 9 with params: 4 255 10 6000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 11 with params: 4 255 10 6000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 13 with params: 4 255 10 6000 [INFO]from BOARD 4, src CAN1, adr 5, time 261s 19m 190u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 5, time 261s 19m 328u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [INFO]from BOARD 4, src CAN1, adr 5, time 261s 20m 199u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1 [INFO]from BOARD 4, src CAN1, adr 5, time 261s 20m 345u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 5, time 261s 21m 174u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3 [INFO]from BOARD 4, src CAN1, adr 5, time 261s 21m 319u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 7, time 261s 21m 478u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [WARNING] from BOARD 4, src LOCAL, adr 0, time 261s 21m 606u: (code 0x0000000b, par16 0x0208 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 7, time 261s 22m 201u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1 [DEBUG]Right_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib: 35.617 [DEBUG]Right_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib: -0.00316406 [DEBUG]Right_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib: -0.351562 [DEBUG]Right_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib: -0.414951 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.538 des: 0.000 -> delta: 2.538 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 14.907 des: 15.000 -> delta: 0.093 threshold: 90.000 output: 461.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 0.093 over: 90.000 [DEBUG]Left_Arm_Calibrator : set 3 : Reached zero position! [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 8 [WARNING] from BOARD 2, src LOCAL, adr 0, time 261s 409m 162u: (code 0x0000000d, par16 0x0204 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 9 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 11 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 13 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 8 with params: 3 301 10 0 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 9 with params: 4 255 10 6000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 11 with params: 4 255 10 6000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 13 with params: 4 255 10 6000 [INFO]from BOARD 2, src CAN1, adr 5, time 261s 528m 185u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 2, src CAN1, adr 5, time 261s 528m 323u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [INFO]from BOARD 2, src CAN1, adr 5, time 261s 529m 176u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 5, time 261s 529m 315u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1 [INFO]from BOARD 2, src CAN1, adr 7, time 261s 530m 172u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1 [INFO]from BOARD 2, src CAN1, adr 7, time 261s 530m 241u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 5, time 261s 530m 388u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 5, time 261s 530m 522u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3 [WARNING] from BOARD 2, src LOCAL, adr 0, time 261s 530m 596u: (code 0x0000000b, par16 0x01fe par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib: 3.44536 [DEBUG]Left_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib: 54.78 [DEBUG]Left_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib: -0.351562 [DEBUG]Left_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib: -0.351562 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.538 des: 0.000 -> delta: 2.538 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.536 des: 0.000 -> delta: 2.536 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 4 : Calibration ended, going to zero! [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.536 des: 0.000 -> delta: 2.536 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 8 (desired pos: 45 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 9 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 11 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 13 (desired pos: 0 desired speed: 100 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.536 des: 0.000 -> delta: 2.536 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.536 des: 0.000 -> delta: 2.536 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 45.208 des: 45.000 -> delta: 0.208 threshold: 1000.000 output: 27.000 mode: pos [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 4 : Calibration ended, going to zero! [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.536 des: 0.000 -> delta: 2.536 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 45.252 des: 45.000 -> delta: 0.252 threshold: 1000.000 output: 79.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 0.252 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 1.255 des: 0.000 -> delta: 1.255 threshold: 1000.000 output: 65349.000 mode: pos [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 8 (desired pos: 45 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 9 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 11 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 13 (desired pos: 0 desired speed: 100 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.536 des: 0.000 -> delta: 2.536 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 1.255 des: 0.000 -> delta: 1.255 threshold: 1000.000 output: 65300.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 1.255 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 69.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.536 des: 0.000 -> delta: 2.536 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 79.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.352 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.354 des: 0.000 -> delta: 0.354 threshold: 1000.000 output: 43.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 3.984 des: 45.000 -> delta: 41.016 threshold: 1000.000 output: 64203.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.536 des: 0.000 -> delta: 2.536 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.354 des: 0.000 -> delta: 0.354 threshold: 1000.000 output: 43.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.354 over: 1000.000 [DEBUG]Right_Arm_Calibrator : set 4 : Reached zero position! [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 10 [WARNING] from BOARD 4, src LOCAL, adr 0, time 266s 22m 317u: (code 0x0000000d, par16 0x02a0 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 12 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 14 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 15 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 10 with params: 4 35 30 6600 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 12 with params: 4 30 10 -7000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 14 with params: 4 0 10 7000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 15 with params: 4 765 10 14000 [INFO]from BOARD 4, src CAN1, adr 5, time 266s 143m 181u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 5, time 266s 143m 319u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2 [INFO]from BOARD 4, src CAN1, adr 7, time 266s 143m 470u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [WARNING] from BOARD 4, src LOCAL, adr 0, time 266s 143m 673u: (code 0x0000000b, par16 0x024c par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 266s 144m 70u: (code 0x0000000d, par16 0x013b par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 7, time 266s 144m 156u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0 [INFO]from BOARD 4, src CAN1, adr 7, time 266s 144m 391u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 7, time 266s 144m 532u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 7, time 266s 144m 678u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3 [WARNING] from BOARD 4, src LOCAL, adr 0, time 266s 144m 790u: (code 0x0000000b, par16 0x028e par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 266s 145m 185u: (code 0x0000000d, par16 0x0142 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 7, time 266s 145m 279u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 4.044 des: 45.000 -> delta: 40.956 threshold: 1000.000 output: 64203.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 40.956 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 61.042 des: 0.000 -> delta: 61.042 threshold: 1000.000 output: 65344.000 mode: pos [DEBUG]Right_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib: -0.337432 [DEBUG]Right_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib: 1.69567 [DEBUG]Right_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib: 0.491943 [DEBUG]Right_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib: 2.38937 [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 21.71 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 21.71 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 13.56 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 13.56 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 12.37 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 12.37 seconds [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.536 des: 0.000 -> delta: 2.536 threshold: 2.000 output: 0.000 mode: pos [ERROR]Head_Calibrator : checkGoneToZeroThreshold: joint 4 Timeout while going to zero! [ERROR]Head_Calibrator : set 3 : some axis got timeout while reaching zero position... disabling this set of axes [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [ERROR]cfw2can [0] board 3 FAULT OVERLOAD AXIS 0 [ERROR]cfw2can [0] board 3 FAULT OVERLOAD AXIS 1 [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 5 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 5 with params: 0 900 20 0 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]Head_Calibrator : set 4 j 5 : Calibrating... enc values AFTER calib: -24.1808 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 61.432 des: 0.000 -> delta: 61.432 threshold: 1000.000 output: 65212.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 61.432 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 69.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 79.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.352 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 79.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 89.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.352 over: 1000.000 [DEBUG]Left_Arm_Calibrator : set 4 : Reached zero position! [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 10 [WARNING] from BOARD 2, src LOCAL, adr 0, time 267s 732m 402u: (code 0x0000000d, par16 0x02f7 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 12 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 14 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 15 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 10 with params: 4 20 30 -6600 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 12 with params: 4 25 10 7000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 14 with params: 4 25 10 -7000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 15 with params: 4 765 10 -14000 [INFO]from BOARD 2, src CAN1, adr 5, time 267s 851m 174u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 5, time 267s 852m 182u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2 [INFO]from BOARD 2, src CAN1, adr 7, time 267s 853m 176u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 7, time 267s 853m 394u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 7, time 267s 853m 532u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2 [INFO]from BOARD 2, src CAN1, adr 7, time 267s 853m 681u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [WARNING] from BOARD 2, src LOCAL, adr 0, time 267s 853m 805u: (code 0x0000000b, par16 0x02d2 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 267s 854m 197u: (code 0x0000000d, par16 0x013f par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 7, time 267s 854m 290u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0 [INFO]from BOARD 2, src CAN1, adr 7, time 267s 854m 434u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3 [DEBUG]Left_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib: 6.79079 [DEBUG]Left_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib: 1.22094 [DEBUG]Left_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib: 14.2287 [DEBUG]Left_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib: -0.658936 [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 4 : Calibration ended, going to zero! [DEBUG]Head_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: -0.007 des: 0.000 -> delta: 0.007 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.007 over: 2.000 [DEBUG]Head_Calibrator : set 4 : Reached zero position! [DEBUG]head_calibrator finished calibration of device head_mc_wrapper [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES! [DEBUG]cfw2can [0] printing boards infos: [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 5 : Calibration ended, going to zero! [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 10 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 12 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 14 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 15 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 72.095 des: 0.000 -> delta: 72.095 threshold: 1000.000 output: 761.000 mode: pos [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 5 : Calibration ended, going to zero! [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 9.347 des: 0.000 -> delta: 9.347 threshold: 1000.000 output: 680.000 mode: pos [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 10 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 12 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 14 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 15 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 2.893 des: 0.000 -> delta: 2.893 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 2.893 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: -0.079 des: 0.000 -> delta: 0.079 threshold: 1000.000 output: 65401.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: -0.079 des: 0.000 -> delta: 0.079 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 0.079 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 0.492 des: 0.000 -> delta: 0.492 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 74.373 des: 0.000 -> delta: 74.373 threshold: 1000.000 output: 64450.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 0.492 des: 0.000 -> delta: 0.492 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 0.492 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 2.389 des: 0.000 -> delta: 2.389 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 5.038 des: 0.000 -> delta: 5.038 threshold: 1000.000 output: 65232.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 2.389 des: 0.000 -> delta: 2.389 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 2.389 over: 1000.000 [DEBUG]Right_Arm_Calibrator : set 5 : Reached zero position! [DEBUG]right_arm_calibrator finished calibration of device right_arm_mc_wrapper [WARNING] from BOARD 4, src LOCAL, adr 0, time 276s 446m 314u: (code 0x0000000d, par16 0x029f par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 1.885 des: 0.000 -> delta: 1.885 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 1.885 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: 3.682 des: 0.000 -> delta: 3.682 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: 3.330 des: 0.000 -> delta: 3.330 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 3.330 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 14.580 des: 0.000 -> delta: 14.580 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 14.932 des: 0.000 -> delta: 14.932 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 14.932 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: -0.659 des: 0.000 -> delta: 0.659 threshold: 1000.000 output: 65406.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: -0.659 des: 0.000 -> delta: 0.659 threshold: 1000.000 output: 65391.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 0.659 over: 1000.000 [DEBUG]Left_Arm_Calibrator : set 5 : Reached zero position! [DEBUG]left_arm_calibrator finished calibration of device left_arm_mc_wrapper [INFO]All actions for action level 10 of startup phase finished. [INFO]Entering action level 15 of phase startup [INFO]***** Attaching drivers to cartesian controller icub/cartesianController/left_arm ***** [INFO]Received list of 2 driver(s) [INFO]Acquiring info on driver torso... [INFO]driver torso successfully open [INFO]Acquiring info on driver left_arm... [INFO]driver left_arm successfully open [INFO]icub/cartesianController/left_arm: IControlMode2 available [INFO]icub/cartesianController/left_arm: IEncodersTimed interface will be used [INFO]icub/cartesianController/left_arm: IPidControl available [INFO]icub/cartesianController/left_arm: IPositionDirect available [INFO]icub/cartesianController/left_arm: IVelocityControl2 available [INFO]icub/cartesianController/left_arm: IPositionDirect interface will be used [INFO]icub/cartesianController/left_arm: multiple joints control will be used [INFO]icub/cartesianController/left_arm: aligning joints bounds ... [INFO]part #0: torso Registering new thread 1 out of 500 [INFO]joint #0: [-19.9896, 69.9884] deg [WARNING] from BOARD 2, src LOCAL, adr 0, time 278s 55m 318u: (code 0x0000000d, par16 0x02a0 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]joint #1: [-29.9869, 29.9874] deg [INFO]joint #2: [-49.9866, 49.989] deg [INFO]part #1: left_arm Registering new thread 1 out of 500 [INFO]joint #3: [-95.4877, 9.98657] deg [INFO]joint #4: [0.0136719, 160.788] deg [INFO]joint #5: [-36.9902, 79.9867] deg [INFO]joint #6: [15.0133, 105.991] deg Registering new thread 1 out of 500 [INFO]joint #7: [-59.989, 59.9872] deg [INFO]joint #8: [-79.9915, 24.9884] deg [INFO]joint #9: [-19.9896, 24.9884] deg [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]Starting icub/cartesianController/left_arm at 10 ms [INFO]icub/cartesianController/left_arm started successfully [INFO]***** Attaching drivers to cartesian controller icub/cartesianController/right_arm ***** [INFO]Received list of 2 driver(s) [INFO]Acquiring info on driver torso... [INFO]driver torso successfully open [INFO]Acquiring info on driver right_arm... [INFO]driver right_arm successfully open [INFO]icub/cartesianController/right_arm: IControlMode2 available [INFO]icub/cartesianController/right_arm: IEncodersTimed interface will be used [INFO]icub/cartesianController/right_arm: IPidControl available [INFO]icub/cartesianController/right_arm: IPositionDirect available [INFO]icub/cartesianController/right_arm: IVelocityControl2 available [INFO]icub/cartesianController/right_arm: IPositionDirect interface will be used [INFO]icub/cartesianController/right_arm: multiple joints control will be used [INFO]icub/cartesianController/right_arm: aligning joints bounds ... [INFO]part #0: torso [INFO]joint #0: [-19.9896, 69.9884] deg [INFO]joint #1: [-29.9869, 29.9874] deg [INFO]joint #2: [-49.9866, 49.989] deg [INFO]part #1: right_arm Registering new thread 1 out of 500 [INFO]joint #3: [-95.4869, 9.9873] deg [INFO]joint #4: [0.0129395, 160.787] deg [INFO]joint #5: [-36.9868, 79.9901] deg [INFO]joint #6: [15.0131, 105.991] deg Registering new thread 1 out of 500 [INFO]joint #7: [-59.989, 59.9872] deg [INFO]joint #8: [-79.9915, 24.9884] deg [INFO]joint #9: [-19.9896, 24.9884] deg [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO]Starting icub/cartesianController/right_arm at 10 ms [INFO]icub/cartesianController/right_arm started successfully [INFO]All actions for action level 15 of startup phase started. Waiting for unfinished actions. [INFO]All actions for action level 15 of startup phase finished. [INFO]startup phase finished. [INFO]run phase starting... [DEBUG]robot-interface running happily [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None ^C[try 1 of 3] Trying to shut down [WARNING]Interrupt # 1 # received. [INFO]Interrupt received. Stopping all running threads. Module closing [INFO]interrupt1 phase starting... [INFO]Entering action level 1 of phase interrupt1 [DEBUG]left_arm_calibrator starting park device left_arm_mc_wrapper Registering new thread 2 out of 500 [DEBUG]right_arm_calibrator starting park device right_arm_mc_wrapper [DEBUG]torso_calibrator starting park device torso_mc_wrapper Registering new thread 2 out of 500 [INFO]All actions for action level 1 of interrupt1 phase started. Waiting for unfinished actions. [DEBUG]head_calibrator starting park device head_mc_wrapper Registering new thread 2 out of 500 [WARNING] from BOARD 1, src LOCAL, adr 0, time 281s 399m 211u: (code 0x0000000d, par16 0x0236 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 5, src LOCAL, adr 0, time 281s 399m 208u: (code 0x0000000d, par16 0x0235 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 3, src LOCAL, adr 0, time 281s 397m 212u: (code 0x0000000d, par16 0x0236 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 3, src LOCAL, adr 0, time 281s 401m 211u: (code 0x0000000d, par16 0x0236 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Head_Calibrator : Moving to park position, joint: 0 Registering new thread 2 out of 500 [WARNING] from BOARD 1, src LOCAL, adr 0, time 281s 404m 211u: (code 0x0000000d, par16 0x0236 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 5, src LOCAL, adr 0, time 281s 403m 208u: (code 0x0000000d, par16 0x0235 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 281s 409m 212u: (code 0x0000000d, par16 0x0239 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 5, src LOCAL, adr 0, time 281s 409m 209u: (code 0x0000000d, par16 0x0236 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE Registering new thread 2 out of 500 [WARNING] from BOARD 3, src LOCAL, adr 0, time 281s 407m 212u: (code 0x0000000d, par16 0x0237 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE Registering new thread 2 out of 500 [DEBUG]Torso_Calibrator : Moving to park position, joint: 0 [DEBUG]Torso_Calibrator : Moving to park position, joint: 1 [DEBUG]Torso_Calibrator : Moving to park position, joint: 2 [WARNING] from BOARD 2, src LOCAL, adr 0, time 281s 484m 755u: (code 0x0000000d, par16 0x0458 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 281s 481m 756u: (code 0x0000000d, par16 0x0457 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 281s 485m 162u: (code 0x0000000d, par16 0x0133 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 0 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 1 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 2 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 3 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 0 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 4 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 1 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 2 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 3 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 4 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 5 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 6 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 7 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 8 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 9 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 10 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 11 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 12 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 13 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 14 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 15 [DEBUG]Right_Arm_Calibrator : Park completed [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 5 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 6 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 7 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 8 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 9 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 10 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 11 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 12 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 13 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 14 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 15 [DEBUG]Left_Arm_Calibrator : Park completed [WARNING] from BOARD 3, src LOCAL, adr 0, time 282s 510m 219u: (code 0x0000000d, par16 0x0241 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 282s 513m 219u: (code 0x0000000d, par16 0x0240 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 3, src LOCAL, adr 0, time 282s 515m 219u: (code 0x0000000d, par16 0x0240 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 282s 518m 220u: (code 0x0000000d, par16 0x0241 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 3, time 282s 533m 174u: CAN PRINT MESSAGE[id 3] -> PWM DIS:0 [INFO]from BOARD 4, src CAN1, adr 3, time 282s 544m 193u: CAN PRINT MESSAGE[id 3] -> PWM DIS:0 [INFO]from BOARD 2, src CAN1, adr 3, time 282s 553m 404u: CAN PRINT MESSAGE[id 1] -> PWM DIS COUPLED:2 [INFO]from BOARD 2, src CAN1, adr 3, time 282s 553m 474u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:1 [WARNING] from BOARD 2, src LOCAL, adr 0, time 282s 553m 608u: (code 0x0000000b, par16 0x020a par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 3, time 282s 567m 173u: CAN PRINT MESSAGE[id 1] -> PWM DIS COUPLED:2 [INFO]from BOARD 4, src CAN1, adr 3, time 282s 567m 241u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:1 [INFO]from BOARD 2, src CAN1, adr 3, time 282s 578m 169u: CAN PRINT MESSAGE[id 2] -> PWM DIS:3 [INFO]from BOARD 4, src CAN1, adr 3, time 282s 591m 185u: CAN PRINT MESSAGE[id 2] -> PWM DIS:3 [INFO]from BOARD 2, src CAN1, adr 5, time 282s 598m 174u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 4, src CAN1, adr 5, time 282s 611m 169u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 2, src CAN1, adr 5, time 282s 618m 172u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 4, src CAN1, adr 5, time 282s 631m 171u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 2, src CAN1, adr 5, time 282s 639m 182u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 4, src CAN1, adr 5, time 282s 651m 169u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 2, src CAN1, adr 5, time 282s 659m 186u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 4, src CAN1, adr 5, time 282s 672m 180u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 2, src CAN1, adr 7, time 282s 680m 192u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 4, src CAN1, adr 7, time 282s 692m 180u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 2, src CAN1, adr 7, time 282s 700m 197u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 4, src CAN1, adr 7, time 282s 712m 169u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 2, src CAN1, adr 7, time 282s 720m 197u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 4, src CAN1, adr 7, time 282s 732m 174u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 2, src CAN1, adr 7, time 282s 740m 195u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [DEBUG]left_arm_calibrator finished park device left_arm_mc_wrapper [INFO]from BOARD 4, src CAN1, adr 7, time 282s 753m 172u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [DEBUG]right_arm_calibrator finished park device right_arm_mc_wrapper [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [DEBUG]Torso_Calibrator : Park completed [WARNING] from BOARD 5, src LOCAL, adr 0, time 283s 443m 216u: (code 0x0000000d, par16 0x023d par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]torso_calibrator finished park device torso_mc_wrapper [WARNING] from BOARD 5, src LOCAL, adr 0, time 283s 448m 215u: (code 0x0000000d, par16 0x023d par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Head_Calibrator : Moving to park position, joint: 1 [DEBUG]Head_Calibrator : Moving to park position, joint: 2 [DEBUG]Head_Calibrator : Moving to park position, joint: 3 [DEBUG]Head_Calibrator : Moving to park position, joint: 4 [DEBUG]Head_Calibrator : Moving to park position, joint: 5 [DEBUG]Head_Calibrator : Park completed [DEBUG]cfw2can [0] msg from board 1: PWM DIS CH0 [DEBUG]cfw2can [0] msg from board 1: PWM ENA COUPLED:0 & 1 [DEBUG]cfw2can [0] msg from board 1: PWM DIS CH1 [DEBUG]cfw2can [0] msg from board 2: PWM DIS:0 [DEBUG]cfw2can [0] msg from board 2: PWM DIS:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]head_calibrator finished park device head_mc_wrapper [INFO]All actions for action level 1 of interrupt1 phase finished. [INFO]interrupt1 phase finished. [INFO]shutdown phase starting... [INFO]Entering action level 2 of phase shutdown [INFO]Stopping icub/cartesianController/left_arm [INFO]Stopping icub/cartesianController/right_arm [INFO]All actions for action level 2 of shutdown phase started. Waiting for unfinished actions. [INFO]All actions for action level 2 of shutdown phase finished. [INFO]Entering action level 5 of phase shutdown [INFO]All actions for action level 5 of shutdown phase started. Waiting for unfinished actions. [INFO]All actions for action level 5 of shutdown phase finished. [DEBUG]ethResources::goToConfig() called for BOARD 5 MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 5 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 5 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 1 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 2 MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 2 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 3 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 4 MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 4 in cfg mode [INFO]Closing Server Inertial... [DEBUG]Server Intertial closed [INFO]shutdown phase finished. Module finished icub@pc104:~$

icub@pc104:~$ robotInterface ||| configuring ||| no policy found ||| default config file specified as robotInterface.ini ||| checking [/home/icub/robotInterface.ini] (pwd) ||| checking [/home/icub/.config/yarp/robots/iCubSheffield01] (robot YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01] (robot YARP_DATA_HOME) ||| found /home/icub/.local/share/yarp/robots/iCubSheffield01 ||| checking [/etc/yarp/robots/iCubSheffield01] (robot YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/robots/iCubSheffield01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01] (robot YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01 ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/robots/iCubSheffield01] (robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/config/path.d] (robot path.d YARP_DATA_DIRS) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/robotInterface.ini] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/robotInterface.ini] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/robotInterface.ini yarp: Port /robotInterface active at tcp://10.0.0.2:10006 ||| finding file [config] ||| checking [/home/icub/./icub_all.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/./icub_all.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/./icub_all.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/./icub_all.xml yarp: Port /log/pc104/robotInterface/3235 active at tcp://10.0.0.2:10054 ||| finding file hardware/electronics/pc104.xml ||| checking [/home/icub/hardware/electronics/pc104.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/pc104.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/pc104.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/pc104.xml ||| finding file cartesian/left_arm-cartesian.xml ||| checking [/home/icub/cartesian/left_arm-cartesian.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/cartesian/left_arm-cartesian.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/left_arm-cartesian.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/left_arm-cartesian.xml ||| finding file cartesian/right_arm-cartesian.xml ||| checking [/home/icub/cartesian/right_arm-cartesian.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/cartesian/right_arm-cartesian.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/right_arm-cartesian.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/right_arm-cartesian.xml ||| finding file hardware/motorControl/head-cfw2_can0-mc.xml ||| checking [/home/icub/hardware/motorControl/head-cfw2_can0-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/head-cfw2_can0-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/head-cfw2_can0-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/head-cfw2_can0-mc.xml ||| finding file general.xml ||| checking [/home/icub/general.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/general.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/general.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/general.xml ||| finding file hardware/electronics/head-cfw2_can0-eln.xml ||| checking [/home/icub/hardware/electronics/head-cfw2_can0-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/head-cfw2_can0-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/head-cfw2_can0-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/head-cfw2_can0-eln.xml ||| finding file hardware/mechanicals/head-cfw2_can0-mec.xml ||| checking [/home/icub/hardware/mechanicals/head-cfw2_can0-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/head-cfw2_can0-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/head-cfw2_can0-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/head-cfw2_can0-mec.xml ||| finding file wrappers/motorControl/head-mc_wrapper.xml ||| checking [/home/icub/wrappers/motorControl/head-mc_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/head-mc_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/head-mc_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/head-mc_wrapper.xml ||| finding file hardware/motorControl/torso-ems5-mc.xml ||| checking [/home/icub/hardware/motorControl/torso-ems5-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/torso-ems5-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/torso-ems5-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/torso-ems5-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/torso-ems5-eln.xml ||| checking [/home/icub/hardware/electronics/torso-ems5-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/torso-ems5-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/torso-ems5-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/torso-ems5-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/torso-ems5-mec.xml ||| checking [/home/icub/hardware/mechanicals/torso-ems5-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/torso-ems5-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/torso-ems5-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/torso-ems5-mec.xml ||| finding file wrappers/motorControl/torso-mc_wrapper.xml ||| checking [/home/icub/wrappers/motorControl/torso-mc_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/torso-mc_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/torso-mc_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/torso-mc_wrapper.xml ||| finding file hardware/motorControl/left_upper_arm-ems1-mc.xml ||| checking [/home/icub/hardware/motorControl/left_upper_arm-ems1-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/left_upper_arm-ems1-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_upper_arm-ems1-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_upper_arm-ems1-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/left_upper_arm-ems1-eln.xml ||| checking [/home/icub/hardware/electronics/left_upper_arm-ems1-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/left_upper_arm-ems1-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_upper_arm-ems1-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_upper_arm-ems1-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/left_upper_arm-ems1-mec.xml ||| checking [/home/icub/hardware/mechanicals/left_upper_arm-ems1-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/left_upper_arm-ems1-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_upper_arm-ems1-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_upper_arm-ems1-mec.xml ||| finding file hardware/motorControl/left_lower_arm-ems2-mc.xml ||| checking [/home/icub/hardware/motorControl/left_lower_arm-ems2-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/left_lower_arm-ems2-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_lower_arm-ems2-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_lower_arm-ems2-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/left_lower_arm-ems2-eln.xml ||| checking [/home/icub/hardware/electronics/left_lower_arm-ems2-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/left_lower_arm-ems2-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_lower_arm-ems2-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_lower_arm-ems2-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/left_lower_arm-ems2-mec.xml ||| checking [/home/icub/hardware/mechanicals/left_lower_arm-ems2-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/left_lower_arm-ems2-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_lower_arm-ems2-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_lower_arm-ems2-mec.xml ||| finding file wrappers/motorControl/left_arm-mc_wrapper.xml ||| checking [/home/icub/wrappers/motorControl/left_arm-mc_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/left_arm-mc_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/left_arm-mc_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/left_arm-mc_wrapper.xml ||| finding file hardware/motorControl/right_upper_arm-ems3-mc.xml ||| checking [/home/icub/hardware/motorControl/right_upper_arm-ems3-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/right_upper_arm-ems3-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_upper_arm-ems3-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_upper_arm-ems3-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/right_upper_arm-ems3-eln.xml ||| checking [/home/icub/hardware/electronics/right_upper_arm-ems3-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/right_upper_arm-ems3-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_upper_arm-ems3-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_upper_arm-ems3-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/right_upper_arm-ems3-mec.xml ||| checking [/home/icub/hardware/mechanicals/right_upper_arm-ems3-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/right_upper_arm-ems3-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_upper_arm-ems3-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_upper_arm-ems3-mec.xml ||| finding file hardware/motorControl/right_lower_arm-ems4-mc.xml ||| checking [/home/icub/hardware/motorControl/right_lower_arm-ems4-mc.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/right_lower_arm-ems4-mc.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_lower_arm-ems4-mc.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_lower_arm-ems4-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/right_lower_arm-ems4-eln.xml ||| checking [/home/icub/hardware/electronics/right_lower_arm-ems4-eln.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/right_lower_arm-ems4-eln.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_lower_arm-ems4-eln.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_lower_arm-ems4-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/right_lower_arm-ems4-mec.xml ||| checking [/home/icub/hardware/mechanicals/right_lower_arm-ems4-mec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/right_lower_arm-ems4-mec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_lower_arm-ems4-mec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_lower_arm-ems4-mec.xml ||| finding file wrappers/motorControl/right_arm-mc_wrapper.xml ||| checking [/home/icub/wrappers/motorControl/right_arm-mc_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/right_arm-mc_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/right_arm-mc_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/right_arm-mc_wrapper.xml ||| finding file wrappers/FT/left_arm-FT_wrapper.xml ||| checking [/home/icub/wrappers/FT/left_arm-FT_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml ||| finding file wrappers/FT/right_arm-FT_wrapper.xml ||| checking [/home/icub/wrappers/FT/right_arm-FT_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml ||| finding file hardware/FT/left_upper_arm-ems1-strain.xml ||| checking [/home/icub/hardware/FT/left_upper_arm-ems1-strain.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/FT/left_upper_arm-ems1-strain.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/left_upper_arm-ems1-strain.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/left_upper_arm-ems1-strain.xml ||| finding file general.xml ||| finding file hardware/electronics/left_upper_arm-ems1-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/FT/right_upper_arm-ems3-strain.xml ||| checking [/home/icub/hardware/FT/right_upper_arm-ems3-strain.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/FT/right_upper_arm-ems3-strain.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/right_upper_arm-ems3-strain.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/right_upper_arm-ems3-strain.xml ||| finding file general.xml ||| finding file hardware/electronics/right_upper_arm-ems3-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file wrappers/VFT/left_arm-VFT_wrapper.xml ||| checking [/home/icub/wrappers/VFT/left_arm-VFT_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/VFT/left_arm-VFT_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/left_arm-VFT_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/left_arm-VFT_wrapper.xml ||| finding file wrappers/VFT/right_arm-VFT_wrapper.xml ||| checking [/home/icub/wrappers/VFT/right_arm-VFT_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/VFT/right_arm-VFT_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/right_arm-VFT_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/right_arm-VFT_wrapper.xml ||| finding file wrappers/VFT/torso-VFT_wrapper.xml ||| checking [/home/icub/wrappers/VFT/torso-VFT_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/VFT/torso-VFT_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/torso-VFT_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/torso-VFT_wrapper.xml ||| finding file wrappers/MAIS/left_hand-mais_wrapper.xml ||| checking [/home/icub/wrappers/MAIS/left_hand-mais_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 1 . No DTD found. Assuming version robotInterfaceV1.0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubSheffield01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 ||| finding file wrappers/MAIS/right_hand-mais_wrapper.xml ||| checking [/home/icub/wrappers/MAIS/right_hand-mais_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 1 . No DTD found. Assuming version robotInterfaceV1.0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubSheffield01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 ||| finding file hardware/MAIS/left_hand-ems2-mais.xml ||| checking [/home/icub/hardware/MAIS/left_hand-ems2-mais.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/MAIS/left_hand-ems2-mais.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/left_hand-ems2-mais.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/left_hand-ems2-mais.xml ||| finding file general.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/electronics/left_lower_arm-ems2-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/MAIS/right_hand-ems4-mais.xml ||| checking [/home/icub/hardware/MAIS/right_hand-ems4-mais.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/MAIS/right_hand-ems4-mais.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/right_hand-ems4-mais.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/right_hand-ems4-mais.xml ||| finding file general.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/electronics/right_lower_arm-ems4-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/inertial.xml ||| checking [/home/icub/hardware/inertial.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/inertial.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/inertial.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/inertial.xml ||| finding file general.xml ||| finding file wrappers/skin/left_arm-skin_wrapper.xml ||| checking [/home/icub/wrappers/skin/left_arm-skin_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/skin/left_arm-skin_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/left_arm-skin_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/left_arm-skin_wrapper.xml ||| finding file wrappers/skin/right_arm-skin_wrapper.xml ||| checking [/home/icub/wrappers/skin/right_arm-skin_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/skin/right_arm-skin_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/right_arm-skin_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/right_arm-skin_wrapper.xml ||| finding file wrappers/skin/torso-skin_wrapper.xml ||| checking [/home/icub/wrappers/skin/torso-skin_wrapper.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/skin/torso-skin_wrapper.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/torso-skin_wrapper.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/torso-skin_wrapper.xml ||| finding file hardware/skin/torso-cfw2_can9-skin.xml ||| checking [/home/icub/hardware/skin/torso-cfw2_can9-skin.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skin.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skin.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skin.xml ||| finding file general.xml ||| finding file hardware/skin/torso-cfw2_can9-skinSpec.xml ||| checking [/home/icub/hardware/skin/torso-cfw2_can9-skinSpec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skinSpec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skinSpec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skinSpec.xml ||| finding file hardware/skin/left_arm-ems2-skin.xml ||| checking [/home/icub/hardware/skin/left_arm-ems2-skin.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skin.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skin.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skin.xml ||| finding file general.xml ||| finding file hardware/electronics/left_lower_arm-ems2-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/skin/left_arm-ems2-skinSpec.xml ||| checking [/home/icub/hardware/skin/left_arm-ems2-skinSpec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skinSpec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skinSpec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skinSpec.xml ||| finding file hardware/skin/right_arm-ems4-skin.xml ||| checking [/home/icub/hardware/skin/right_arm-ems4-skin.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skin.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skin.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skin.xml ||| finding file general.xml ||| finding file hardware/electronics/right_lower_arm-ems4-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/skin/right_arm-ems4-skinSpec.xml ||| checking [/home/icub/hardware/skin/right_arm-ems4-skinSpec.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skinSpec.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skinSpec.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skinSpec.xml ||| finding file calibrators/left_arm-calib.xml ||| checking [/home/icub/calibrators/left_arm-calib.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/left_arm-calib.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/left_arm-calib.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/left_arm-calib.xml ||| finding file general.xml ||| finding file calibrators/right_arm-calib.xml ||| checking [/home/icub/calibrators/right_arm-calib.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/right_arm-calib.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/right_arm-calib.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/right_arm-calib.xml ||| finding file general.xml ||| finding file calibrators/torso-calib.xml ||| checking [/home/icub/calibrators/torso-calib.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/torso-calib.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/torso-calib.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/torso-calib.xml ||| finding file general.xml ||| finding file calibrators/head-calib.xml ||| checking [/home/icub/calibrators/head-calib.xml] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/head-calib.xml] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/head-calib.xml] (robot) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/head-calib.xml ||| finding file general.xml [INFO]startup phase starting... ||| finding paths [plugins] ||| checking [/home/icub/plugins] (pwd) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01/plugins] (robot) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/plugins] (robot) ||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME) ||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS) [INFO]***** Configuring cartesian controller ***** [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type left_v2) (numLinks 10) (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_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D 0.10774) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D 0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A 0.015) (D 0.15228) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A 0.023365) (D -0.1433) (alpha -90.0) (offset 105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D -0.02598) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10008 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10009 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10010 yarp: Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10011 yarp: Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10012 yarp: Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10013 yarp: Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10014 [INFO]created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation. [INFO]***** Configuring cartesian controller ***** [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type right_v2) (numLinks 10) (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_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D -0.10774) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D -0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A -0.015) (D -0.15228) (alpha -90.0) (offset -105.0) (min -37.0) (max 100.0)) (link_6 (A 0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A -0.023365) (D -0.1433) (alpha 90.0) (offset -105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D 0.02598) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10015 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10016 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10017 yarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10018 yarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10019 yarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10020 yarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10021 [INFO]created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation. [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]maxPosStep: Using default MaxPosStep=10 degs [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]maxPosStep: Using default MaxPosStep=10 degs [INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation. printing destinations and inverted map 0 1 2 2 4 3 [INFO]using ICUB_CANMASKS_STRICT_FILTER option [DEBUG]class 0 set [DEBUG]class 1 set [DEBUG]class 2 set [DEBUG]class 3 set [DEBUG]Can read/write buffers created, buffer size: 500 [INFO]CanBusResources::initialized correctly Registering new thread 0 out of 500 [INFO] [INFO]********************************** [INFO]iCubInterface CAN protocol: 1.2 [INFO]Firmware report: [INFO]cfw2can [0] joint: 0 can_address: 1 board type: 4 (BLL) version: 1.62 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 1 can_address: 1 board type: 4 (BLL) version: 1.62 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 2 can_address: 2 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 3 can_address: 2 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 4 can_address: 3 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 5 can_address: 3 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]********************************** [INFO] [DEBUG]CanBusMotionControl::open returned true [INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/head : no ROS initialization required [INFO]/icub/head initting YARP initialization yarp: Port /icub/head/rpc:i active at tcp://10.0.0.2:10022 yarp: Port /icub/head/command:i active at tcp://10.0.0.2:10023 yarp: Port /icub/head/state:o active at tcp://10.0.0.2:10024 yarp: Port /icub/head/stateExt:o active at tcp://10.0.0.2:10025 [INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]torque control disabled on this robot part. [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]EthSender is a RateThread with rate = 1 ms [DEBUG]EthReceiver is a RateThread with rate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE= [INFO] from BOARD 5, src LOCAL, adr 0, time 2s 667m 737u: (code 0x00000009, par16 0x0000 par64 0x0000000000000000) -> SYS: the board is running happily + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 5, src CAN1, adr 3, time 3s 167m 71u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 4, time 3s 167m 135u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 1, time 3s 167m 200u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 5 at 5 ms [DEBUG]ethResources::goToConfig() called for BOARD 5 MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 5 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 5 in cfg mode [DEBUG]ethResources::goToRun() called for BOARD 5 MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 5, src CAN1, adr 3, time 58s 211m 85u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 4, time 58s 211m 148u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 1, time 58s 211m 211u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 5 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 5 in run mode [INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/torso : no ROS initialization required [INFO]/icub/torso initting YARP initialization yarp: Port /icub/torso/rpc:i active at tcp://10.0.0.2:10026 yarp: Port /icub/torso/command:i active at tcp://10.0.0.2:10027 yarp: Port /icub/torso/state:o active at tcp://10.0.0.2:10028 yarp: Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10029 [INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]torque control disabled on this robot part. [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 1, src CAN1, adr 1, time 3s 166m 71u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 1, src CAN1, adr 2, time 3s 166m 135u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 3, time 3s 166m 200u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 4, time 3s 166m 264u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 1, src CAN2, adr 13, time 9s 348m 246u: (code 0x0000001b, par16 0x62d0 par64 0x0000000001000101) -> SYS: the EOappCanSP could not parse a rx can frame. In par16 there is frame.id and frame.size (in most significant nibble). In par64 there is the frame.data + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 1 at 5 ms [DEBUG]ethResources::goToConfig() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 1 in cfg mode [DEBUG]ethResources::goToRun() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [INFO] from BOARD 1, src CAN1, adr 1, time 58s 632m 85u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 2, time 58s 632m 148u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 3, time 58s 632m 211u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::goToRun() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 1 in run mode [INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] from BOARD 1, src CAN1, adr 4, time 58s 632m 275u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 2, src LOCAL, adr 0, time 2s 666m 599u: (code 0x00000009, par16 0x0000 par64 0x0000000000000000) -> SYS: the board is running happily + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 2, src CAN1, adr 3, time 3s 166m 79u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 3, time 3s 166m 143u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 4, time 3s 166m 207u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [INFO] from BOARD 2, src CAN1, adr 4, time 3s 166m 272u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 3s 166m 336u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 3s 166m 400u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 3s 166m 465u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 3s 166m 529u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 58s 683m 483u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 2 at 1 ms [DEBUG]ethResources::goToConfig() called for BOARD 2 [INFO] from BOARD 2, src CAN1, adr 7, time 3s 166m 593u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 7, time 3s 166m 658u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 8, time 3s 166m 723u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 2 in cfg mode [INFO] from BOARD 2, src CAN1, adr 8, time 3s 166m 788u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 2 [INFO] from BOARD 2, src CAN1, adr 3, time 59s 510m 85u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 3, time 59s 510m 149u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 4, time 59s 510m 212u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 2, src CAN1, adr 4, time 59s 510m 278u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 59s 510m 344u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 59s 510m 410u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 59s 510m 475u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 59s 510m 539u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 7, time 59s 510m 609u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 7, time 59s 510m 674u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 8, time 59s 510m 738u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 8, time 59s 510m 805u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 59s 511m 84u: (code 0x0000000b, par16 0x03ed par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 2 in run mode [INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/left_arm : no ROS initialization required [INFO]/icub/left_arm initting YARP initialization yarp: Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10030 yarp: Port /icub/left_arm/command:i active at tcp://10.0.0.2:10031 yarp: Port /icub/left_arm/state:o active at tcp://10.0.0.2:10032 yarp: Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10033 [INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]torque control disabled on this robot part. [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 3, src CAN1, adr 1, time 3s 166m 71u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 3, src CAN1, adr 2, time 3s 166m 135u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 3, time 3s 166m 199u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 4, time 3s 166m 264u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 3, src CAN2, adr 13, time 9s 343m 517u: (code 0x0000001b, par16 0x62d0 par64 0x0000000001000101) -> SYS: the EOappCanSP could not parse a rx can frame. In par16 there is frame.id and frame.size (in most significant nibble). In par64 there is the frame.data + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 3 at 5 ms [DEBUG]ethResources::goToConfig() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 3 in cfg mode [DEBUG]ethResources::goToRun() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 3, src CAN1, adr 1, time 59s 925m 96u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 2, time 59s 925m 159u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 3, time 59s 925m 222u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 3 in run mode [INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] from BOARD 3, src CAN1, adr 4, time 59s 925m 286u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 4, src LOCAL, adr 0, time 2s 670m 33u: (code 0x00000009, par16 0x0000 par64 0x0000000000000000) -> SYS: the board is running happily + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 4, src CAN1, adr 3, time 3s 169m 78u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 3, time 3s 169m 143u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 4, time 3s 169m 207u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [INFO] from BOARD 4, src CAN1, adr 4, time 3s 169m 271u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 3s 169m 336u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 3s 169m 400u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 3s 169m 464u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 3s 169m 529u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 4 at 1 ms [DEBUG]ethResources::goToConfig() called for BOARD 4 [INFO] from BOARD 4, src CAN1, adr 7, time 3s 169m 593u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 7, time 3s 169m 657u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 8, time 3s 169m 722u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 4 in cfg mode [INFO] from BOARD 4, src CAN1, adr 8, time 3s 169m 787u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 4 [INFO] from BOARD 4, src CAN1, adr 3, time 60s 805m 85u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 3, time 60s 805m 150u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 4, time 60s 805m 214u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 4, src CAN1, adr 4, time 60s 805m 280u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 60s 805m 346u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 60s 805m 409u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 60s 805m 473u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 60s 805m 536u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 7, time 60s 805m 603u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 7, time 60s 805m 666u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 8, time 60s 805m 730u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 8, time 60s 805m 794u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 60s 806m 79u: (code 0x0000000b, par16 0x03e8 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 4 in run mode [INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/right_arm : no ROS initialization required [INFO]/icub/right_arm initting YARP initialization yarp: Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10034 yarp: Port /icub/right_arm/command:i active at tcp://10.0.0.2:10035 yarp: Port /icub/right_arm/state:o active at tcp://10.0.0.2:10036 yarp: Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10037 [INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [WARNING] AnalogServer device: ************************************************************************************************ AnalogServer is using deprecated parameters for port name! It should be: name: full name of the port, like /robotName/deviceId/sensorType:o period: refresh period of the broadcasted values in ms (optional, default 20ms) ************************************************************************************************ [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]left_arm : no ROS initialization required yarp: Port /icub/left_arm/analog:o/rpc:i active at tcp://10.0.0.2:10038 [INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation. [WARNING] AnalogServer device: ************************************************************************************************ AnalogServer is using deprecated parameters for port name! It should be: name: full name of the port, like /robotName/deviceId/sensorType:o period: refresh period of the broadcasted values in ms (optional, default 20ms) ************************************************************************************************ [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]right_arm : no ROS initialization required yarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10039 [INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 1 [DEBUG]ethResources::goToRun() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 1 in run mode [INFO]created device <embObjAnalogSensor>. See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 1 [DEBUG]ethResources::goToRun() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 3 in run mode [INFO]created device <embObjAnalogSensor>. See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/left_arm") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) (deviceId left_arm) [DEBUG]Using VirtualAnalogServer yarp: Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10040 [INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/right_arm") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) (deviceId right_arm) [DEBUG]Using VirtualAnalogServer yarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10041 [INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints)) (channels 3) (robotName icub) (name "/torso") (device virtualAnalogServer) (FirstSetOfJoints 0 2 0 2) (deviceId torso) [DEBUG]Using VirtualAnalogServer yarp: Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10042 [INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [WARNING] AnalogServer device: ************************************************************************************************ AnalogServer is using deprecated parameters for port name! It should be: name: full name of the port, like /robotName/deviceId/sensorType:o period: refresh period of the broadcasted values in ms (optional, default 20ms) ************************************************************************************************ [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]left_hand : no ROS initialization required yarp: Port /icub/left_hand/analog:o/rpc:i active at tcp://10.0.0.2:10043 [INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation. [WARNING] AnalogServer device: ************************************************************************************************ AnalogServer is using deprecated parameters for port name! It should be: name: full name of the port, like /robotName/deviceId/sensorType:o period: refresh period of the broadcasted values in ms (optional, default 20ms) ************************************************************************************************ [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]right_hand : no ROS initialization required yarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10044 [INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 10 [DEBUG]ethResources::goToRun() called for BOARD 2 MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 2 in run mode [INFO]created device <embObjAnalogSensor>. See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 10 [DEBUG]ethResources::goToRun() called for BOARD 4 MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 4 in run mode [INFO]created device <embObjAnalogSensor>. See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG]covariance size is 9 [DEBUG]Subdevice xsensmtx ||| finding paths [plugins] XSensMtX init check: device ok. [INFO]created device <xsensmtx>. See C++ class yarp::dev::XSensMTx for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/inertial active at tcp://10.0.0.2:10045 [INFO]Server Inertial : no ROS initialization required [INFO]created wrapper <inertial>. See C++ class yarp::dev::ServerInertial for documentation. [INFO]Server Inertial starting [DEBUG]Writing an Inertial measurement. [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_hand : 0 191 0 191 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_forearm : 192 575 0 383 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_arm : 576 1343 0 767 [ERROR] from BOARD 1, src LOCAL, adr 0, time 63s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE yarp: Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10046 yarp: Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10047 yarp: Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10048 [INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_hand : 0 191 0 191 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_forearm : 192 575 0 383 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_arm : 576 1343 0 767 yarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10049 yarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10050 yarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10051 [INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part torso mapping port/taxels--> torso : 0 767 0 767 yarp: Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10052 [INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation. [WARNING]CanBusSkin id list contains more than one entry -> devices will be merged. [INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation. [INFO]Skin on can bus 9 uses NEW configuration version!!! [DEBUG]cfw2can [0] thread ran 597 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.01[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 6.08 seconds yarp: Port /diagnostics/skin/errors:o active at tcp://10.0.0.2:10053 [INFO]created device <canBusSkin>. See C++ class CanBusSkin for documentation. [WARNING] from BOARD 2, src LOCAL, adr 0, time 64s 399m 98u: (code 0x0000000d, par16 0x01c4 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 64s 409m 191u: (code 0x0000000d, par16 0x0223 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 2 MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 2 in run mode [INFO]created device <embObjSkin>. See C++ class EmbObjSkin for documentation. [WARNING] from BOARD 2, src LOCAL, adr 0, time 64s 951m 73u: (code 0x0000000d, par16 0x01a8 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 64s 973m 95u: (code 0x0000000d, par16 0x01c4 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 64s 984m 192u: (code 0x0000000d, par16 0x0225 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 4 MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 4 in run mode [WARNING] from BOARD 4, src LOCAL, adr 0, time 65s 525m 120u: (code 0x0000000d, par16 0x01dd par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]created device <embObjSkin>. See C++ class EmbObjSkin for documentation. [INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]Entering action level 5 of phase startup yarp: Port /icub/left_arm/analog:o active at tcp://10.0.0.2:10055 yarp: Port /icub/right_arm/analog:o active at tcp://10.0.0.2:10056 yarp: Port /icub/left_hand/analog:o active at tcp://10.0.0.2:10057 yarp: Port /icub/right_hand/analog:o active at tcp://10.0.0.2:10058 yarp: Port /icub/skin/left_hand active at tcp://10.0.0.2:10059 yarp: Port /icub/skin/left_forearm active at tcp://10.0.0.2:10060 yarp: Port /icub/skin/left_arm active at tcp://10.0.0.2:10061 yarp: Port /icub/skin/right_hand active at tcp://10.0.0.2:10062 yarp: Port /icub/skin/right_forearm active at tcp://10.0.0.2:10063 yarp: Port /icub/skin/right_arm active at tcp://10.0.0.2:10064 yarp: Port /icub/skin/torso active at tcp://10.0.0.2:10065 [INFO]All actions for action level 5 of startup phase started. Waiting for unfinished actions. [INFO]All actions for action level 5 of startup phase finished. [INFO]Entering action level 10 of phase startup [DEBUG]left_arm_calibrator starting calibration of device left_arm_mc_wrapper [DEBUG]right_arm_calibrator starting calibration of device right_arm_mc_wrapper [INFO]Left_Arm_Calibrator : starting calibration [INFO]All actions for action level 10 of startup phase started. Waiting for unfinished actions. [INFO]Right_Arm_Calibrator : starting calibration [DEBUG]Right_Arm_Calibrator : Joints calibration order: ( 0 1 2 3 ) ( 4 ) ( 5 6 7 ) ( 8 9 11 13 ) ( 10 12 14 15 ) Registering new thread 0 out of 500 [DEBUG]torso_calibrator starting calibration of device torso_mc_wrapper [INFO]Torso_Calibrator : starting calibration [DEBUG]Torso_Calibrator : Joints calibration order: ( 0 1 2 ) [DEBUG]head_calibrator starting calibration of device head_mc_wrapper [ERROR]Left_Arm_Calibrator : detected an hardware fault on joint 3 before starting the calibration procedure! Registering new thread 0 out of 500 [DEBUG]Left_Arm_Calibrator : Joints calibration order: ( 0 1 2 3 ) ( 4 ) ( 5 6 7 ) ( 8 9 11 13 ) ( 10 12 14 15 ) Registering new thread 0 out of 500 [INFO]Head_Calibrator : starting calibration [DEBUG]Head_Calibrator : Joints calibration order: ( 0 1 2 ) ( 3 ) ( 4 ) ( 5 ) Registering new thread 1 out of 500 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 0 with params: 3 32767.9 10 20528.1 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 1 with params: 3 32767.9 10 29864.1 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 2 with params: 3 32767.9 10 5968.1 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 0 with params: 3 38229.2 10 30422.1 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 1 with params: 3 51882.5 10 43582 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 2 with params: 3 32767.9 10 32642.1 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 3 with params: 3 24575.9 10 25602.1 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 0 with params: 3 27306.6 10 41839.9 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 1 with params: 3 13653.3 10 48158 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 2 with params: 3 32767.9 10 55783.9 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 3 with params: 3 40959.9 10 5904.1 [WARNING] from BOARD 5, src LOCAL, adr 0, time 65s 841m 176u: (code 0x0000000d, par16 0x0215 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 65s 846m 384u: (code 0x0000000d, par16 0x02e1 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 3, src LOCAL, adr 0, time 65s 845m 362u: (code 0x0000000d, par16 0x02b1 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Torso_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -0.29541 [DEBUG]Torso_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -0.63147 [DEBUG]Torso_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: -20.9619 [DEBUG]Left_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 0.653687 [DEBUG]Left_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 14.0212 [DEBUG]Left_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 47.6429 [DEBUG]Left_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 182 [DEBUG]Right_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -6.31091 [DEBUG]Right_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 10.1918 [DEBUG]Right_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 43.5649 [DEBUG]Right_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 44.9178 [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 2 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 0 with params: 3 2047.5 10 3642.5 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 1 with params: 3 2047.5 10 3213.5 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 2 with params: 3 2047.5 10 3789.5 [DEBUG]cfw2can [0] msg from board 1: PWM ENA CH0 [DEBUG]cfw2can [0] msg from board 1: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 1: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA CH1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA COUPLED:0 & 1 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA:0 [DEBUG]Head_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -30 [DEBUG]Head_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 0.0769231 [DEBUG]Head_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: -0.021978 [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 1 : Calibration ended, going to zero! [DEBUG]Torso_Calibrator : calib joint ended [DEBUG]Torso_Calibrator : set 1 : Calibration ended, going to zero! [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 1 : Calibration ended, going to zero! [DEBUG]Head_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Torso_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) [DEBUG]Torso_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) [DEBUG]Torso_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 0 (desired pos: -30 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 1 (desired pos: 30 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 3 (desired pos: 45 desired speed: 10 ) [ERROR] from BOARD 1, src LOCAL, adr 0, time 68s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.604 des: 0.000 -> delta: 25.604 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.032 des: 0.000 -> delta: 0.032 threshold: 2.000 output: -218.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -12.991 des: -30.000 -> delta: 17.009 threshold: 2.000 output: 1400.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -16.813 des: 0.000 -> delta: 16.813 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.032 des: 0.000 -> delta: 0.032 threshold: 2.000 output: -256.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.032 over: 2.000 [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.016 des: 0.000 -> delta: 0.016 threshold: 2.000 output: 1057.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -17.912 des: -30.000 -> delta: 12.088 threshold: 2.000 output: 1400.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -8.462 des: 0.000 -> delta: 8.462 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.016 des: 0.000 -> delta: 0.016 threshold: 2.000 output: 1054.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.016 over: 2.000 [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -14.370 des: 0.000 -> delta: 14.370 threshold: 2.000 output: -945.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 12.08 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 12.08 seconds [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -22.395 des: -30.000 -> delta: 7.605 threshold: 2.000 output: 1400.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -2.132 des: 0.000 -> delta: 2.132 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -12.085 des: 0.000 -> delta: 12.085 threshold: 2.000 output: -949.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -27.498 des: -30.000 -> delta: 2.502 threshold: 2.000 output: 1400.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.901 des: 0.000 -> delta: 0.901 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -9.267 des: 0.000 -> delta: 9.267 threshold: 2.000 output: -944.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -30.662 des: -30.000 -> delta: 0.662 threshold: 2.000 output: -62.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.662 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 15.383 des: 30.000 -> delta: 14.617 threshold: 2.000 output: -1400.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.637 des: 0.000 -> delta: 0.637 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.637 over: 2.000 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 0.077 des: 0.000 -> delta: 0.077 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.077 over: 2.000 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.022 over: 2.000 [DEBUG]Head_Calibrator : set 1 : Reached zero position! [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -5.839 des: 0.000 -> delta: 5.839 threshold: 2.000 output: -969.000 mode: pos [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 3 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 20.656 des: 30.000 -> delta: 9.344 threshold: 2.000 output: -1400.000 mode: pos [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 3 with params: 3 2047.5 10 3763.5 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA:1 [DEBUG]Head_Calibrator : set 2 j 3 : Calibrating... enc values AFTER calib: 1.93407 [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -1.796 des: 0.000 -> delta: 1.796 threshold: 2.000 output: -998.000 mode: pos [DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 1.796 over: 2.000 [DEBUG]Torso_Calibrator : set 1 : Reached zero position! [DEBUG]torso_calibrator finished calibration of device torso_mc_wrapper [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 24.699 des: 30.000 -> delta: 5.301 threshold: 2.000 output: -1400.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 28.039 des: 30.000 -> delta: 1.961 threshold: 2.000 output: -1400.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 1.961 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.136 des: 0.000 -> delta: 0.136 threshold: 2.000 output: -594.000 mode: pos [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 2 : Calibration ended, going to zero! [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.136 des: 0.000 -> delta: 0.136 threshold: 2.000 output: -548.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.136 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 45.094 des: 45.000 -> delta: 0.094 threshold: 2.000 output: 8.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 44.830 des: 45.000 -> delta: 0.170 threshold: 2.000 output: -245.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.170 over: 2.000 [DEBUG]Right_Arm_Calibrator : set 1 : Reached zero position! Registering new thread 0 out of 500 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 4 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 4 with params: 0 500 -20 0 [INFO]from BOARD 4, src CAN1, adr 3, time 73s 458m 174u: CAN PRINT MESSAGE[id 0] -> CMODE SET:32 [INFO]from BOARD 4, src CAN1, adr 3, time 73s 459m 169u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [DEBUG]Right_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 77.5488 [ERROR] from BOARD 1, src LOCAL, adr 0, time 73s 631m 487u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -0.088 des: 0.000 -> delta: 0.088 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.088 over: 2.000 [DEBUG]Head_Calibrator : set 2 : Reached zero position! [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 4 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 4 with params: 0 900 20 0 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]Head_Calibrator : set 3 j 4 : Calibrating... enc values AFTER calib: 54.02 [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 2 TIMES! [DEBUG]cfw2can [0] printing boards infos: [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 3 : Calibration ended, going to zero! [DEBUG]Head_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 2 : Calibration ended, going to zero! [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 48.231 des: 0.000 -> delta: 48.231 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 43.104 des: 0.000 -> delta: 43.104 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.709 des: 0.000 -> delta: 51.709 threshold: 2.000 output: 65218.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR] from BOARD 1, src LOCAL, adr 0, time 78s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 35.455 des: 0.000 -> delta: 35.455 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.315 des: 0.000 -> delta: 24.315 threshold: 2.000 output: 65131.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 26.390 des: 0.000 -> delta: 26.390 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.545 des: 0.000 -> delta: 4.545 threshold: 2.000 output: 65290.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 17.111 des: 0.000 -> delta: 17.111 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.015 des: 0.000 -> delta: 0.015 threshold: 2.000 output: 65397.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 9.095 des: 0.000 -> delta: 9.095 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 0.002 des: 0.000 -> delta: 0.002 threshold: 2.000 output: 65444.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.002 over: 2.000 [DEBUG]Right_Arm_Calibrator : set 2 : Reached zero position! [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 5 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 6 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 7 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 5 with params: 3 2047.5 10 1702.5 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 6 with params: 3 2047.5 10 1172.5 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 7 with params: 3 1420 100 0 [INFO]from BOARD 4, src CAN1, adr 3, time 80s 476m 180u: CAN PRINT MESSAGE[id 2] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 3, time 80s 476m 324u: CAN PRINT MESSAGE[id 3] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 3, time 80s 476m 683u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1 [WARNING] from BOARD 4, src LOCAL, adr 0, time 80s 476m 809u: (code 0x0000000b, par16 0x02d4 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 80s 477m 204u: (code 0x0000000d, par16 0x0140 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 3, time 80s 477m 367u: CAN PRINT MESSAGE[id 2] -> PWM ENA:3 [INFO]from BOARD 4, src CAN1, adr 3, time 80s 477m 438u: CAN PRINT MESSAGE[id 0] -> PWM ENA COUPLED:1 & 2 [DEBUG]Right_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: 22.3407 [DEBUG]Right_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib: 33.5193 [DEBUG]Right_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib: 15.0013 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 3.957 des: 0.000 -> delta: 3.957 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.427 des: 0.000 -> delta: 2.427 threshold: 2.000 output: 0.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.071 des: 0.000 -> delta: 2.071 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 3 : Calibration ended, going to zero! [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.053 des: 0.000 -> delta: 2.053 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 15 desired speed: 100 ) [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.791 des: 0.000 -> delta: 0.791 threshold: 2.000 output: 65153.000 mode: pos [ERROR] from BOARD 1, src LOCAL, adr 0, time 83s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.527 des: 0.000 -> delta: 0.527 threshold: 2.000 output: 65139.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.527 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.269 des: 0.000 -> delta: 0.269 threshold: 90.000 output: 65429.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.269 des: 0.000 -> delta: 0.269 threshold: 90.000 output: 65425.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 0.269 over: 90.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 15.001 des: 15.000 -> delta: 0.001 threshold: 90.000 output: 65261.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 14.666 des: 15.000 -> delta: 0.334 threshold: 90.000 output: 65264.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 0.334 over: 90.000 [DEBUG]Right_Arm_Calibrator : set 3 : Reached zero position! [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 8 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [WARNING] from BOARD 4, src LOCAL, adr 0, time 84s 876m 119u: (code 0x0000000d, par16 0x01d9 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 9 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 11 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 13 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 8 with params: 3 1256.7 10 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 9 with params: 4 255 10 6000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 11 with params: 4 255 10 6000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 13 with params: 4 255 10 6000 [INFO]from BOARD 4, src CAN1, adr 7, time 84s 995m 186u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 7, time 84s 995m 325u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1 [INFO]from BOARD 4, src CAN1, adr 5, time 84s 996m 172u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 5, time 84s 996m 310u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [INFO]from BOARD 4, src CAN1, adr 5, time 84s 996m 455u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 5, time 84s 996m 594u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1 [INFO]from BOARD 4, src CAN1, adr 5, time 84s 996m 736u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [WARNING] from BOARD 4, src LOCAL, adr 0, time 84s 996m 799u: (code 0x0000000b, par16 0x02cf par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 84s 997m 188u: (code 0x0000000d, par16 0x013c par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 5, time 84s 997m 348u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3 [DEBUG]Right_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib: 40.896 [DEBUG]Right_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib: -0.00316406 [DEBUG]Right_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib: 1.06567 [DEBUG]Right_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib: -0.414951 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 4 : Calibration ended, going to zero! [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 8 (desired pos: 45 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 9 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 11 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 13 (desired pos: 0 desired speed: 100 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.049 des: 0.000 -> delta: 2.049 threshold: 2.000 output: 0.000 mode: pos [ERROR]Head_Calibrator : checkGoneToZeroThreshold: joint 4 Timeout while going to zero! [ERROR]Head_Calibrator : set 3 : some axis got timeout while reaching zero position... disabling this set of axes [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 5 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 45.164 des: 45.000 -> delta: 0.164 threshold: 1000.000 output: 14.000 mode: pos [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 5 with params: 0 900 20 0 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]Head_Calibrator : set 4 j 5 : Calibrating... enc values AFTER calib: -21.5792 [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 45.164 des: 45.000 -> delta: 0.164 threshold: 1000.000 output: 44.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 0.164 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: -0.003 des: 0.000 -> delta: 0.003 threshold: 1000.000 output: 13.000 mode: pos [ERROR] from BOARD 1, src LOCAL, adr 0, time 88s 631m 485u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: -0.003 des: 0.000 -> delta: 0.003 threshold: 1000.000 output: 1.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 0.003 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 65449.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 65449.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.000 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.354 des: 0.000 -> delta: 0.354 threshold: 1000.000 output: 41.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.354 des: 0.000 -> delta: 0.354 threshold: 1000.000 output: 41.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.354 over: 1000.000 [DEBUG]Right_Arm_Calibrator : set 4 : Reached zero position! [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 10 [WARNING] from BOARD 4, src LOCAL, adr 0, time 89s 998m 314u: (code 0x0000000d, par16 0x029f par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 12 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 14 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 15 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 10 with params: 4 35 30 6600 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 12 with params: 4 30 10 -7000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 14 with params: 4 0 10 7000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 15 with params: 4 765 10 14000 [INFO]from BOARD 4, src CAN1, adr 7, time 90s 118m 194u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 5, time 90s 119m 108u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 5, time 90s 119m 254u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2 [INFO]from BOARD 4, src CAN1, adr 7, time 90s 119m 405u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 7, time 90s 119m 543u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2 [WARNING] from BOARD 4, src LOCAL, adr 0, time 90s 119m 673u: (code 0x0000000b, par16 0x024d par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 90s 120m 69u: (code 0x0000000d, par16 0x013a par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 7, time 90s 120m 158u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0 [INFO]from BOARD 4, src CAN1, adr 7, time 90s 120m 316u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 7, time 90s 120m 458u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3 [WARNING] from BOARD 4, src LOCAL, adr 0, time 90s 120m 569u: (code 0x0000000b, par16 0x01b0 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 4 : Calibration ended, going to zero! [DEBUG]Right_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib: 1.09628 [DEBUG]Right_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib: 0.63 [DEBUG]Right_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib: 0.151367 [DEBUG]Right_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib: 1.91146 [DEBUG]Head_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 10 ) [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: -0.007 des: 0.000 -> delta: 0.007 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.007 over: 2.000 [DEBUG]Head_Calibrator : set 4 : Reached zero position! [DEBUG]head_calibrator finished calibration of device head_mc_wrapper [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR] from BOARD 1, src LOCAL, adr 0, time 93s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES! [DEBUG]cfw2can [0] printing boards infos: [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR]Left_Arm_Calibrator : Timeout while calibrating 3 [ERROR]Left_Arm_Calibrator : set 1 : Calibration went wrong! Disabling axes and keeping safe pid limit [WARNING] from BOARD 1, src LOCAL, adr 0, time 95s 372m 277u: (code 0x0000000d, par16 0x027a par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 95s 377m 277u: (code 0x0000000d, par16 0x027a par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [ERROR]Unable to set the control mode of board 1 joint 3 in HW_FAULT Registering new thread 0 out of 500 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 4 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 4 with params: 0 500 20 0 [INFO]from BOARD 2, src CAN1, adr 3, time 95s 496m 188u: CAN PRINT MESSAGE[id 0] -> CMODE SET:32 [INFO]from BOARD 2, src CAN1, adr 3, time 95s 496m 328u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [DEBUG]Left_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 77.4884 [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 5 : Calibration ended, going to zero! [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 10 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 12 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 14 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 15 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 71.376 des: 0.000 -> delta: 71.376 threshold: 1000.000 output: 883.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 9.347 des: 0.000 -> delta: 9.347 threshold: 1000.000 output: 646.000 mode: pos [ERROR] from BOARD 1, src LOCAL, adr 0, time 98s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 2 : Calibration ended, going to zero! [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 0.739 des: 0.000 -> delta: 0.739 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 0.739 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: -0.079 des: 0.000 -> delta: 0.079 threshold: 1000.000 output: 65403.000 mode: pos [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: -0.079 des: 0.000 -> delta: 0.079 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 0.079 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 0.151 des: 0.000 -> delta: 0.151 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 0.151 des: 0.000 -> delta: 0.151 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 0.151 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 1.911 des: 0.000 -> delta: 1.911 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.824 des: 0.000 -> delta: 51.824 threshold: 2.000 output: 348.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 2.389 des: 0.000 -> delta: 2.389 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 2.389 over: 1000.000 [DEBUG]Right_Arm_Calibrator : set 5 : Reached zero position! [DEBUG]right_arm_calibrator finished calibration of device right_arm_mc_wrapper [WARNING] from BOARD 4, src LOCAL, adr 0, time 100s 422m 366u: (code 0x0000000d, par16 0x02cf par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.430 des: 0.000 -> delta: 24.430 threshold: 2.000 output: 384.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.501 des: 0.000 -> delta: 4.501 threshold: 2.000 output: 267.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.020 des: 0.000 -> delta: 0.020 threshold: 2.000 output: 99.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.020 des: 0.000 -> delta: 0.020 threshold: 2.000 output: 65474.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.020 over: 2.000 [DEBUG]Left_Arm_Calibrator : set 2 : Reached zero position! [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 5 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 6 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 7 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 5 with params: 3 2047.5 10 2282.5 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 6 with params: 3 2047.5 10 1179.5 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 7 with params: 3 1345 100 0 [INFO]from BOARD 2, src CAN1, adr 3, time 102s 513m 190u: CAN PRINT MESSAGE[id 2] -> CMODE SET:1 [INFO]from BOARD 2, src CAN1, adr 3, time 102s 513m 334u: CAN PRINT MESSAGE[id 3] -> CMODE SET:1 [WARNING] from BOARD 2, src LOCAL, adr 0, time 102s 513m 533u: (code 0x0000000b, par16 0x01c1 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 3, time 102s 514m 316u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1 [INFO]from BOARD 2, src CAN1, adr 3, time 102s 514m 456u: CAN PRINT MESSAGE[id 2] -> PWM ENA:3 [INFO]from BOARD 2, src CAN1, adr 3, time 102s 514m 527u: CAN PRINT MESSAGE[id 0] -> PWM ENA COUPLED:1 & 2 [WARNING] from BOARD 2, src LOCAL, adr 0, time 102s 514m 645u: (code 0x0000000b, par16 0x0234 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: -1.66992 [DEBUG]Left_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib: 22.522 [DEBUG]Left_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib: 15.6921 [ERROR] from BOARD 1, src LOCAL, adr 0, time 103s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 3 : Calibration ended, going to zero! [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 15 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.357 des: 0.000 -> delta: 0.357 threshold: 2.000 output: 124.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.445 des: 0.000 -> delta: 0.445 threshold: 2.000 output: 148.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.445 over: 2.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.703 des: 0.000 -> delta: 0.703 threshold: 90.000 output: 368.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.615 des: 0.000 -> delta: 0.615 threshold: 90.000 output: 371.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 0.615 over: 90.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 15.692 des: 15.000 -> delta: 0.692 threshold: 90.000 output: 159.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 15.692 des: 15.000 -> delta: 0.692 threshold: 90.000 output: 228.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 0.692 over: 90.000 [DEBUG]Left_Arm_Calibrator : set 3 : Reached zero position! [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 8 [WARNING] from BOARD 2, src LOCAL, adr 0, time 106s 914m 124u: (code 0x0000000d, par16 0x01de par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 9 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 11 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 13 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 8 with params: 3 301 10 0 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 9 with params: 4 255 10 6000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 11 with params: 4 255 10 6000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 13 with params: 4 255 10 6000 [INFO]from BOARD 2, src CAN1, adr 5, time 107s 34m 176u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 2, src CAN1, adr 5, time 107s 34m 312u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [INFO]from BOARD 2, src CAN1, adr 5, time 107s 35m 106u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 5, time 107s 35m 313u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 5, time 107s 35m 454u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3 [INFO]from BOARD 2, src CAN1, adr 5, time 107s 35m 534u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1 [WARNING] from BOARD 2, src LOCAL, adr 0, time 107s 35m 602u: (code 0x0000000b, par16 0x0203 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 7, time 107s 36m 172u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 7, time 107s 36m 321u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1 [DEBUG]Left_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib: 3.50578 [DEBUG]Left_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib: 50.8689 [DEBUG]Left_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib: 0.357056 [DEBUG]Left_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib: -0.351562 [ERROR] from BOARD 1, src LOCAL, adr 0, time 108s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 4 : Calibration ended, going to zero! [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 8 (desired pos: 45 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 9 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 11 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 13 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 4.044 des: 45.000 -> delta: 40.956 threshold: 1000.000 output: 64203.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 4.099 des: 45.000 -> delta: 40.901 threshold: 1000.000 output: 64203.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 40.901 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 61.432 des: 0.000 -> delta: 61.432 threshold: 1000.000 output: 65341.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 61.828 des: 0.000 -> delta: 61.828 threshold: 1000.000 output: 65277.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 61.828 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: 0.714 des: 0.000 -> delta: 0.714 threshold: 1000.000 output: 65360.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: 0.357 des: 0.000 -> delta: 0.357 threshold: 1000.000 output: 65379.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.357 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 79.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 89.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.352 over: 1000.000 [DEBUG]Left_Arm_Calibrator : set 4 : Reached zero position! [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 10 [WARNING] from BOARD 2, src LOCAL, adr 0, time 113s 237m 346u: (code 0x0000000d, par16 0x02bb par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 12 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 14 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 15 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 10 with params: 4 20 30 -6600 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 12 with params: 4 25 10 7000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 14 with params: 4 25 10 -7000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 15 with params: 4 765 10 -14000 [INFO]from BOARD 2, src CAN1, adr 5, time 113s 356m 185u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 5, time 113s 356m 328u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2 [INFO]from BOARD 2, src CAN1, adr 7, time 113s 357m 188u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 7, time 113s 357m 329u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0 [WARNING] from BOARD 2, src LOCAL, adr 0, time 113s 357m 619u: (code 0x0000000b, par16 0x0214 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 7, time 113s 358m 103u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2 [INFO]from BOARD 2, src CAN1, adr 7, time 113s 358m 249u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 7, time 113s 358m 391u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3 [INFO]from BOARD 2, src CAN1, adr 7, time 113s 358m 462u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [WARNING] from BOARD 2, src LOCAL, adr 0, time 113s 358m 590u: (code 0x0000000b, par16 0x01f3 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib: 6.43923 [DEBUG]Left_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib: -0.536875 [DEBUG]Left_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib: 13.5256 [DEBUG]Left_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib: -0.658936 [ERROR] from BOARD 1, src LOCAL, adr 0, time 113s 631m 486u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [ERROR] from BOARD 1, src LOCAL, adr 0, time 118s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 5 : Calibration ended, going to zero! [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 10 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 12 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 14 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 15 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 73.324 des: 0.000 -> delta: 73.324 threshold: 1000.000 output: 64506.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 6.088 des: 0.000 -> delta: 6.088 threshold: 1000.000 output: 65046.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 1.188 des: 0.000 -> delta: 1.188 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 1.188 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: 1.221 des: 0.000 -> delta: 1.221 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: 1.221 des: 0.000 -> delta: 1.221 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 1.221 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 9.658 des: 0.000 -> delta: 9.658 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 9.658 des: 0.000 -> delta: 9.658 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 9.658 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: -0.659 des: 0.000 -> delta: 0.659 threshold: 1000.000 output: 65406.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: -0.659 des: 0.000 -> delta: 0.659 threshold: 1000.000 output: 65391.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 0.659 over: 1000.000 [DEBUG]Left_Arm_Calibrator : set 5 : Reached zero position! [DEBUG]left_arm_calibrator finished calibration of device left_arm_mc_wrapper [INFO]All actions for action level 10 of startup phase finished. [INFO]Entering action level 15 of phase startup [INFO]***** Attaching drivers to cartesian controller icub/cartesianController/left_arm ***** [INFO]Received list of 2 driver(s) [INFO]Acquiring info on driver torso... [INFO]driver torso successfully open [INFO]Acquiring info on driver left_arm... [INFO]driver left_arm successfully open [INFO]icub/cartesianController/left_arm: IControlMode2 available [INFO]icub/cartesianController/left_arm: IEncodersTimed interface will be used [INFO]icub/cartesianController/left_arm: IPidControl available [INFO]icub/cartesianController/left_arm: IPositionDirect available [INFO]icub/cartesianController/left_arm: IVelocityControl2 available [INFO]icub/cartesianController/left_arm: IPositionDirect interface will be used [INFO]icub/cartesianController/left_arm: multiple joints control will be used [INFO]icub/cartesianController/left_arm: aligning joints bounds ... [INFO]part #0: torso Registering new thread 1 out of 500 [INFO]joint #0: [-19.9896, 69.9884] deg [WARNING] from BOARD 2, src LOCAL, adr 0, time 123s 560m 418u: (code 0x0000000d, par16 0x0301 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]joint #1: [-29.9869, 29.9874] deg [INFO]joint #2: [-49.9866, 49.989] deg [INFO]part #1: left_arm Registering new thread 1 out of 500 [INFO]joint #3: [-95.4877, 9.98657] deg [INFO]joint #4: [0.0136719, 160.788] deg [INFO]joint #5: [-36.9902, 79.9867] deg [INFO]joint #6: [15.0133, 105.991] deg Registering new thread 1 out of 500 [INFO]joint #7: [-59.989, 59.9872] deg [INFO]joint #8: [-79.9915, 24.9884] deg [INFO]joint #9: [-19.9896, 24.9884] deg [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]Starting icub/cartesianController/left_arm at 10 ms [INFO]icub/cartesianController/left_arm started successfully [INFO]***** Attaching drivers to cartesian controller icub/cartesianController/right_arm ***** [INFO]Received list of 2 driver(s) [INFO]Acquiring info on driver torso... [INFO]driver torso successfully open [INFO]Acquiring info on driver right_arm... [INFO]driver right_arm successfully open [INFO]icub/cartesianController/right_arm: IControlMode2 available [INFO]icub/cartesianController/right_arm: IEncodersTimed interface will be used [INFO]icub/cartesianController/right_arm: IPidControl available [INFO]icub/cartesianController/right_arm: IPositionDirect available [INFO]icub/cartesianController/right_arm: IVelocityControl2 available [INFO]icub/cartesianController/right_arm: IPositionDirect interface will be used [INFO]icub/cartesianController/right_arm: multiple joints control will be used [INFO]icub/cartesianController/right_arm: aligning joints bounds ... [INFO]part #0: torso [INFO]joint #0: [-19.9896, 69.9884] deg [INFO]joint #1: [-29.9869, 29.9874] deg [INFO]joint #2: [-49.9866, 49.989] deg [INFO]part #1: right_arm Registering new thread 1 out of 500 [ERROR] from BOARD 1, src LOCAL, adr 0, time 123s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [INFO]joint #3: [-95.4869, 9.9873] deg [INFO]joint #4: [0.0129395, 160.787] deg [INFO]joint #5: [-36.9868, 79.9901] deg [INFO]joint #6: [15.0131, 105.991] deg Registering new thread 1 out of 500 [INFO]joint #7: [-59.989, 59.9872] deg [INFO]joint #8: [-79.9915, 24.9884] deg [INFO]joint #9: [-19.9896, 24.9884] deg [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO]Starting icub/cartesianController/right_arm at 10 ms [INFO]icub/cartesianController/right_arm started successfully [INFO]All actions for action level 15 of startup phase started. Waiting for unfinished actions. [INFO]All actions for action level 15 of startup phase finished. [INFO]startup phase finished. [INFO]run phase starting... [DEBUG]robot-interface running happily [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [ERROR] from BOARD 1, src LOCAL, adr 0, time 128s 631m 485u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None ^C[try 1 of 3] Trying to shut down [WARNING]Interrupt # 1 # received. [INFO]Interrupt received. Stopping all running threads. Module closing [INFO]interrupt1 phase starting... [INFO]Entering action level 1 of phase interrupt1 [DEBUG]left_arm_calibrator starting park device left_arm_mc_wrapper [DEBUG]right_arm_calibrator starting park device right_arm_mc_wrapper [DEBUG]torso_calibrator starting park device torso_mc_wrapper Registering new thread 2 out of 500 [ERROR[INFO]All actions for action level 1 of interrupt1 phase started. Waiting for unfinished actions. Registering new thread 2 out of 500 [DEBUG]head_calibrator starting park device head_mc_wrapper ]Left_Arm_Calibrator : joint 0 is idle, skipping park [ERROR]Left_Arm_Calibrator : joint 1 is idle, skipping park [ERROR]Left_Arm_Calibrator : joint 2 is idle, skipping park [ERROR]Left_Arm_Calibrator : joint 3 has an hardware fault, skipping park Registering new thread 2 out of 500 [WARNING] from BOARD 5, src LOCAL, adr 0, time 130s 111m 209u: (code 0x0000000d, par16 0x0236 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 5, src LOCAL, adr 0, time 130s 115m 209u: (code 0x0000000d, par16 0x0236 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 3, src LOCAL, adr 0, time 130s 110m 240u: (code 0x0000000d, par16 0x0237 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 3, src LOCAL, adr 0, time 130s 113m 237u: (code 0x0000000d, par16 0x0237 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Head_Calibrator : Moving to park position, joint: 0 Registering new thread 2 out of 500 [WARNING] from BOARD 5, src LOCAL, adr 0, time 130s 120m 207u: (code 0x0000000d, par16 0x0234 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 3, src LOCAL, adr 0, time 130s 118m 237u: (code 0x0000000d, par16 0x0237 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE Registering new thread 2 out of 500 [DEBUG]Torso_Calibrator : Moving to park position, joint: 0 [DEBUG]Torso_Calibrator : Moving to park position, joint: 1 [DEBUG]Torso_Calibrator : Moving to park position, joint: 2 [DEBUG]positionMoveRaw: Deprecated automatic switch to VOCAB_CM_POSITION, board 1 joint 3 Registering new thread 2 out of 500 [ERROR]Unable to set the control mode of board 1 joint 3 in HW_FAULT [WARNING] from BOARD 2, src LOCAL, adr 0, time 130s 179m 769u: (code 0x0000000d, par16 0x0465 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 130s 180m 182u: (code 0x0000000d, par16 0x0132 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 4 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 5 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 6 [WARNING] from BOARD 4, src LOCAL, adr 0, time 130s 186m 732u: (code 0x0000000d, par16 0x0441 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 0 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 1 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 2 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 3 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 4 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 5 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 6 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 7 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 8 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 9 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 10 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 11 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 12 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 13 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 14 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 15 [DEBUG]Left_Arm_Calibrator : Park completed [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 7 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 8 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 9 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 10 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 11 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 12 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 13 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 14 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 15 [DEBUG]Right_Arm_Calibrator : Park completed [WARNING] from BOARD 1, src LOCAL, adr 0, time 131s 187m 278u: (code 0x0000000d, par16 0x027b par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 131s 193m 277u: (code 0x0000000d, par16 0x027a par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 131s 198m 277u: (code 0x0000000d, par16 0x027a par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [ERROR]Unable to set the control mode of board 1 joint 3 in HW_FAULT [INFO]from BOARD 2, src CAN1, adr 3, time 131s 212m 177u: CAN PRINT MESSAGE[id 3] -> PWM DIS:0 [WARNING] from BOARD 3, src LOCAL, adr 0, time 131s 216m 247u: (code 0x0000000d, par16 0x0241 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 3, src LOCAL, adr 0, time 131s 221m 247u: (code 0x0000000d, par16 0x0241 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 3, time 131s 233m 389u: CAN PRINT MESSAGE[id 1] -> PWM DIS COUPLED:2 [INFO]from BOARD 2, src CAN1, adr 3, time 131s 233m 457u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:1 [WARNING] from BOARD 2, src LOCAL, adr 0, time 131s 233m 526u: (code 0x0000000b, par16 0x01bb par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 3, time 131s 251m 179u: CAN PRINT MESSAGE[id 3] -> PWM DIS:0 [INFO]from BOARD 2, src CAN1, adr 3, time 131s 258m 172u: CAN PRINT MESSAGE[id 2] -> PWM DIS:3 [INFO]from BOARD 4, src CAN1, adr 3, time 131s 272m 246u: CAN PRINT MESSAGE[id 1] -> PWM DIS COUPLED:2 [INFO]from BOARD 4, src CAN1, adr 3, time 131s 272m 319u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:1 [INFO]from BOARD 2, src CAN1, adr 5, time 131s 278m 167u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 2, src CAN1, adr 5, time 131s 299m 170u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 4, src CAN1, adr 3, time 131s 297m 177u: CAN PRINT MESSAGE[id 2] -> PWM DIS:3 [INFO]from BOARD 2, src CAN1, adr 5, time 131s 319m 167u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 4, src CAN1, adr 5, time 131s 317m 174u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 2, src CAN1, adr 5, time 131s 339m 167u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 4, src CAN1, adr 5, time 131s 337m 174u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 2, src CAN1, adr 7, time 131s 359m 170u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 4, src CAN1, adr 5, time 131s 357m 170u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 2, src CAN1, adr 7, time 131s 379m 167u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 4, src CAN1, adr 5, time 131s 377m 172u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 2, src CAN1, adr 7, time 131s 400m 172u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 4, src CAN1, adr 7, time 131s 398m 182u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 2, src CAN1, adr 7, time 131s 420m 167u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 4, src CAN1, adr 7, time 131s 418m 187u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [DEBUG]left_arm_calibrator finished park device left_arm_mc_wrapper [INFO]from BOARD 4, src CAN1, adr 7, time 131s 438m 185u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 4, src CAN1, adr 7, time 131s 458m 182u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [DEBUG]right_arm_calibrator finished park device right_arm_mc_wrapper [DEBUG]Torso_Calibrator : Park completed [WARNING] from BOARD 5, src LOCAL, adr 0, time 132s 155m 216u: (code 0x0000000d, par16 0x023d par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]torso_calibrator finished park device torso_mc_wrapper [WARNING] from BOARD 5, src LOCAL, adr 0, time 132s 160m 216u: (code 0x0000000d, par16 0x023d par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 133s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [DEBUG]Head_Calibrator : Moving to park position, joint: 1 [DEBUG]Head_Calibrator : Moving to park position, joint: 2 [DEBUG]Head_Calibrator : Moving to park position, joint: 3 [DEBUG]Head_Calibrator : Moving to park position, joint: 4 [DEBUG]Head_Calibrator : Moving to park position, joint: 5 [DEBUG]Head_Calibrator : Park completed [DEBUG]cfw2can [0] msg from board 1: PWM DIS CH0 [DEBUG]cfw2can [0] msg from board 1: PWM ENA COUPLED:0 & 1 [DEBUG]cfw2can [0] msg from board 1: PWM DIS CH1 [DEBUG]cfw2can [0] msg from board 2: PWM DIS:0 [DEBUG]cfw2can [0] msg from board 2: PWM DIS:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]head_calibrator finished park device head_mc_wrapper [INFO]All actions for action level 1 of interrupt1 phase finished. [INFO]interrupt1 phase finished. [INFO]shutdown phase starting... [INFO]Entering action level 2 of phase shutdown [INFO]Stopping icub/cartesianController/left_arm [INFO]Stopping icub/cartesianController/right_arm [INFO]All actions for action level 2 of shutdown phase started. Waiting for unfinished actions. [INFO]All actions for action level 2 of shutdown phase finished. [INFO]Entering action level 5 of phase shutdown [INFO]All actions for action level 5 of shutdown phase started. Waiting for unfinished actions. [INFO]All actions for action level 5 of shutdown phase finished. [DEBUG]ethResources::goToConfig() called for BOARD 5 MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 5 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 5 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 1 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 2 MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 2 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 3 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 4 MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 4 in cfg mode [INFO]Closing Server Inertial... [DEBUG]Server Intertial closed [INFO]shutdown phase finished. Module finished icub@pc104:~$

We still have problems if I don’t help the left arm. See log file and picture.

||| configuring ||| no policy found ||| default config file specified as robotInterface.ini ||| checking /home/icub/robotInterface.ini ||| checking [/home/icub/.config/yarp/robots/iCubSheffield01](robot YARP_CONFIG_HOME) ||| checking [/home/icub/.local/share/yarp/robots/iCubSheffield01](robot YARP_DATA_HOME) ||| found /home/icub/.local/share/yarp/robots/iCubSheffield01 ||| checking [/etc/yarp/robots/iCubSheffield01](robot YARP_CONFIG_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/robots/iCubSheffield01](robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01](robot YARP_DATA_DIRS) ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01 ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/robots/iCubSheffield01](robot YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/robotInterface.ini ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/robotInterface.ini ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/robotInterface.ini yarp: Port /robotInterface active at tcp://10.0.0.2:10004 ||| finding file [config] ||| checking /home/icub/./icub_all.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/./icub_all.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/./icub_all.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/./icub_all.xml yarp: Port /log/pc104/robotInterface/3124 active at tcp://10.0.0.2:10005 ||| finding file hardware/electronics/pc104.xml ||| checking /home/icub/hardware/electronics/pc104.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/pc104.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/pc104.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/pc104.xml ||| finding file cartesian/left_arm-cartesian.xml ||| checking /home/icub/cartesian/left_arm-cartesian.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/cartesian/left_arm-cartesian.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/left_arm-cartesian.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/left_arm-cartesian.xml ||| finding file cartesian/right_arm-cartesian.xml ||| checking /home/icub/cartesian/right_arm-cartesian.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/cartesian/right_arm-cartesian.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/right_arm-cartesian.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/cartesian/right_arm-cartesian.xml ||| finding file hardware/motorControl/head-cfw2_can0-mc.xml ||| checking /home/icub/hardware/motorControl/head-cfw2_can0-mc.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/head-cfw2_can0-mc.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/head-cfw2_can0-mc.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/head-cfw2_can0-mc.xml ||| finding file general.xml ||| checking /home/icub/general.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/general.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/general.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/general.xml ||| finding file hardware/electronics/head-cfw2_can0-eln.xml ||| checking /home/icub/hardware/electronics/head-cfw2_can0-eln.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/head-cfw2_can0-eln.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/head-cfw2_can0-eln.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/head-cfw2_can0-eln.xml ||| finding file hardware/mechanicals/head-cfw2_can0-mec.xml ||| checking /home/icub/hardware/mechanicals/head-cfw2_can0-mec.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/head-cfw2_can0-mec.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/head-cfw2_can0-mec.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/head-cfw2_can0-mec.xml ||| finding file wrappers/motorControl/head-mc_wrapper.xml ||| checking /home/icub/wrappers/motorControl/head-mc_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/head-mc_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/head-mc_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/head-mc_wrapper.xml ||| finding file hardware/motorControl/torso-ems5-mc.xml ||| checking /home/icub/hardware/motorControl/torso-ems5-mc.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/torso-ems5-mc.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/torso-ems5-mc.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/torso-ems5-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/torso-ems5-eln.xml ||| checking /home/icub/hardware/electronics/torso-ems5-eln.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/torso-ems5-eln.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/torso-ems5-eln.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/torso-ems5-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/torso-ems5-mec.xml ||| checking /home/icub/hardware/mechanicals/torso-ems5-mec.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/torso-ems5-mec.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/torso-ems5-mec.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/torso-ems5-mec.xml ||| finding file wrappers/motorControl/torso-mc_wrapper.xml ||| checking /home/icub/wrappers/motorControl/torso-mc_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/torso-mc_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/torso-mc_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/torso-mc_wrapper.xml ||| finding file hardware/motorControl/left_upper_arm-ems1-mc.xml ||| checking /home/icub/hardware/motorControl/left_upper_arm-ems1-mc.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/left_upper_arm-ems1-mc.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_upper_arm-ems1-mc.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_upper_arm-ems1-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/left_upper_arm-ems1-eln.xml ||| checking /home/icub/hardware/electronics/left_upper_arm-ems1-eln.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/left_upper_arm-ems1-eln.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_upper_arm-ems1-eln.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_upper_arm-ems1-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/left_upper_arm-ems1-mec.xml ||| checking /home/icub/hardware/mechanicals/left_upper_arm-ems1-mec.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/left_upper_arm-ems1-mec.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_upper_arm-ems1-mec.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_upper_arm-ems1-mec.xml ||| finding file hardware/motorControl/left_lower_arm-ems2-mc.xml ||| checking /home/icub/hardware/motorControl/left_lower_arm-ems2-mc.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/left_lower_arm-ems2-mc.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_lower_arm-ems2-mc.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/left_lower_arm-ems2-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/left_lower_arm-ems2-eln.xml ||| checking /home/icub/hardware/electronics/left_lower_arm-ems2-eln.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/left_lower_arm-ems2-eln.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_lower_arm-ems2-eln.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/left_lower_arm-ems2-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/left_lower_arm-ems2-mec.xml ||| checking /home/icub/hardware/mechanicals/left_lower_arm-ems2-mec.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/left_lower_arm-ems2-mec.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_lower_arm-ems2-mec.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/left_lower_arm-ems2-mec.xml ||| finding file wrappers/motorControl/left_arm-mc_wrapper.xml ||| checking /home/icub/wrappers/motorControl/left_arm-mc_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/left_arm-mc_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/left_arm-mc_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/left_arm-mc_wrapper.xml ||| finding file hardware/motorControl/right_upper_arm-ems3-mc.xml ||| checking /home/icub/hardware/motorControl/right_upper_arm-ems3-mc.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/right_upper_arm-ems3-mc.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_upper_arm-ems3-mc.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_upper_arm-ems3-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/right_upper_arm-ems3-eln.xml ||| checking /home/icub/hardware/electronics/right_upper_arm-ems3-eln.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/right_upper_arm-ems3-eln.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_upper_arm-ems3-eln.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_upper_arm-ems3-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/right_upper_arm-ems3-mec.xml ||| checking /home/icub/hardware/mechanicals/right_upper_arm-ems3-mec.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/right_upper_arm-ems3-mec.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_upper_arm-ems3-mec.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_upper_arm-ems3-mec.xml ||| finding file hardware/motorControl/right_lower_arm-ems4-mc.xml ||| checking /home/icub/hardware/motorControl/right_lower_arm-ems4-mc.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/motorControl/right_lower_arm-ems4-mc.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_lower_arm-ems4-mc.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/motorControl/right_lower_arm-ems4-mc.xml ||| finding file general.xml ||| finding file hardware/electronics/right_lower_arm-ems4-eln.xml ||| checking /home/icub/hardware/electronics/right_lower_arm-ems4-eln.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/electronics/right_lower_arm-ems4-eln.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_lower_arm-ems4-eln.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/electronics/right_lower_arm-ems4-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/mechanicals/right_lower_arm-ems4-mec.xml ||| checking /home/icub/hardware/mechanicals/right_lower_arm-ems4-mec.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/mechanicals/right_lower_arm-ems4-mec.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_lower_arm-ems4-mec.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/mechanicals/right_lower_arm-ems4-mec.xml ||| finding file wrappers/motorControl/right_arm-mc_wrapper.xml ||| checking /home/icub/wrappers/motorControl/right_arm-mc_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/motorControl/right_arm-mc_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/right_arm-mc_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/motorControl/right_arm-mc_wrapper.xml ||| finding file wrappers/FT/left_arm-FT_wrapper.xml ||| checking /home/icub/wrappers/FT/left_arm-FT_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/left_arm-FT_wrapper.xml ||| finding file wrappers/FT/right_arm-FT_wrapper.xml ||| checking /home/icub/wrappers/FT/right_arm-FT_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/FT/right_arm-FT_wrapper.xml ||| finding file hardware/FT/left_upper_arm-ems1-strain.xml ||| checking /home/icub/hardware/FT/left_upper_arm-ems1-strain.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/FT/left_upper_arm-ems1-strain.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/left_upper_arm-ems1-strain.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/left_upper_arm-ems1-strain.xml ||| finding file general.xml ||| finding file hardware/electronics/left_upper_arm-ems1-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/FT/right_upper_arm-ems3-strain.xml ||| checking /home/icub/hardware/FT/right_upper_arm-ems3-strain.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/FT/right_upper_arm-ems3-strain.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/right_upper_arm-ems3-strain.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/FT/right_upper_arm-ems3-strain.xml ||| finding file general.xml ||| finding file hardware/electronics/right_upper_arm-ems3-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file wrappers/VFT/left_arm-VFT_wrapper.xml ||| checking /home/icub/wrappers/VFT/left_arm-VFT_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/VFT/left_arm-VFT_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/left_arm-VFT_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/left_arm-VFT_wrapper.xml ||| finding file wrappers/VFT/right_arm-VFT_wrapper.xml ||| checking /home/icub/wrappers/VFT/right_arm-VFT_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/VFT/right_arm-VFT_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/right_arm-VFT_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/right_arm-VFT_wrapper.xml ||| finding file wrappers/VFT/torso-VFT_wrapper.xml ||| checking /home/icub/wrappers/VFT/torso-VFT_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/VFT/torso-VFT_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/torso-VFT_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/VFT/torso-VFT_wrapper.xml ||| finding file wrappers/MAIS/left_hand-mais_wrapper.xml ||| checking /home/icub/wrappers/MAIS/left_hand-mais_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 1 . No DTD found. Assuming version robotInterfaceV1.0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubSheffield01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 ||| finding file wrappers/MAIS/right_hand-mais_wrapper.xml ||| checking /home/icub/wrappers/MAIS/right_hand-mais_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 1 . No DTD found. Assuming version robotInterfaceV1.0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "robot" attribute [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found instead of iCubSheffield01 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . "devices" element should contain the "build" attribute [unsigned int]. Assuming 0 [WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 ||| finding file hardware/MAIS/left_hand-ems2-mais.xml ||| checking /home/icub/hardware/MAIS/left_hand-ems2-mais.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/MAIS/left_hand-ems2-mais.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/left_hand-ems2-mais.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/left_hand-ems2-mais.xml ||| finding file general.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/electronics/left_lower_arm-ems2-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/MAIS/right_hand-ems4-mais.xml ||| checking /home/icub/hardware/MAIS/right_hand-ems4-mais.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/MAIS/right_hand-ems4-mais.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/right_hand-ems4-mais.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/MAIS/right_hand-ems4-mais.xml ||| finding file general.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/electronics/right_lower_arm-ems4-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/inertial.xml ||| checking /home/icub/hardware/inertial.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/inertial.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/inertial.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/inertial.xml ||| finding file general.xml ||| finding file wrappers/skin/left_arm-skin_wrapper.xml ||| checking /home/icub/wrappers/skin/left_arm-skin_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/skin/left_arm-skin_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/left_arm-skin_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/left_arm-skin_wrapper.xml ||| finding file wrappers/skin/right_arm-skin_wrapper.xml ||| checking /home/icub/wrappers/skin/right_arm-skin_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/skin/right_arm-skin_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/right_arm-skin_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/right_arm-skin_wrapper.xml ||| finding file wrappers/skin/torso-skin_wrapper.xml ||| checking /home/icub/wrappers/skin/torso-skin_wrapper.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/wrappers/skin/torso-skin_wrapper.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/torso-skin_wrapper.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/wrappers/skin/torso-skin_wrapper.xml ||| finding file hardware/skin/torso-cfw2_can9-skin.xml ||| checking /home/icub/hardware/skin/torso-cfw2_can9-skin.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skin.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skin.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skin.xml ||| finding file general.xml ||| finding file hardware/skin/torso-cfw2_can9-skinSpec.xml ||| checking /home/icub/hardware/skin/torso-cfw2_can9-skinSpec.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skinSpec.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skinSpec.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/torso-cfw2_can9-skinSpec.xml ||| finding file hardware/skin/left_arm-ems2-skin.xml ||| checking /home/icub/hardware/skin/left_arm-ems2-skin.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skin.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skin.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skin.xml ||| finding file general.xml ||| finding file hardware/electronics/left_lower_arm-ems2-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/skin/left_arm-ems2-skinSpec.xml ||| checking /home/icub/hardware/skin/left_arm-ems2-skinSpec.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skinSpec.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skinSpec.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/left_arm-ems2-skinSpec.xml ||| finding file hardware/skin/right_arm-ems4-skin.xml ||| checking /home/icub/hardware/skin/right_arm-ems4-skin.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skin.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skin.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skin.xml ||| finding file general.xml ||| finding file hardware/electronics/right_lower_arm-ems4-eln.xml ||| finding file hardware/electronics/pc104.xml ||| finding file hardware/skin/right_arm-ems4-skinSpec.xml ||| checking /home/icub/hardware/skin/right_arm-ems4-skinSpec.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skinSpec.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skinSpec.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/hardware/skin/right_arm-ems4-skinSpec.xml ||| finding file calibrators/left_arm-calib.xml ||| checking /home/icub/calibrators/left_arm-calib.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/left_arm-calib.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/left_arm-calib.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/left_arm-calib.xml ||| finding file general.xml ||| finding file calibrators/right_arm-calib.xml ||| checking /home/icub/calibrators/right_arm-calib.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/right_arm-calib.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/right_arm-calib.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/right_arm-calib.xml ||| finding file general.xml ||| finding file calibrators/torso-calib.xml ||| checking /home/icub/calibrators/torso-calib.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/torso-calib.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/torso-calib.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/torso-calib.xml ||| finding file general.xml ||| finding file calibrators/head-calib.xml ||| checking /home/icub/calibrators/head-calib.xml ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/calibrators/head-calib.xml ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/head-calib.xml ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/calibrators/head-calib.xml ||| finding file general.xml [INFO]startup phase starting... ||| finding paths [plugins] ||| checking /home/icub/plugins ||| checking /home/icub/.local/share/yarp/robots/iCubSheffield01/plugins ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubSheffield01/plugins ||| checking /home/icub/.config/yarp/plugins ||| checking /home/icub/.local/share/yarp/plugins ||| checking /etc/yarp/plugins ||| checking /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins ||| checking /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins ||| checking /usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins [INFO]* Configuring cartesian controller * [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type left_v2) (numLinks 10) (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_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D 0.10774) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D 0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A 0.015) (D 0.15228) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A 0.023365) (D -0.1433) (alpha -90.0) (offset 105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D -0.02598) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10006 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10007 yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10008 yarp: Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10009 yarp: Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10010 yarp: Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10011 yarp: Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10012 [INFO]created device . See C++ class ServerCartesianController for documentation. [INFO]* Configuring cartesian controller * [INFO]Acquiring options for group GENERAL... [INFO]Acquiring options for group DRIVER_0... [INFO]Acquiring options for group DRIVER_1... [INFO]PLANT_MODEL group detected [INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type right_v2) (numLinks 10) (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_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D -0.10774) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D -0.1413) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A -0.015) (D -0.15228) (alpha -90.0) (offset -105.0) (min -37.0) (max 100.0)) (link_6 (A 0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A -0.023365) (D -0.1433) (alpha 90.0) (offset -105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D 0.02598) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10013 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10014 yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10015 yarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10016 yarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10017 yarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10018 yarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10019 [INFO]created device . See C++ class ServerCartesianController for documentation. [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]maxPosStep: Using default MaxPosStep=10 degs [INFO]Position Pids section found, new format [INFO]Position Pids successfully loaded [WARNING]Torque control parameters not found for part , skipping... [DEBUG]DEBUG parameters section NOT found, skipping... [DEBUG]IMPEDANCE parameters section NOT found, skipping... [WARNING]maxPosStep: Using default MaxPosStep=10 degs [INFO]created device . See C++ class yarp::dev::Cfw2Can for documentation. printing destinations and inverted map 0 1 2 2 4 3 [INFO]using ICUB_CANMASKS_STRICT_FILTER option [DEBUG]class 0 set [DEBUG]class 1 set [DEBUG]class 2 set [DEBUG]class 3 set [DEBUG]Can read/write buffers created, buffer size: 500 [INFO]CanBusResources::initialized correctly Registering new thread 0 out of 500 [INFO] [INFO]** [INFO]iCubInterface CAN protocol: 1.2 [INFO]Firmware report: [INFO]cfw2can [0] joint: 0 can_address: 1 board type: 4 (BLL) version: 1.62 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 1 can_address: 1 board type: 4 (BLL) version: 1.62 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 2 can_address: 2 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 3 can_address: 2 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 4 can_address: 3 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]cfw2can [0] joint: 5 can_address: 3 board type: 3 (4DC) version: 2.15 build: 80 CAN_protocol:1.2 [INFO]** [INFO] [DEBUG]CanBusMotionControl::open returned true

[INFO]created device . See C++ class yarp::dev::CanBusMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/head : no ROS initialization required [INFO]/icub/head initting YARP initialization yarp: Port /icub/head/rpc:i active at tcp://10.0.0.2:10020 yarp: Port /icub/head/command:i active at tcp://10.0.0.2:10021 yarp: Port /icub/head/state:o active at tcp://10.0.0.2:10022 yarp: Port /icub/head/stateExt:o active at tcp://10.0.0.2:10023 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]torque control disabled on this robot part. [INFO]IMPEDANCE section: parameters successfully loaded [DEBUG]EthSender is a RateThread with rate = 1 ms [DEBUG]EthReceiver is a RateThread with rate = 5 ms [WARNING]in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE=
[INFO] from BOARD 5, src LOCAL, adr 0, time 2s 668m 238u: (code 0x00000009, par16 0x0000 par64 0x0000000000000000) -> SYS: the board is running happily + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 5, src CAN1, adr 3, time 3s 168m 74u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 4, time 3s 168m 139u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 1, time 3s 168m 203u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 5 at 5 ms [DEBUG]ethResources::goToConfig() called for BOARD 5 MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 5 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 5 in cfg mode [DEBUG]ethResources::goToRun() called for BOARD 5 MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 5, src CAN1, adr 3, time 40s 503m 86u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 4, time 40s 503m 149u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 5, src CAN1, adr 1, time 40s 503m 213u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 5 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 5 in run mode [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/torso : no ROS initialization required [INFO]/icub/torso initting YARP initialization yarp: Port /icub/torso/rpc:i active at tcp://10.0.0.2:10024 yarp: Port /icub/torso/command:i active at tcp://10.0.0.2:10025 yarp: Port /icub/torso/state:o active at tcp://10.0.0.2:10026 yarp: Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10027 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [ERROR] from BOARD 5, src LOCAL, adr 0, time 40s 554m 498u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]torque control disabled on this robot part. [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 1, src CAN1, adr 1, time 3s 167m 71u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 1, src CAN1, adr 2, time 3s 167m 135u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 3, time 3s 167m 200u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 4, time 3s 167m 264u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 1, src CAN2, adr 13, time 9s 349m 28u: (code 0x0000001b, par16 0x62d0 par64 0x0000000001000101) -> SYS: the EOappCanSP could not parse a rx can frame. In par16 there is frame.id and frame.size (in most significant nibble). In par64 there is the frame.data + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 1 at 5 ms [DEBUG]ethResources::goToConfig() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 1 in cfg mode [DEBUG]ethResources::goToRun() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 1, src CAN1, adr 1, time 40s 930m 85u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 2, time 40s 930m 148u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 1, src CAN1, adr 3, time 40s 930m 211u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 1 in run mode [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] from BOARD 1, src CAN1, adr 4, time 40s 930m 275u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 2, src LOCAL, adr 0, time 2s 666m 609u: (code 0x00000009, par16 0x0000 par64 0x0000000000000000) -> SYS: the board is running happily + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 2, src CAN1, adr 3, time 3s 166m 79u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 3, time 3s 166m 143u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 4, time 3s 166m 207u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [INFO] from BOARD 2, src CAN1, adr 4, time 3s 166m 272u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 3s 166m 336u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 3s 166m 400u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 3s 166m 465u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 3s 166m 529u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 2 at 1 ms [DEBUG]ethResources::goToConfig() called for BOARD 2 [INFO] from BOARD 2, src CAN1, adr 7, time 3s 166m 593u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 7, time 3s 166m 658u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 8, time 3s 166m 723u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [[DEBUG]ethResources::goToConfig() successfully sent BOARD 2 in cfg mode ] from BOARD 1, src LOCAL, adr 0, time 40s 981m 483u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 8, time 3s 166m 788u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 2 [INFO] from BOARD 2, src CAN1, adr 3, time 41s 803m 85u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 3, time 41s 803m 148u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 4, time 41s 803m 211u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 2, src CAN1, adr 4, time 41s 803m 275u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 41s 803m 338u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 5, time 41s 803m 404u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 41s 803m 468u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 6, time 41s 803m 531u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 7, time 41s 803m 598u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 7, time 41s 803m 661u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 8, time 41s 803m 725u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 2, src CAN1, adr 8, time 41s 803m 789u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 41s 804m 39u: (code 0x0000000b, par16 0x031b par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 2 in run mode [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/left_arm : no ROS initialization required [INFO]/icub/left_arm initting YARP initialization yarp: Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10028 yarp: Port /icub/left_arm/command:i active at tcp://10.0.0.2:10029 yarp: Port /icub/left_arm/state:o active at tcp://10.0.0.2:10030 yarp: Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10031 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [DEBUG]POSITION_CONTROL: using metric_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]torque control disabled on this robot part. [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 3, src CAN1, adr 1, time 3s 168m 75u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 3, src CAN1, adr 2, time 3s 168m 140u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 3, time 3s 168m 204u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 4, time 3s 168m 268u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 3, src CAN2, adr 13, time 9s 345m 39u: (code 0x0000001b, par16 0x62d0 par64 0x0000000001000101) -> SYS: the EOappCanSP could not parse a rx can frame. In par16 there is frame.id and frame.size (in most significant nibble). In par64 there is the frame.data + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 3 at 5 ms [DEBUG]ethResources::goToConfig() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 3 in cfg mode [DEBUG]ethResources::goToRun() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 3, src CAN1, adr 1, time 42s 225m 85u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 2, time 42s 225m 148u: (code 0x00000033, par16 0x0001 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 3, src CAN1, adr 3, time 42s 225m 211u: (code 0x00000033, par16 0x0002 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 3 in run mode [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO] from BOARD 3, src CAN1, adr 4, time 42s 225m 275u: (code 0x00000033, par16 0x0003 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]POSITION_CONTROL: using machine_units [DEBUG]POSITION_CONTROL: using control law joint_pid_v1 [DEBUG]TORQUE_CONTROL: using metric_units [DEBUG]TORQUE_CONTROL: using control law joint_pid_v1 [INFO]IMPEDANCE section: parameters successfully loaded [INFO] from BOARD 4, src LOCAL, adr 0, time 2s 670m 759u: (code 0x00000009, par16 0x0000 par64 0x0000000000000000) -> SYS: the board is running happily + INFO = BUT QUITE SURELY THAT IS DUE to ROBOTINTERFACE JUST RESTARTED THUS RESETTING ITS SEQNUM [INFO] from BOARD 4, src CAN1, adr 3, time 3s 170m 78u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 3, time 3s 170m 143u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 4, time 3s 170m 207u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeReplies: from xml = 128 , board= 256 : correct xml file [WARNING]ethResources::verifyBoardTransceiver() detected different maxsizeROPframeOccasionals: from xml = 256 , board= 128 : correct xml file [INFO] from BOARD 4, src CAN1, adr 4, time 3s 170m 271u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 3s 170m 336u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 3s 170m 400u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 3s 170m 464u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 3s 170m 529u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::setTXrate() has succesfully set the TX rate of the transceiver of BOARD 4 at 1 ms [DEBUG]ethResources::goToConfig() called for BOARD 4 [INFO] from BOARD 4, src CAN1, adr 7, time 3s 170m 593u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 7, time 3s 170m 657u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 8, time 3s 170m 722u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 4 in cfg mode [INFO] from BOARD 4, src CAN1, adr 8, time 3s 170m 787u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 4 [INFO] from BOARD 4, src CAN1, adr 3, time 43s 97m 88u: (code 0x00000033, par16 0x0000 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 3, time 43s 97m 153u: (code 0x00000033, par16 0x0001 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 4, time 43s 97m 217u: (code 0x00000033, par16 0x0002 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [INFO] from BOARD 4, src CAN1, adr 4, time 43s 97m 280u: (code 0x00000033, par16 0x0003 par64 0x0000030119025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 43s 97m 347u: (code 0x00000033, par16 0x0004 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 5, time 43s 97m 410u: (code 0x00000033, par16 0x0005 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 43s 97m 473u: (code 0x00000033, par16 0x0006 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 6, time 43s 97m 536u: (code 0x00000033, par16 0x0007 par64 0x0000030128025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 7, time 43s 97m 603u: (code 0x00000033, par16 0x0008 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 7, time 43s 97m 667u: (code 0x00000033, par16 0x0009 par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 8, time 43s 97m 730u: (code 0x00000033, par16 0x000a par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [INFO] from BOARD 4, src CAN1, adr 8, time 43s 97m 794u: (code 0x00000033, par16 0x000b par64 0x0000030130025203) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 43s 98m 40u: (code 0x0000000b, par16 0x0319 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 4 in run mode [INFO]created device . See C++ class yarp::dev::embObjMotionControl for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]/icub/right_arm : no ROS initialization required [INFO]/icub/right_arm initting YARP initialization yarp: Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10032 yarp: Port /icub/right_arm/command:i active at tcp://10.0.0.2:10033 yarp: Port /icub/right_arm/state:o active at tcp://10.0.0.2:10034 yarp: Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10035 [INFO]created wrapper . See C++ class yarp::dev::ControlBoardWrapper2 for documentation. [WARNING] AnalogServer device:

AnalogServer is using deprecated parameters for port name! It should be: name: full name of the port, like /robotName/deviceId/sensorType:o period: refresh period of the broadcasted values in ms (optional, default 20ms)

[INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]left_arm : no ROS initialization required yarp: Port /icub/left_arm/analog:o/rpc:i active at tcp://10.0.0.2:10036 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [WARNING] AnalogServer device:

[INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]right_arm : no ROS initialization required yarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10037 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 1 [DEBUG]ethResources::goToRun() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 1 in run mode [INFO]created device . See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 1 [DEBUG]ethResources::goToRun() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 3 in run mode [INFO]created device . See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/left_arm") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) (deviceId left_arm) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10038 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name "/right_arm") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) (deviceId right_arm) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10039 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [DEBUG](period 10) (networks (FirstSetOfJoints)) (channels 3) (robotName icub) (name "/torso") (device virtualAnalogServer) (FirstSetOfJoints 0 2 0 2) (deviceId torso) [DEBUG]Using VirtualAnalogServer

yarp: Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10040 [INFO]created wrapper . See C++ class yarp::dev::VirtualAnalogWrapper for documentation. [WARNING] AnalogServer device:

[INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]left_hand : no ROS initialization required yarp: Port /icub/left_hand/analog:o/rpc:i active at tcp://10.0.0.2:10041 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [WARNING] AnalogServer device:

[INFO]No ROS group found in config file ... skipping ROS initialization. [INFO]right_hand : no ROS initialization required yarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10042 [INFO]created wrapper . See C++ class yarp::dev::AnalogWrapper for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 10 [ERROR] from BOARD 5, src LOCAL, adr 0, time 45s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 2 MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 2 in run mode [INFO]created device . See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG]embObjAnalogSensor::fromConfig() detects embObjAnalogSensor Using value of 10 [DEBUG]ethResources::goToRun() called for BOARD 4 MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 4 in run mode [INFO]created device . See C++ class yarp::dev::embObjAnalogSensor for documentation. [DEBUG]covariance size is 9 [DEBUG]Subdevice xsensmtx ||| finding paths [plugins] XSensMtX init check: device ok. [ERROR] from BOARD 1, src LOCAL, adr 0, time 45s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [INFO]created device . See C++ class yarp::dev::XSensMTx for documentation. [INFO]No ROS group found in config file ... skipping ROS initialization. yarp: Port /icub/inertial active at tcp://10.0.0.2:10043 [INFO]Server Inertial : no ROS initialization required [[INFO]created wrapper . See C++ class yarp::dev::ServerInertial for documentation. INFO]Server Inertial starting [DEBUG]Writing an Inertial measurement. [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_hand : 0 191 0 191 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_forearm : 192 575 0 383 [DEBUG]SkinWrapper part left_hand mapping port/taxels--> left_arm : 576 1343 0 767 yarp: Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10044 yarp: Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10045 yarp: Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10046 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]cfw2can [0] thread ran 597 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.01[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 6.08 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 6.08 seconds [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_hand : 0 191 0 191 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_forearm : 192 575 0 383 [DEBUG]SkinWrapper part right_hand mapping port/taxels--> right_arm : 576 1343 0 767 yarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10047 yarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10048 yarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10049 [INFO]created device . See C++ class skinWrapper for documentation. [DEBUG]SkinWrapper part torso mapping port/taxels--> torso : 0 767 0 767 yarp: Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10050 [INFO]created device . See C++ class skinWrapper for documentation. [WARNING]CanBusSkin id list contains more than one entry -> devices will be merged.
[INFO]created device . See C++ class yarp::dev::Cfw2Can for documentation. [INFO]Skin on can bus 9 uses NEW configuration version!!! yarp: Port /diagnostics/skin/errors:o active at tcp://10.0.0.2:10051 [INFO]created device . See C++ class CanBusSkin for documentation. [WARNING] from BOARD 2, src LOCAL, adr 0, time 46s 839m 95u: (code 0x0000000d, par16 0x01c4 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 46s 849m 189u: (code 0x0000000d, par16 0x0223 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 2 MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 2 in run mode [WARNING[INFO]created device . See C++ class EmbObjSkin for documentation. ] from BOARD 2, src LOCAL, adr 0, time 47s 390m 91u: (code 0x0000000d, par16 0x01c0 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 47s 415m 98u: (code 0x0000000d, par16 0x01c4 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 47s 425m 193u: (code 0x0000000d, par16 0x0223 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]ethResources::goToRun() called for BOARD 4 MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [DEBUG]ethResources::goToRun() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToRun() successfully sent BOARD 4 in run mode [WARNING] from BOARD 4, src LOCAL, adr 0, time 47s 967m 105u: (code 0x0000000d, par16 0x01cb par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]created device . See C++ class EmbObjSkin for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]created device . See C++ class yarp::dev::parametricCalibratorEth for documentation. [INFO]Entering action level 5 of phase startup yarp: Port /icub/left_arm/analog:o active at tcp://10.0.0.2:10052 yarp: Port /icub/right_arm/analog:o active at tcp://10.0.0.2:10053 yarp: Port /icub/left_hand/analog:o active at tcp://10.0.0.2:10054 yarp: Port /icub/right_hand/analog:o active at tcp://10.0.0.2:10055 yarp: Port /icub/skin/left_hand active at tcp://10.0.0.2:10056 yarp: Port /icub/skin/left_forearm active at tcp://10.0.0.2:10057 yarp: Port /icub/skin/left_arm active at tcp://10.0.0.2:10058 yarp: Port /icub/skin/right_hand active at tcp://10.0.0.2:10059 yarp: Port /icub/skin/right_forearm active at tcp://10.0.0.2:10060 yarp: Port /icub/skin/right_arm active at tcp://10.0.0.2:10061 yarp: Port /icub/skin/torso active at tcp://10.0.0.2:10062 [INFO]All actions for action level 5 of startup phase started. Waiting for unfinished actions. [INFO]All actions for action level 5 of startup phase finished. [INFO]Entering action level 10 of phase startup [DEBUG]left_arm_calibrator starting calibration of device left_arm_mc_wrapper [INFO]Left_Arm_Calibrator : starting calibration [DEBUG]right_arm_calibrator starting calibration of device right_arm_mc_wrapper [DEBUG]torso_calibrator starting calibration of device torso_mc_wrapper [INFO]Torso_Calibrator : starting calibration [ERROR]Left_Arm_Calibrator : detected an hardware fault on joint 3 before starting the calibration procedure! [ERROR][DEBUGTorso_Calibrator : detected an hardware fault on joint 0 before starting the calibration procedure! [ERROR]Left_Arm_Calibrator : Joints calibration order: ( 0 1 2 3 ) ( 4 ) ( 5 6 7 ) ( 8 9 11 13 ) ( 10 12 14 15 )
Registering new thread 0 out of 500 [[INFO]All actions for action level 10 of startup phase started. Waiting for unfinished actions. [ [ERROR]Torso_Calibrator : detected an hardware fault on joint 2 before starting the calibration procedure! [DEBUG]Torso_Calibrator : Joints calibration order: ( 0 1 2 )
Registering new thread 0 out of 500 INFO]Right_Arm_Calibrator : starting calibration [DEBUG]Right_Arm_Calibrator : Joints calibration order: ( 0 1 2 3 ) ( 4 ) ( 5 6 7 ) ( 8 9 11 13 ) ( 10 12 14 15 )
Registering new thread 0 out of 500 DEBUG]head_calibrator starting calibration of device head_mc_wrapper [INFO]Head_Calibrator : starting calibration [DEBUG]Head_Calibrator : Joints calibration order: ( 0 1 2 ) ( 3 ) ( 4 ) ( 5 )
Registering new thread 1 out of 500 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 0 with params: 3 32767.9 10 20528.1 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 1 with params: 3 32767.9 10 29864.1 [DEBUG]Torso_Calibrator : Calling calibrateJoint on joint 2 with params: 3 32767.9 10 5968.1 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 0 with params: 3 38229.2 10 30422.1 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 1 with params: 3 51882.5 10 43582 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 2 with params: 3 32767.9 10 32642.1 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 0 with params: 3 27306.6 10 41839.9 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 3 with params: 3 24575.9 10 25602.1 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 1 with params: 3 13653.3 10 48158 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 2 with params: 3 32767.9 10 55783.9 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 3 with params: 3 40959.9 10 5904.1 [WARNING] from BOARD 5, src LOCAL, adr 0, time 48s 278m 346u: (code 0x0000000d, par16 0x02b8 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 3, src LOCAL, adr 0, time 48s 284m 330u: (code 0x0000000d, par16 0x02af par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 48s 285m 227u: (code 0x0000000d, par16 0x0246 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Torso_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 2.60498 [DEBUG]Torso_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -179 [DEBUG]Torso_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: -6.89392 [DEBUG]Left_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 10.5908 [DEBUG]Left_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 14.3728 [DEBUG]Left_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 18.5457 [DEBUG]Right_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 6.79028 [DEBUG]Left_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 182 [DEBUG]Right_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 11.6859 [DEBUG]Right_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 24.3114 [DEBUG]Right_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 36.6561 [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 2 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 0 with params: 3 2047.5 10 3642.5 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 1 with params: 3 2047.5 10 3213.5 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 2 with params: 3 2047.5 10 3789.5 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA:0 [DEBUG]cfw2can [0] msg from board 1: PWM ENA CH0 [DEBUG]cfw2can [0] msg from board 1: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 1: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA CH1 [DEBUG]cfw2can [0] msg from board 1: PWM ENA COUPLED:0 & 1 [DEBUG]Head_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -2.57143 [DEBUG]Head_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -2.20879 [DEBUG]Head_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 0.681319 [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 1 : Calibration ended, going to zero!

[ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 1 : Calibration ended, going to zero!

[DEBUG]Head_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 ) [DEBUG]Head_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 0 (desired pos: -30 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 1 (desired pos: 30 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 3 (desired pos: 45 desired speed: 10 ) [ERROR] from BOARD 5, src LOCAL, adr 0, time 50s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [ERROR] from BOARD 1, src LOCAL, adr 0, time 50s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.813 des: 0.000 -> delta: 0.813 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.813 over: 2.000 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 0.429 des: 0.000 -> delta: 0.429 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.429 over: 2.000 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.110 des: 0.000 -> delta: 0.110 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.110 over: 2.000 [DEBUG]Head_Calibrator : set 1 : Reached zero position!

[ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 3 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 2.396 des: -30.000 -> delta: 32.396 threshold: 2.000 output: 1186.000 mode: pos [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 3 with params: 3 2047.5 10 3763.5 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA:1 [DEBUG]Head_Calibrator : set 2 j 3 : Calibrating... enc values AFTER calib: 0 [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -4.553 des: -30.000 -> delta: 25.447 threshold: 2.000 output: 1400.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES! [DEBUG]cfw2can [0] printing boards infos:

[WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 12.08 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 12.08 seconds [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -11.057 des: -30.000 -> delta: 18.943 threshold: 2.000 output: 1400.000 mode: pos [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 2 : Calibration ended, going to zero!

[ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -17.121 des: -30.000 -> delta: 12.879 threshold: 2.000 output: 1400.000 mode: pos [DEBUG]Head_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 10 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -22.746 des: -30.000 -> delta: 7.254 threshold: 2.000 output: 1400.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -28.113 des: -30.000 -> delta: 1.887 threshold: 2.000 output: 1400.000 mode: pos [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -0.088 des: 0.000 -> delta: 0.088 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.088 over: 2.000 [DEBUG]Head_Calibrator : set 2 : Reached zero position!

[ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 4 [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 4 with params: 0 900 20 0 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]Head_Calibrator : set 3 j 4 : Calibrating... enc values AFTER calib: 54.0833 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -30.398 des: -30.000 -> delta: 0.398 threshold: 2.000 output: -105.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.398 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 15.295 des: 30.000 -> delta: 14.705 threshold: 2.000 output: -1400.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 20.832 des: 30.000 -> delta: 9.168 threshold: 2.000 output: -1400.000 mode: pos [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 25.139 des: 30.000 -> delta: 4.861 threshold: 2.000 output: -1400.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR] from BOARD 5, src LOCAL, adr 0, time 55s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 29.006 des: 30.000 -> delta: 0.994 threshold: 2.000 output: -1400.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.994 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.048 des: 0.000 -> delta: 0.048 threshold: 2.000 output: -809.000 mode: pos [ERROR] from BOARD 1, src LOCAL, adr 0, time 55s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 3 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.224 des: 0.000 -> delta: 0.224 threshold: 2.000 output: 854.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.224 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 44.830 des: 45.000 -> delta: 0.170 threshold: 2.000 output: -328.000 mode: pos [DEBUG]Head_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 10 ) [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 44.918 des: 45.000 -> delta: 0.082 threshold: 2.000 output: -373.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.082 over: 2.000 [DEBUG]Right_Arm_Calibrator : set 1 : Reached zero position!

Registering new thread 0 out of 500 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 4 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 4 with params: 0 500 -20 0 [INFO]from BOARD 4, src CAN1, adr 3, time 56s 894m 177u: CAN PRINT MESSAGE[id 0] -> CMODE SET:32 [INFO]from BOARD 4, src CAN1, adr 3, time 56s 894m 313u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [DEBUG]Right_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 77.5269 [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]cfw2can [0] thread ran 525 times, req.dT:10[ms], av.dT:453953658.29[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES! [DEBUG]cfw2can [0] printing boards infos:

[WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 238325674.18 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 238325674.18 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 238325668.55 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 238325668.55 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 238325667.35 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 238325667.35 seconds [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 48.233 des: 0.000 -> delta: 48.233 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 43.086 des: 0.000 -> delta: 43.086 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 35.503 des: 0.000 -> delta: 35.503 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 2 : Calibration ended, going to zero!

[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 26.343 des: 0.000 -> delta: 26.343 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 17.061 des: 0.000 -> delta: 17.061 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 9.135 des: 0.000 -> delta: 9.135 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [ERROR] from BOARD 5, src LOCAL, adr 0, time 60s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.786 des: 0.000 -> delta: 51.786 threshold: 2.000 output: 65170.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.315 des: 0.000 -> delta: 4.315 threshold: 2.000 output: 0.000 mode: pos [ERROR] from BOARD 1, src LOCAL, adr 0, time 60s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.380 des: 0.000 -> delta: 24.380 threshold: 2.000 output: 65182.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.921 des: 0.000 -> delta: 2.921 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.594 des: 0.000 -> delta: 4.594 threshold: 2.000 output: 65259.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.535 des: 0.000 -> delta: 2.535 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.026 des: 0.000 -> delta: 0.026 threshold: 2.000 output: 65453.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.510 des: 0.000 -> delta: 2.510 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.020 des: 0.000 -> delta: 0.020 threshold: 2.000 output: 65.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.020 over: 2.000 [DEBUG]Right_Arm_Calibrator : set 2 : Reached zero position!

[DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 5 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 6 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 7 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.506 des: 0.000 -> delta: 2.506 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 5 with params: 3 2047.5 10 1702.5 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 6 with params: 3 2047.5 10 1172.5 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 7 with params: 3 1420 100 0 [INFO]from BOARD 4, src CAN1, adr 3, time 62s 811m 196u: CAN PRINT MESSAGE[id 2] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 3, time 62s 811m 340u: CAN PRINT MESSAGE[id 3] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 3, time 62s 812m 397u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 3, time 62s 812m 535u: CAN PRINT MESSAGE[id 2] -> PWM ENA:3 [INFO]from BOARD 4, src CAN1, adr 3, time 62s 812m 610u: CAN PRINT MESSAGE[id 0] -> PWM ENA COUPLED:1 & 2 [WARNING] from BOARD 4, src LOCAL, adr 0, time 62s 812m 729u: (code 0x0000000b, par16 0x0284 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 4, src LOCAL, adr 0, time 62s 813m 122u: (code 0x0000000d, par16 0x013e par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Right_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: 23.0493 [DEBUG]Right_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib: 33.8763 [DEBUG]Right_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib: 15.3364 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.506 des: 0.000 -> delta: 2.506 threshold: 2.000 output: 0.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 238325680.19 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 238325680.19 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 238325674.56 seconds [WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 238325674.56 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 238325673.36 seconds [WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 238325673.36 seconds [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.505 des: 0.000 -> delta: 2.505 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 3 : Calibration ended, going to zero!

[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.503 des: 0.000 -> delta: 2.503 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 15 desired speed: 100 ) [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.503 des: 0.000 -> delta: 2.503 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.503 des: 0.000 -> delta: 2.503 threshold: 2.000 output: 0.000 mode: pos [ERROR] from BOARD 5, src LOCAL, adr 0, time 65s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.615 des: 0.000 -> delta: 0.615 threshold: 2.000 output: 65157.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.503 des: 0.000 -> delta: 2.503 threshold: 2.000 output: 0.000 mode: pos [ERROR] from BOARD 1, src LOCAL, adr 0, time 65s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.439 des: 0.000 -> delta: 0.439 threshold: 2.000 output: 65063.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.439 over: 2.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.181 des: 0.000 -> delta: 0.181 threshold: 90.000 output: 65506.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.503 des: 0.000 -> delta: 2.503 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.181 des: 0.000 -> delta: 0.181 threshold: 90.000 output: 65423.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 0.181 over: 90.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 15.336 des: 15.000 -> delta: 0.336 threshold: 90.000 output: 65239.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.503 des: 0.000 -> delta: 2.503 threshold: 2.000 output: 0.000 mode: pos [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 15.001 des: 15.000 -> delta: 0.001 threshold: 90.000 output: 65196.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 0.001 over: 90.000 [DEBUG]Right_Arm_Calibrator : set 3 : Reached zero position!

[DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 8 [WARNING] from BOARD 4, src LOCAL, adr 0, time 67s 213m 197u: (code 0x0000000d, par16 0x0226 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 9 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 11 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 13 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.503 des: 0.000 -> delta: 2.503 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 8 with params: 3 1256.7 10 0 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 9 with params: 4 255 10 6000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 11 with params: 4 255 10 6000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 13 with params: 4 255 10 6000 [INFO]from BOARD 4, src CAN1, adr 5, time 67s 337m 176u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 4, src CAN1, adr 5, time 67s 337m 313u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [INFO]from BOARD 4, src CAN1, adr 5, time 67s 338m 179u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 5, time 67s 338m 315u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1 [WARNING] from BOARD 4, src LOCAL, adr 0, time 67s 338m 612u: (code 0x0000000b, par16 0x020a par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 5, time 67s 339m 106u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 5, time 67s 339m 170u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3 [INFO]from BOARD 4, src CAN1, adr 7, time 67s 339m 306u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 7, time 67s 339m 379u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1 [DEBUG]Right_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib: 7.09653 [DEBUG]Right_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib: 25.5346 [DEBUG]Right_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib: -0.351562 [DEBUG]Right_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib: -0.414951 [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.503 des: 0.000 -> delta: 2.503 threshold: 2.000 output: 0.000 mode: pos [ERROR]Head_Calibrator : checkGoneToZeroThreshold: joint 4 Timeout while going to zero! [ERROR]Head_Calibrator : set 3 : some axis got timeout while reaching zero position... disabling this set of axes

[DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [ERROR]cfw2can [0] board 3 FAULT OVERLOAD AXIS 0 [ERROR]cfw2can [0] board 3 FAULT OVERLOAD AXIS 1 [DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 5 [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator : Calling calibrateJoint on joint 5 with params: 0 900 20 0 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 [DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]Head_Calibrator : set 4 j 5 : Calibrating... enc values AFTER calib: -23.214 [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 4 : Calibration ended, going to zero!

[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 8 (desired pos: 45 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 9 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 11 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 13 (desired pos: 0 desired speed: 100 ) [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES! [DEBUG]cfw2can [0] printing boards infos:

[WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 238325686.20 seconds [WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 238325686.20 seconds [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Head_Calibrator : calib joint ended [DEBUG]Head_Calibrator : set 4 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 45.038 des: 45.000 -> delta: 0.038 threshold: 1000.000 output: 65488.000 mode: pos [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [ERROR] from BOARD 5, src LOCAL, adr 0, time 70s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Head_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 10 ) [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 45.082 des: 45.000 -> delta: 0.082 threshold: 1000.000 output: 65509.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 0.082 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 0.837 des: 0.000 -> delta: 0.837 threshold: 1000.000 output: 65516.000 mode: pos [ERROR] from BOARD 1, src LOCAL, adr 0, time 70s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 0.837 des: 0.000 -> delta: 0.837 threshold: 1000.000 output: 65490.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 0.837 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 69.000 mode: pos [ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function [ERROR]Torso_Calibrator : Timeout while calibrating 0

[ERROR]Torso_Calibrator : set 1 : Calibration went wrong! Disabling axes and keeping safe pid limit

[ERROR]Unable to set the control mode of board 5 joint 2 in HW_FAULT [WARNING] from BOARD 5, src LOCAL, adr 0, time 71s 485m 399u: (code 0x0000000d, par16 0x02e9 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [ERROR]Unable to set the control mode of board 5 joint 0 in HW_FAULT [WARNING] from BOARD 5, src LOCAL, adr 0, time 71s 491m 399u: (code 0x0000000d, par16 0x02e9 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [ERROR]Unable to set the control mode of board 5 joint 1 in HW_FAULT [WARNING[DEBUG]torso_calibrator finished calibration of device torso_mc_wrapper from BOARD 5, src LOCAL, adr 0, time 71s 496m 400u: (code 0x0000000d, par16 0x02ea par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: -0.021 des: 0.000 -> delta: 0.021 threshold: 2.000 output: 0.000 mode: pos [DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.021 over: 2.000 [DEBUG]Head_Calibrator : set 4 : Reached zero position!

[DEBUG]head_calibrator finished calibration of device head_mc_wrapper [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 79.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.352 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.354 des: 0.000 -> delta: 0.354 threshold: 1000.000 output: 50.000 mode: pos [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.354 des: 0.000 -> delta: 0.354 threshold: 1000.000 output: 50.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.354 over: 1000.000 [DEBUG]Right_Arm_Calibrator : set 4 : Reached zero position!

[DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 10 [WARNING] from BOARD 4, src LOCAL, adr 0, time 72s 339m 400u: (code 0x0000000d, par16 0x02ef par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 12 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 14 [DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 15 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 10 with params: 4 35 30 6600 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 12 with params: 4 30 10 -7000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 14 with params: 4 0 10 7000 [DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint 15 with params: 4 765 10 14000 [INFO]from BOARD 4, src CAN1, adr 5, time 72s 460m 194u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 5, time 72s 460m 335u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2 [INFO]from BOARD 4, src CAN1, adr 7, time 72s 461m 182u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 7, time 72s 461m 416u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [WARNING] from BOARD 4, src LOCAL, adr 0, time 72s 461m 606u: (code 0x0000000b, par16 0x0205 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 4, src CAN1, adr 7, time 72s 462m 195u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2 [INFO]from BOARD 4, src CAN1, adr 7, time 72s 462m 261u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3 [INFO]from BOARD 4, src CAN1, adr 7, time 72s 462m 405u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 4, src CAN1, adr 7, time 72s 462m 472u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0 [WARNING] from BOARD 4, src LOCAL, adr 0, time 72s 462m 586u: (code 0x0000000b, par16 0x01f0 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Right_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib: 6.47958 [DEBUG]Right_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib: 3.46997 [DEBUG]Right_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib: 0.151367 [DEBUG]Right_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib: 0.961143 [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [ERROR] from BOARD 5, src LOCAL, adr 0, time 75s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 75s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR]unable to complete calibration: joint 3 in 'hw_fault status' inside doneRaw() function [ERROR]Left_Arm_Calibrator : Timeout while calibrating 3

[ERROR]Left_Arm_Calibrator : set 1 : Calibration went wrong! Disabling axes and keeping safe pid limit

[WARNING] from BOARD 1, src LOCAL, adr 0, time 77s 815m 278u: (code 0x0000000d, par16 0x027b par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 77s 820m 278u: (code 0x0000000d, par16 0x027b par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [ERROR]Unable to set the control mode of board 1 joint 3 in HW_FAULT Registering new thread 0 out of 500 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 4 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 4 with params: 0 500 20 0 [INFO]from BOARD 2, src CAN1, adr 3, time 77s 938m 177u: CAN PRINT MESSAGE[id 0] -> CMODE SET:32 [INFO]from BOARD 2, src CAN1, adr 3, time 77s 939m 172u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [DEBUG]Left_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 84.4427 [DEBUG]Right_Arm_Calibrator : calib joint ended [DEBUG]Right_Arm_Calibrator : set 5 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 10 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 12 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 14 (desired pos: 0 desired speed: 100 ) [DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 15 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 2 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 71.376 des: 0.000 -> delta: 71.376 threshold: 1000.000 output: 944.000 mode: pos [ERROR] from BOARD 5, src LOCAL, adr 0, time 80s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 ) [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 8.984 des: 0.000 -> delta: 8.984 threshold: 1000.000 output: 661.000 mode: pos [ERROR] from BOARD 1, src LOCAL, adr 0, time 80s 929m 485u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 3.969 des: 0.000 -> delta: 3.969 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 3.969 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: -0.079 des: 0.000 -> delta: 0.079 threshold: 1000.000 output: 65391.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.725 des: 0.000 -> delta: 51.725 threshold: 2.000 output: 362.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: -0.079 des: 0.000 -> delta: 0.079 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 0.079 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 0.492 des: 0.000 -> delta: 0.492 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.326 des: 0.000 -> delta: 24.326 threshold: 2.000 output: 356.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 0.492 des: 0.000 -> delta: 0.492 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 0.492 over: 1000.000 [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 0.005 des: 0.000 -> delta: 0.005 threshold: 1000.000 output: 65398.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.572 des: 0.000 -> delta: 4.572 threshold: 2.000 output: 265.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 0.005 des: 0.000 -> delta: 0.005 threshold: 1000.000 output: 65398.000 mode: pos [DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 0.005 over: 1000.000 [DEBUG]Right_Arm_Calibrator : set 5 : Reached zero position!

[DEBUG]right_arm_calibrator finished calibration of device right_arm_mc_wrapper [WARNING] from BOARD 4, src LOCAL, adr 0, time 82s 762m 319u: (code 0x0000000d, par16 0x029f par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.020 des: 0.000 -> delta: 0.020 threshold: 2.000 output: 107.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.020 des: 0.000 -> delta: 0.020 threshold: 2.000 output: 65481.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.020 over: 2.000 [DEBUG]Left_Arm_Calibrator : set 2 : Reached zero position!

[DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 5 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 6 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 7 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 5 with params: 3 2047.5 10 2282.5 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 6 with params: 3 2047.5 10 1179.5 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 7 with params: 3 1345 100 0 [INFO]from BOARD 2, src CAN1, adr 3, time 83s 857m 175u: CAN PRINT MESSAGE[id 2] -> CMODE SET:1 [INFO]from BOARD 2, src CAN1, adr 3, time 83s 857m 322u: CAN PRINT MESSAGE[id 3] -> CMODE SET:1 [WARNING] from BOARD 2, src LOCAL, adr 0, time 83s 857m 671u: (code 0x0000000b, par16 0x024f par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 3, time 83s 858m 104u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1 [INFO]from BOARD 2, src CAN1, adr 3, time 83s 858m 237u: CAN PRINT MESSAGE[id 2] -> PWM ENA:3 [INFO]from BOARD 2, src CAN1, adr 3, time 83s 858m 306u: CAN PRINT MESSAGE[id 0] -> PWM ENA COUPLED:1 & 2 [DEBUG]Left_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: 14.2548 [DEBUG]Left_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib: 39.8529 [DEBUG]Left_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib: 13.7255 [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 3 : Calibration ended, going to zero!

[ERROR] from BOARD 5, src LOCAL, adr 0, time 85s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 15 desired speed: 100 ) [ERROR] from BOARD 1, src LOCAL, adr 0, time 85s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 1.588 des: 0.000 -> delta: 1.588 threshold: 2.000 output: 512.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.797 des: 0.000 -> delta: 0.797 threshold: 2.000 output: 423.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.797 over: 2.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 1.582 des: 0.000 -> delta: 1.582 threshold: 90.000 output: 400.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 1.143 des: 0.000 -> delta: 1.143 threshold: 90.000 output: 416.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 1.143 over: 90.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 14.121 des: 15.000 -> delta: 0.879 threshold: 90.000 output: 65444.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 13.726 des: 15.000 -> delta: 1.274 threshold: 90.000 output: 65353.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 1.274 over: 90.000 [DEBUG]Left_Arm_Calibrator : set 3 : Reached zero position!

[DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 8 [WARNING] from BOARD 2, src LOCAL, adr 0, time 88s 259m 117u: (code 0x0000000d, par16 0x01da par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 9 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 11 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 13 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 8 with params: 3 301 10 0 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 9 with params: 4 255 10 6000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 11 with params: 4 255 10 6000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 13 with params: 4 255 10 6000 [INFO]from BOARD 2, src CAN1, adr 5, time 88s 382m 177u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1 [INFO]from BOARD 2, src CAN1, adr 5, time 88s 382m 317u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0 [INFO]from BOARD 2, src CAN1, adr 5, time 88s 383m 252u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 5, time 88s 383m 396u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1 [INFO]from BOARD 2, src CAN1, adr 5, time 88s 383m 615u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [WARNING] from BOARD 2, src LOCAL, adr 0, time 88s 383m 815u: (code 0x0000000b, par16 0x02d8 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 88s 384m 210u: (code 0x0000000d, par16 0x0142 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 5, time 88s 384m 298u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3 [INFO]from BOARD 2, src CAN1, adr 7, time 88s 384m 411u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1 [INFO]from BOARD 2, src CAN1, adr 7, time 88s 384m 483u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [DEBUG]Left_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib: 7.55424 [DEBUG]Left_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib: 88.8266 [DEBUG]Left_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib: 0 [DEBUG]Left_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib: 1.42273 [ERROR] from BOARD 5, src LOCAL, adr 0, time 90s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 90s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 4 : Calibration ended, going to zero!

[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 8 (desired pos: 45 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 9 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 11 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 13 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 7.615 des: 45.000 -> delta: 37.385 threshold: 1000.000 output: 64203.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 7.615 des: 45.000 -> delta: 37.385 threshold: 1000.000 output: 64203.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 37.385 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 88.437 des: 0.000 -> delta: 88.437 threshold: 1000.000 output: 64203.000 mode: pos [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 88.827 des: 0.000 -> delta: 88.827 threshold: 1000.000 output: 64203.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 88.827 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 16.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: -0.352 des: 0.000 -> delta: 0.352 threshold: 1000.000 output: 26.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.352 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 65395.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 65395.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.000 over: 1000.000 [DEBUG]Left_Arm_Calibrator : set 4 : Reached zero position!

[DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 10 [WARNING] from BOARD 2, src LOCAL, adr 0, time 94s 583m 318u: (code 0x0000000d, par16 0x02a0 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 12 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 14 [DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 15 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 10 with params: 4 20 30 -6600 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 12 with params: 4 25 10 7000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 14 with params: 4 25 10 -7000 [DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint 15 with params: 4 765 10 -14000 [INFO]from BOARD 2, src CAN1, adr 5, time 94s 705m 253u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 5, time 94s 705m 322u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2 [INFO]from BOARD 2, src CAN1, adr 7, time 94s 706m 105u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 7, time 94s 706m 240u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0 [INFO]from BOARD 2, src CAN1, adr 7, time 94s 706m 382u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65 [INFO]from BOARD 2, src CAN1, adr 7, time 94s 706m 518u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2 [INFO]from BOARD 2, src CAN1, adr 7, time 94s 706m 662u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65 [WARNING] from BOARD 2, src LOCAL, adr 0, time 94s 706m 726u: (code 0x0000000b, par16 0x0284 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 2, src LOCAL, adr 0, time 94s 707m 118u: (code 0x0000000d, par16 0x013e par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 7, time 94s 707m 271u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3 [DEBUG]Left_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib: 44.6112 [DEBUG]Left_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib: 2.27562 [DEBUG]Left_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib: 11.4162 [DEBUG]Left_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib: -0.658936 [ERROR] from BOARD 5, src LOCAL, adr 0, time 95s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 95s 929m 487u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Left_Arm_Calibrator : calib joint ended [DEBUG]Left_Arm_Calibrator : set 5 : Calibration ended, going to zero!

[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 10 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 12 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 14 (desired pos: 0 desired speed: 100 ) [DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 15 (desired pos: 0 desired speed: 100 ) [ERROR] from BOARD 5, src LOCAL, adr 0, time 100s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 100s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 90.836 des: 0.000 -> delta: 90.836 threshold: 1000.000 output: 64203.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 82.080 des: 0.000 -> delta: 82.080 threshold: 1000.000 output: 64203.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 82.432 des: 0.000 -> delta: 82.432 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 82.432 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: -0.537 des: 0.000 -> delta: 0.537 threshold: 1000.000 output: 82.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: -0.537 des: 0.000 -> delta: 0.537 threshold: 1000.000 output: 62.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 0.537 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 12.822 des: 0.000 -> delta: 12.822 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 12.822 des: 0.000 -> delta: 12.822 threshold: 1000.000 output: 0.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 12.822 over: 1000.000 [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: -0.659 des: 0.000 -> delta: 0.659 threshold: 1000.000 output: 65406.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: -0.659 des: 0.000 -> delta: 0.659 threshold: 1000.000 output: 65390.000 mode: pos [DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 0.659 over: 1000.000 [DEBUG]Left_Arm_Calibrator : set 5 : Reached zero position!

[DEBUG]left_arm_calibrator finished calibration of device left_arm_mc_wrapper [INFO]All actions for action level 10 of startup phase finished. [INFO]Entering action level 15 of phase startup [INFO]* Attaching drivers to cartesian controller icub/cartesianController/left_arm * [INFO]Received list of 2 driver(s) [INFO]Acquiring info on driver torso... [INFO]driver torso successfully open [INFO]Acquiring info on driver left_arm... [INFO]driver left_arm successfully open [INFO]icub/cartesianController/left_arm: IControlMode2 available [INFO]icub/cartesianController/left_arm: IEncodersTimed interface will be used [INFO]icub/cartesianController/left_arm: IPidControl available [INFO]icub/cartesianController/left_arm: IPositionDirect available [INFO]icub/cartesianController/left_arm: IVelocityControl2 available [INFO]icub/cartesianController/left_arm: IPositionDirect interface will be used [INFO]icub/cartesianController/left_arm: multiple joints control will be used [INFO]icub/cartesianController/left_arm: aligning joints bounds ... [INFO]part #0: torso Registering new thread 1 out of 500 [INFO]joint #0: [-19.9896, 69.9884] deg [WARNING] from BOARD 2, src LOCAL, adr 0, time 103s 808m 316u: (code 0x0000000d, par16 0x02a1 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]joint #1: [-29.9869, 29.9874] deg [INFO]joint #2: [-49.9866, 49.989] deg [INFO]part #1: left_arm Registering new thread 1 out of 500 [INFO]joint #3: [-95.4877, 9.98657] deg [INFO]joint #4: [0.0136719, 160.788] deg [INFO]joint #5: [-36.9902, 79.9867] deg [INFO]joint #6: [15.0133, 105.991] deg Registering new thread 1 out of 500 [INFO]joint #7: [-59.989, 59.9872] deg [INFO]joint #8: [-79.9915, 24.9884] deg [INFO]joint #9: [-19.9896, 24.9884] deg [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]Starting icub/cartesianController/left_arm at 10 ms [INFO]icub/cartesianController/left_arm started successfully [INFO]* Attaching drivers to cartesian controller icub/cartesianController/right_arm * [INFO]Received list of 2 driver(s) [INFO]Acquiring info on driver torso... [INFO]driver torso successfully open [INFO]Acquiring info on driver right_arm... [INFO]driver right_arm successfully open [INFO]icub/cartesianController/right_arm: IControlMode2 available [INFO]icub/cartesianController/right_arm: IEncodersTimed interface will be used [INFO]icub/cartesianController/right_arm: IPidControl available [INFO]icub/cartesianController/right_arm: IPositionDirect available [INFO]icub/cartesianController/right_arm: IVelocityControl2 available [INFO]icub/cartesianController/right_arm: IPositionDirect interface will be used [INFO]icub/cartesianController/right_arm: multiple joints control will be used [INFO]icub/cartesianController/right_arm: aligning joints bounds ... [INFO]part #0: torso [INFO]joint #0: [-19.9896, 69.9884] deg [INFO]joint #1: [-29.9869, 29.9874] deg [INFO]joint #2: [-49.9866, 49.989] deg [INFO]part #1: right_arm Registering new thread 1 out of 500 [INFO]joint #3: [-95.4869, 9.9873] deg [INFO]joint #4: [0.0129395, 160.787] deg [INFO]joint #5: [-36.9868, 79.9901] deg [INFO]joint #6: [15.0131, 105.991] deg Registering new thread 1 out of 500 [INFO]joint #7: [-59.989, 59.9872] deg [INFO]joint #8: [-79.9915, 24.9884] deg [INFO]joint #9: [-19.9896, 24.9884] deg [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [INFO]Starting icub/cartesianController/right_arm at 10 ms [INFO]icub/cartesianController/right_arm started successfully [INFO]All actions for action level 15 of startup phase started. Waiting for unfinished actions. [INFO]All actions for action level 15 of startup phase finished. [INFO]startup phase finished. [INFO]run phase starting... [DEBUG]robot-interface running happily [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [ERROR] from BOARD 5, src LOCAL, adr 0, time 105s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 105s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [ERROR] from BOARD 5, src LOCAL, adr 0, time 110s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 110s 929m 485u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [ERROR] from BOARD 5, src LOCAL, adr 0, time 115s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 115s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [ERROR] from BOARD 5, src LOCAL, adr 0, time 120s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 120s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [ERROR] from BOARD 5, src LOCAL, adr 0, time 125s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 125s 929m 486u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [ERROR] from BOARD 5, src LOCAL, adr 0, time 130s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 130s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [ERROR] from BOARD 5, src LOCAL, adr 0, time 135s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 135s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [ERROR] from BOARD 5, src LOCAL, adr 0, time 140s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 140s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [try 1 of 3] Trying to shut down [WARNING]Interrupt # 1 # received. [INFO]Interrupt received. Stopping all running threads. Module closing [INFO]interrupt1 phase starting... [INFO]Entering action level 1 of phase interrupt1 [DEBUG]left_arm_calibrator starting park device left_arm_mc_wrapper [DEBUG[]right_arm_calibrator starting park device right_arm_mc_wrapper ERROR]Left_Arm_Calibrator : joint 0 is idle, skipping park

[DEBUG]torso_calibrator starting park device torso_mc_wrapper [ERRORERROR]Left_Arm_Calibrator : joint 1 is idle, skipping park [ERROR]Left_Arm_Calibrator : joint 2 is idle, skipping park [ERROR]Left_Arm_Calibrator : joint 3 has an hardware fault, skipping park Registering new thread 2 out of 500 ]Torso_Calibrator : joint 0 has an hardware fault, skipping park [ERROR]Torso_Calibrator : joint 1 has an hardware fault, skipping park [ERROR]Torso_Calibrator : joint 2 has an hardware fault, skipping park Registering new thread 2 out of 500 [DEBUG]positionMoveRaw: Deprecated automatic switch to VOCAB_CM_POSITION, board 5 joint 2 Registering new thread 2 out of 500 [DEBUG]head_calibrator starting park device head_mc_wrapper [INFO]All actions for action level 1 of interrupt1 phase started. Waiting for unfinished actions. [ERROR]Unable to set the control mode of board 5 joint 2 in HW_FAULT [DEBUG]positionMoveRaw: Deprecated automatic switch to VOCAB_CM_POSITION, board 5 joint 0 [WARNING] from BOARD 3, src LOCAL, adr 0, time 145s 182m 208u: (code 0x0000000d, par16 0x0235 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [ERROR]Unable to set the control mode of board 5 joint 0 in HW_FAULT [DEBUG]positionMoveRaw: Deprecated automatic switch to VOCAB_CM_POSITION, board 5 joint 1 [WARNING] from BOARD 3, src LOCAL, adr 0, time 145s 188m 209u: (code 0x0000000d, par16 0x0236 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Head_Calibrator : Moving to park position, joint: 0 Registering new thread 2 out of 500 [ERROR]Unable to set the control mode of board 5 joint 1 in HW_FAULT [WARNING] from BOARD 3, src LOCAL, adr 0, time 145s 192m 208u: (code 0x0000000d, par16 0x0235 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE Registering new thread 2 out of 500 [DEBUG]Torso_Calibrator : Park completed [ERROR]Unable to set the control mode of board 5 joint 2 in HW_FAULT [WARNING] from BOARD 5, src LOCAL, adr 0, time 145s 208m 400u: (code 0x0000000d, par16 0x02ea par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [ERROR]Unable to set the control mode of board 5 joint 0 in HW_FAULT [WARNING] from BOARD 5, src LOCAL, adr 0, time 145s 213m 399u: (code 0x0000000d, par16 0x02e9 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [ERROR]Unable to set the control mode of board 5 joint 1 in HW_FAULT [DEBUG]torso_calibrator finished park device torso_mc_wrapper [WARNING] from BOARD 5, src LOCAL, adr 0, time 145s 218m 400u: (code 0x0000000d, par16 0x02ea par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]positionMoveRaw: Deprecated automatic switch to VOCAB_CM_POSITION, board 1 joint 3 Registering new thread 2 out of 500 [ERROR]Unable to set the control mode of board 1 joint 3 in HW_FAULT [WARNING] from BOARD 2, src LOCAL, adr 0, time 145s 252m 756u: (code 0x0000000d, par16 0x0457 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 4 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 5 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 6 [WARNING] from BOARD 4, src LOCAL, adr 0, time 145s 265m 762u: (code 0x0000000d, par16 0x0459 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 0 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 1 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 2 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 3 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 4 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 5 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 6 [ERROR] from BOARD 5, src LOCAL, adr 0, time 145s 502m 500u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [ERROR] from BOARD 1, src LOCAL, adr 0, time 145s 929m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 7 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 8 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 9 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 10 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 11 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 12 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 13 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 14 [DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 15 [DEBUG]Left_Arm_Calibrator : Park completed [WARNING] from BOARD 1, src LOCAL, adr 0, time 146s 260m 278u: (code 0x0000000d, par16 0x027b par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 1, src LOCAL, adr 0, time 146s 267m 277u: (code 0x0000000d, par16 0x027a par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 7 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 8 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 9 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 10 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 11 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 12 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 13 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 14 [DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 15 [DEBUG]Right_Arm_Calibrator : Park completed [WARNING] from BOARD 1, src LOCAL, adr 0, time 146s 272m 278u: (code 0x0000000d, par16 0x027b par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [ERROR]Unable to set the control mode of board 1 joint 3 in HW_FAULT [INFO]from BOARD 2, src CAN1, adr 3, time 146s 286m 176u: CAN PRINT MESSAGE[id 3] -> PWM DIS:0 [WARNING] from BOARD 3, src LOCAL, adr 0, time 146s 296m 220u: (code 0x0000000d, par16 0x0241 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 3, time 146s 306m 320u: CAN PRINT MESSAGE[id 1] -> PWM DIS COUPLED:2 [INFO]from BOARD 2, src CAN1, adr 3, time 146s 306m 394u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:1 [WARNING] from BOARD 2, src LOCAL, adr 0, time 146s 306m 541u: (code 0x0000000b, par16 0x01cd par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [WARNING] from BOARD 3, src LOCAL, adr 0, time 146s 301m 219u: (code 0x0000000d, par16 0x0240 par64 0x0000000000000000) -> SYS: the TX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 3, time 146s 330m 179u: CAN PRINT MESSAGE[id 2] -> PWM DIS:3 [INFO]from BOARD 4, src CAN1, adr 3, time 146s 329m 175u: CAN PRINT MESSAGE[id 3] -> PWM DIS:0 [INFO]from BOARD 2, src CAN1, adr 5, time 146s 350m 182u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 4, src CAN1, adr 3, time 146s 349m 394u: CAN PRINT MESSAGE[id 1] -> PWM DIS COUPLED:2 [INFO]from BOARD 4, src CAN1, adr 3, time 146s 349m 464u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:1 [WARNING] from BOARD 4, src LOCAL, adr 0, time 146s 349m 536u: (code 0x0000000b, par16 0x01c4 par64 0x0000000000000000) -> SYS: the RX phase of the control loop has last more than wanted. In par16 there is the total execution time in usec + INFO = NO MORE [INFO]from BOARD 2, src CAN1, adr 5, time 146s 371m 167u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 4, src CAN1, adr 3, time 146s 375m 177u: CAN PRINT MESSAGE[id 2] -> PWM DIS:3 [INFO]from BOARD 2, src CAN1, adr 5, time 146s 392m 172u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 4, src CAN1, adr 5, time 146s 395m 185u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 2, src CAN1, adr 5, time 146s 411m 167u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 4, src CAN1, adr 5, time 146s 415m 192u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 2, src CAN1, adr 7, time 146s 432m 192u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 4, src CAN1, adr 5, time 146s 435m 187u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 2, src CAN1, adr 7, time 146s 452m 194u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [INFO]from BOARD 4, src CAN1, adr 5, time 146s 455m 187u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 2, src CAN1, adr 7, time 146s 473m 187u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 4, src CAN1, adr 7, time 146s 476m 197u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0 [INFO]from BOARD 2, src CAN1, adr 7, time 146s 493m 192u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [INFO]from BOARD 4, src CAN1, adr 7, time 146s 496m 193u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1 [DEBUG]left_arm_calibrator finished park device left_arm_mc_wrapper [INFO]from BOARD 4, src CAN1, adr 7, time 146s 516m 197u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2 [INFO]from BOARD 4, src CAN1, adr 7, time 146s 536m 195u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3 [DEBUG]right_arm_calibrator finished park device right_arm_mc_wrapper [DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms] [DEBUG] Device has no ICanBusErr interface [DEBUG]cfw2can [0] printing boards infos: None [DEBUG]Head_Calibrator : Moving to park position, joint: 1 [INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet [DEBUG]Head_Calibrator : Moving to park position, joint: 2 [DEBUG]Head_Calibrator : Moving to park position, joint: 3 [DEBUG]Head_Calibrator : Moving to park position, joint: 4 [DEBUG]Head_Calibrator : Moving to park position, joint: 5 [DEBUG]Head_Calibrator : Park completed [INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet [DEBUG]cfw2can [0] msg from board 1: PWM DIS CH0 [DEBUG]cfw2can [0] msg from board 1: PWM ENA COUPLED:0 & 1 [DEBUG]cfw2can [0] msg from board 1: PWM DIS CH1 [DEBUG]cfw2can [0] msg from board 2: PWM DIS:0 [DEBUG]cfw2can [0] msg from board 2: PWM DIS:1 [DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 [DEBUG]head_calibrator finished park device head_mc_wrapper [INFO]All actions for action level 1 of interrupt1 phase finished. [INFO]interrupt1 phase finished. [INFO]shutdown phase starting... [INFO]Entering action level 2 of phase shutdown [INFO]Stopping icub/cartesianController/left_arm [INFO]Stopping icub/cartesianController/right_arm [INFO]All actions for action level 2 of shutdown phase started. Waiting for unfinished actions. [INFO]All actions for action level 2 of shutdown phase finished. [INFO]Entering action level 5 of phase shutdown [INFO]All actions for action level 5 of shutdown phase started. Waiting for unfinished actions. [INFO]All actions for action level 5 of shutdown phase finished. [DEBUG]ethResources::goToConfig() called for BOARD 5 MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB5 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 5 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 5 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 1 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 1 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 2 MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB2 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 2 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 2 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 3 MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB3 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 3 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 3 in cfg mode [DEBUG]ethResources::goToConfig() called for BOARD 4 MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running MANAGEMENT-appl-status: sign = 0xaa000000, board EB4 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config [DEBUG]ethResources::goToConfig() detected BOARD 4 with name aEMS00v2mec and version = ( 2 3 ) [DEBUG]ethResources::goToConfig() successfully sent BOARD 4 in cfg mode [INFO]Closing Server Inertial... [DEBUG]Server Intertial closed [INFO]shutdown phase finished. Module finished

icubsheffield_left_arm_fault_21092015

Cheers Uriel

[DEBUG] ethResources::goToRun() called for BOARD 1 MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 state = applstate_config MANAGEMENT-appl-status: sign = 0xaa000000, board EB1 -> name = aEMS00v2mec version = 2.3, built on date 19 6 2015, at hour 10:55 control loop timings: RX->400us, DO->300us, TX->300us state = applstate_running [INFO] from BOARD 1, src CAN1, adr 1, time 58s 632m 85u: (code 0x00000033, par16 0x0000 par64 0x0000020106010008) -> SYS: the can discovery service found the board on the specified CAN bus / adr. In par64 there is the eObrd_typeandversions_t. + INFO = NO MORE

[ERROR] from BOARD 1, src LOCAL, adr 0, time 63s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE ... omissis [ERROR] from BOARD 1, src LOCAL, adr 0, time 68s 631m 484u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE ... omissis [ERROR] from BOARD 1, src LOCAL, adr 0, time 73s 631m 487u: (code 0x02000009, par16 0x0003 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE

robotology / icub-tech-support

The left arm must be helped during calibration #37