Torso hardware fault

[urielmtz]

Hello,

We have an issue with iCub torso, which doesn't start during the calibration process. It seems that the motors are not powered. Also, in the yarpmotorgui the three joints of the torso are in red colour and with the label 'hardware fault'.

Just as a test, I sent some commands to the /icub/torso/rpc:i port, e.g. [set] [pos] 0 20, and I received 'ack' for the commands.

Here is the text for the torso printed with the robotInterface is launched:

... [ERROR] from BOARD 5, src LOCAL, adr 0, time 106s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE ... [ERROR]Torso_Calibrator : detected an hardware fault on joint 0 before starting the calibration procedure! Registering new thread 0 out of 500 [ERROR]Torso_Calibrator : detected an hardware fault on joint 1 before starting the calibration procedure! [ERROR]Torso_Calibrator : detected an hardware fault on joint 2 before starting the calibration procedure! [DEBUG]Torso_Calibrator : Joints calibration order: ( 0 1 2 )
... [ERROR] from BOARD 5, src LOCAL, adr 0, time 766s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE ...

I am wondering if do know what would be the cause of this problem with the torso?

Thanks. Uriel

[marcoaccame]

This issue is similar to #37 but here is a failure of the AEA in joint 0 of the torso (board EB5).

The evidence is the same as in #37:

• the AEA on BOARD 5 has invalid data on joint 0.
• the error from the calibrator in roboInterface happens after the AEA error has been reported.
• the AEA error diagnostics messages are separated exactly by 5 seconds, as seen in the following complete log.

In here is the complete log file as sent to me by @urielmtz:

||| 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://10.0.0.2:10004
||| 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/3247 active at tcp://10.0.0.2:10052
||| 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://10.0.0.2:10006
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 <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://10.0.0.2:10013
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 <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://10.0.0.2:10020
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 <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 501m 376u: (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 1m 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 4s 1m 136u: (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 1m 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 101s 617m 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 101s 617m 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 101s 617m 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://10.0.0.2:10024
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 <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.
[ERROR] from BOARD 5, src LOCAL, adr 0, time 101s 668m 474u: (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 4s 0m 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 4s 0m 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 4s 0m 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 4s 0m 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 181m 582u: (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 102s 37m 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 102s 37m 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 102s 37m 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 102s 37m 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 598u: (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 102s 916m 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 102s 916m 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 102s 916m 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 102s 916m 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 102s 916m 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 102s 916m 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 102s 916m 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 102s 916m 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 102s 916m 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 102s 916m 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 102s 916m 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 102s 916m 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 102s 917m 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 <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://10.0.0.2:10028
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 <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 4s 0m 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 4s 0m 136u: (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 4s 0m 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 4s 0m 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 177m 593u: (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 103s 338m 94u: (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 103s 338m 158u: (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 103s 338m 221u: (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 103s 338m 284u: (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 503m 424u: (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 3m 83u: (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 3m 147u: (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 3m 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
[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 3m 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 4, src CAN1, adr 5, time 4s 3m 340u: (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 3m 405u: (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 3m 469u: (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 3m 533u: (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 3m 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 4, src CAN1, adr 7, time 4s 3m 662u: (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 3m 727u: (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 3m 792u: (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 104s 211m 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 104s 211m 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 104s 211m 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 104s 211m 277u: (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 104s 211m 343u: (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 104s 211m 407u: (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 104s 211m 470u: (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 104s 211m 535u: (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 104s 211m 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 104s 211m 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 104s 211m 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 104s 211m 798u: (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 104s 212m 71u: (code 0x0000000b, par16 0x03de 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://10.0.0.2:10032
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 <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://10.0.0.2:10036
[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://10.0.0.2:10037
[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://10.0.0.2:10038
[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://10.0.0.2:10039
[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://10.0.0.2:10040
[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://10.0.0.2:10041
[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://10.0.0.2:10042
[INFO]created wrapper <analogServer>. 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 106s 616m 479u: (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 <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]
[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
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://10.0.0.2:10043
[INFO]Server Inertial : no ROS initialization required 
[INFO]Server Inertial starting
[INFO]created wrapper <inertial>. See C++ class yarp::dev::ServerInertial for documentation.
[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 <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://10.0.0.2:10047
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 <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://10.0.0.2:10050
[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!!! 
yarp: Port /diagnostics/skin/errors:o active at tcp://10.0.0.2:10051
[INFO]created device <canBusSkin>. See C++ class CanBusSkin for documentation.
[WARNING] from BOARD 2, src LOCAL, adr 0, time 108s 373m 100u: (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 108s 383m 195u: (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] from BOARD 2, src LOCAL, adr 0, time 108s 924m 94u: (code 0x0000000d, par16 0x01be 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.
[WARNING] from BOARD 4, src LOCAL, adr 0, time 108s 948m 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 108s 959m 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 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 <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://10.0.0.2:10053
yarp: Port /icub/right_arm/analog:o active at tcp://10.0.0.2:10054
yarp: Port /icub/left_hand/analog:o active at tcp://10.0.0.2:10055
yarp: Port /icub/right_hand/analog:o active at tcp://10.0.0.2:10056
yarp: Port /icub/skin/left_hand active at tcp://10.0.0.2:10057
yarp: Port /icub/skin/left_forearm active at tcp://10.0.0.2:10058
yarp: Port /icub/skin/left_arm active at tcp://10.0.0.2:10059
yarp: Port /icub/skin/right_hand active at tcp://10.0.0.2:10060
yarp: Port /icub/skin/right_forearm active at tcp://10.0.0.2:10061
yarp: Port /icub/skin/right_arm active at tcp://10.0.0.2:10062
yarp: Port /icub/skin/torso active at tcp://10.0.0.2:10063
[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]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]Right_Arm_Calibrator : starting calibration 
[DEBUG]torso_calibrator starting calibration of device torso_mc_wrapper 
[INFO]Torso_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 )  
[ERROR]Torso_Calibrator : detected an hardware fault on joint  0  before starting the calibration procedure! 
Registering new thread 0 out of 500
[ERROR]Torso_Calibrator : detected an hardware fault on joint  1  before starting the calibration procedure! 
[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
[DEBUG]head_calibrator starting calibration of device head_mc_wrapper 
[INFO]All actions for action level 10 of startup phase started. Waiting for unfinished actions. 
[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]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]Left_Arm_Calibrator : Calling calibrateJoint on joint  0  with params:  3 38229.2 10 30422.1 
[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  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 5, src LOCAL, adr 0, time 109s 807m 183u: (code 0x0000000d, par16 0x021c 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 109s 808m 92u: (code 0x0000000d, par16 0x01c1 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 109s 812m 339u: (code 0x0000000d, par16 0x02b0 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 109s 813m 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
[DEBUG]Torso_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  1.19873 
[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:  -13.4033 
[DEBUG]Right_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  -7.89294 
[DEBUG]Right_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib:  10.7191 
[DEBUG]Right_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  41.3677 
[DEBUG]Left_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  -9.8053 
[DEBUG]Right_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib:  45.0057 
[DEBUG]Left_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib:  21.6677 
[DEBUG]Left_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  31.4711 
[DEBUG]Left_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib:  109.188 
[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:  -26.3077 
[DEBUG]Head_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib:  3.85714 
[DEBUG]Head_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  -0.021978 
[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!

[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!

[ERROR] from BOARD 5, src LOCAL, adr 0, time 111s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[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]Left_Arm_Calibrator : Sending positionMove to joint 0  (desired pos:  -30 desired speed:  10  ) 
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 2  (desired pos:  0 desired speed:  10  ) 
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 1  (desired pos:  30 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 2  (desired pos:  0 desired speed:  10  ) 
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 3  (desired pos:  45 desired speed:  10  ) 
[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -20.681 des: 0.000 -> delta: 20.681 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -14.924 des: -30.000 -> delta: 15.076 threshold: 2.000 output: 1400.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -16.754 des: -30.000 -> delta: 13.246 threshold: 2.000 output: -1400.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -11.978 des: 0.000 -> delta: 11.978 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 3 (channel 0) since 12.09 seconds
[WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 12.09 seconds
[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -20.110 des: -30.000 -> delta: 9.890 threshold: 2.000 output: 1400.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -22.115 des: -30.000 -> delta: 7.885 threshold: 2.000 output: -1400.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -4.154 des: 0.000 -> delta: 4.154 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -24.861 des: -30.000 -> delta: 5.139 threshold: 2.000 output: 1400.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -27.301 des: -30.000 -> delta: 2.699 threshold: 2.000 output: -1400.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.462 des: 0.000 -> delta: 0.462 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: 0 curr: -29.871 des: -30.000 -> delta: 0.129 threshold: 2.000 output: 1400.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.129 over: 2.000
[DEBUG[]DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -30.553 des: -30.000 -> delta: 0.553 threshold: 2.000 output: -171.000 mode: pos
Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 13.356 des: 30.000 -> delta: 16.644 threshold: 2.000 output: -1400.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.553 over: 2.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 23.865 des: 30.000 -> delta: 6.135 threshold: 2.000 output: 1400.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.110 des: 0.000 -> delta: 0.110 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.110 over: 2.000
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.099 des: 0.000 -> delta: 0.099 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.099 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]Head_Calibrator : skipping maxPwm=0 of joint  3 
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 17.932 des: 30.000 -> delta: 12.068 threshold: 2.000 output: -1400.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 28.880 des: 30.000 -> delta: 1.120 threshold: 2.000 output: 1400.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 1.120 over: 2.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.005 des: 0.000 -> delta: 0.005 threshold: 2.000 output: 784.000 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 
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 22.414 des: 30.000 -> delta: 7.586 threshold: 2.000 output: -1400.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.171 des: 0.000 -> delta: 0.171 threshold: 2.000 output: -916.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.171 over: 2.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 67.253 des: 45.000 -> delta: 22.253 threshold: 2.000 output: -1005.000 mode: pos
[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 26.193 des: 30.000 -> delta: 3.807 threshold: 2.000 output: -1400.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 58.816 des: 45.000 -> delta: 13.816 threshold: 2.000 output: -820.000 mode: pos
[DEBUG]Head_Calibrator : calib joint ended 
[DEBUG]Head_Calibrator : set 2 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 29.621 des: 30.000 -> delta: 0.379 threshold: 2.000 output: -1400.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.379 over: 2.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 52.306 des: 45.000 -> delta: 7.306 threshold: 2.000 output: -820.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.040 des: 0.000 -> delta: 0.040 threshold: 2.000 output: -859.000 mode: pos
[DEBUG]Head_Calibrator : Sending positionMove to joint 3  (desired pos:  0 desired speed:  10  ) 
[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[ERROR] from BOARD 5, src LOCAL, adr 0, time 116s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 47.824 des: 45.000 -> delta: 2.824 threshold: 2.000 output: -597.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.040 des: 0.000 -> delta: 0.040 threshold: 2.000 output: 620.000 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: 44.918 des: 45.000 -> delta: 0.082 threshold: 2.000 output: -674.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 45.451 des: 45.000 -> delta: 0.451 threshold: 2.000 output: -212.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 45.006 des: 45.000 -> delta: 0.006 threshold: 2.000 output: -606.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.006 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 117s 428m 196u: CAN PRINT MESSAGE[id 0] -> CMODE SET:32
[INFO]from BOARD 4, src CAN1, adr 3, time 117s 428m 331u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.000 over: 2.000
[DEBUG]Head_Calibrator : set 2 : Reached zero position!

[DEBUG]Right_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib:  77.4884 
[DEBUG]Head_Calibrator : skipping maxPwm=0 of joint  4 
[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[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:  53.9743 
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 45.099 des: 45.000 -> delta: 0.099 threshold: 2.000 output: -119.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 44.924 des: 45.000 -> delta: 0.076 threshold: 2.000 output: 181.000 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]Left_Arm_Calibrator : Calling calibrateJoint on joint  4  with params:  0 500 20 0 
[INFO]from BOARD 2, src CAN1, adr 3, time 118s 427m 176u: CAN PRINT MESSAGE[id 0] -> CMODE SET:32
[INFO]from BOARD 2, src CAN1, adr 3, time 118s 427m 312u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0
[DEBUG]Left_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 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 9.17 seconds
[WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 9.17 seconds
[DEBUG]Head_Calibrator : calib joint ended 
[DEBUG]Head_Calibrator : set 3 : Calibration ended, going to zero!

[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[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 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 48.223 des: 0.000 -> delta: 48.223 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  30  ) 
[ERROR] from BOARD 5, src LOCAL, adr 0, time 121s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 43.128 des: 0.000 -> delta: 43.128 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator : calib joint ended 
[DEBUG]Left_Arm_Calibrator : set 2 : Calibration ended, going to zero!

[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 35.475 des: 0.000 -> delta: 35.475 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  30  ) 
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.835 des: 0.000 -> delta: 51.835 threshold: 2.000 output: 65121.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 26.297 des: 0.000 -> delta: 26.297 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.435 des: 0.000 -> delta: 24.435 threshold: 2.000 output: 65119.000 mode: pos
[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 17.128 des: 0.000 -> delta: 17.128 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.725 des: 0.000 -> delta: 51.725 threshold: 2.000 output: 356.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.611 des: 0.000 -> delta: 4.611 threshold: 2.000 output: 65218.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 9.111 des: 0.000 -> delta: 9.111 threshold: 2.000 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: 389.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.026 des: 0.000 -> delta: 0.026 threshold: 2.000 output: 65458.000 mode: pos
[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.567 des: 0.000 -> delta: 4.567 threshold: 2.000 output: 299.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.052 des: 0.000 -> delta: 4.052 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.020 des: 0.000 -> delta: 0.020 threshold: 2.000 output: 71.000 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]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 124s 444m 187u: CAN PRINT MESSAGE[id 2] -> CMODE SET:1
[INFO]from BOARD 4, src CAN1, adr 3, time 124s 445m 179u: CAN PRINT MESSAGE[id 3] -> CMODE SET:1
[INFO]from BOARD 4, src CAN1, adr 3, time 124s 445m 538u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1
[INFO]from BOARD 4, src CAN1, adr 3, time 124s 445m 680u: CAN PRINT MESSAGE[id 2] -> PWM ENA:3
[WARNING] from BOARD 4, src LOCAL, adr 0, time 124s 445m 808u: (code 0x0000000b, par16 0x02d6 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 124s 446m 203u: (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 124s 446m 294u: CAN PRINT MESSAGE[id 0] -> PWM ENA COUPLED:1 & 2
[DEBUG]Right_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib:  22.9614 
[DEBUG]Right_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib:  35.6342 
[DEBUG]Right_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib:  15.0013 
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.020 des: 0.000 -> delta: 0.020 threshold: 2.000 output: 123.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.642 des: 0.000 -> delta: 2.642 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 15.17 seconds
[WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 15.17 seconds
[WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 7.53 seconds
[WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 7.53 seconds
[WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 6.33 seconds
[WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 6.33 seconds
[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.020 des: 0.000 -> delta: 0.020 threshold: 2.000 output: 65502.000 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]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.230 des: 0.000 -> delta: 2.230 threshold: 2.000 output: 0.000 mode: pos
[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 125s 444m 103u: CAN PRINT MESSAGE[id 2] -> CMODE SET:1
[INFO]from BOARD 2, src CAN1, adr 3, time 125s 444m 245u: CAN PRINT MESSAGE[id 3] -> CMODE SET:1
[INFO]from BOARD 2, src CAN1, adr 3, time 125s 444m 605u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1
[WARNING] from BOARD 2, src LOCAL, adr 0, time 125s 444m 670u: (code 0x0000000b, par16 0x024b 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 125s 445m 169u: CAN PRINT MESSAGE[id 2] -> PWM ENA:3
[INFO]from BOARD 2, src CAN1, adr 3, time 125s 445m 238u: CAN PRINT MESSAGE[id 0] -> PWM ENA COUPLED:1 & 2
[DEBUG]Left_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib:  10.2942 
[DEBUG]Left_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib:  39.765 
[DEBUG]Left_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib:  16.4776 
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.218 des: 0.000 -> delta: 2.218 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: 2.218 des: 0.000 -> delta: 2.218 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 2 in 'hw_fault status' inside doneRaw() function
[ERROR] from BOARD 5, src LOCAL, adr 0, time 126s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.218 des: 0.000 -> delta: 2.218 threshold: 2.000 output: 0.000 mode: pos
[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]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.218 des: 0.000 -> delta: 2.218 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 7  (desired pos:  15 desired speed:  100  ) 
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.703 des: 0.000 -> delta: 0.703 threshold: 2.000 output: 65156.000 mode: pos
[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: 65154.000 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: 0.093 des: 0.000 -> delta: 0.093 threshold: 90.000 output: 65422.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.216 des: 0.000 -> delta: 2.216 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 1.500 des: 0.000 -> delta: 1.500 threshold: 2.000 output: 474.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.181 des: 0.000 -> delta: 0.181 threshold: 90.000 output: 65421.000 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: 65381.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.216 des: 0.000 -> delta: 2.216 threshold: 2.000 output: 0.000 mode: pos
[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.884 des: 0.000 -> delta: 0.884 threshold: 2.000 output: 395.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.884 over: 2.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 1.582 des: 0.000 -> delta: 1.582 threshold: 90.000 output: 413.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 15.336 des: 15.000 -> delta: 0.336 threshold: 90.000 output: 65319.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 0.336 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 128s 845m 119u: (code 0x0000000d, par16 0x01dc 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: 4 curr: 2.216 des: 0.000 -> delta: 2.216 threshold: 2.000 output: 0.000 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 128s 964m 177u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1
[INFO]from BOARD 4, src CAN1, adr 5, time 128s 964m 319u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0
[INFO]from BOARD 4, src CAN1, adr 5, time 128s 964m 466u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65
[WARNING] from BOARD 4, src LOCAL, adr 0, time 128s 964m 597u: (code 0x0000000b, par16 0x0200 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 128s 965m 169u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1
[INFO]from BOARD 4, src CAN1, adr 5, time 128s 965m 385u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65
[INFO]from BOARD 4, src CAN1, adr 5, time 128s 965m 519u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3
[INFO]from BOARD 4, src CAN1, adr 7, time 128s 965m 660u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65
[WARNING] from BOARD 4, src LOCAL, adr 0, time 128s 965m 727u: (code 0x0000000b, par16 0x0288 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 128s 966m 120u: (code 0x0000000d, par16 0x013d 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 128s 966m 218u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1
[DEBUG]Right_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib:  45.0818 
[DEBUG]Right_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib:  0.41981 
[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]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.879 des: 0.000 -> delta: 0.879 threshold: 90.000 output: 408.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 0.879 over: 90.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 14.907 des: 15.000 -> delta: 0.093 threshold: 90.000 output: 341.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.216 des: 0.000 -> delta: 2.216 threshold: 2.000 output: 0.000 mode: pos
[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 14.907 des: 15.000 -> delta: 0.093 threshold: 90.000 output: 339.000 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 129s 847m 120u: (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]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.216 des: 0.000 -> delta: 2.216 threshold: 2.000 output: 0.000 mode: pos
[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 129s 969m 177u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1
[INFO]from BOARD 2, src CAN1, adr 5, time 129s 969m 324u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65
[INFO]from BOARD 2, src CAN1, adr 5, time 129s 969m 466u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1
[INFO]from BOARD 2, src CAN1, adr 5, time 129s 969m 617u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65
[INFO]from BOARD 2, src CAN1, adr 5, time 129s 969m 684u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3
[WARNING] from BOARD 2, src LOCAL, adr 0, time 129s 969m 810u: (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 129s 970m 211u: (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 129s 970m 374u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0
[INFO]from BOARD 2, src CAN1, adr 7, time 129s 971m 193u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1
[INFO]from BOARD 2, src CAN1, adr 7, time 129s 971m 262u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65
[DEBUG]Left_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib:  7.01591 
[DEBUG]Left_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib:  87.6511 
[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:  0.714111 
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.216 des: 0.000 -> delta: 2.216 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!

[ERROR]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.216 des: 0.000 -> delta: 2.216 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  ) 
[ERROR[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 11  (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
 from BOARD 5, src LOCAL, adr 0, time 131s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE[DEBUG]cfw2can [0] printing boards infos:
None
[WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 21.18 seconds
[WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 21.18 seconds
[WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 13.53 seconds
[WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 13.53 seconds
[WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 12.34 seconds
[WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 12.34 seconds
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 2.216 des: 0.000 -> delta: 2.216 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

]unable to complete calibration: joint 2 in 'hw_fault status' inside doneRaw() function
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 13  (desired pos:  0 desired speed:  100  ) 
[DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 
[DEBUG]Head_Calibrator : skipping maxPwm=0 of joint  5 
[ERROR]hostTransceiver()::onMsgReception() detected an ERROR in sequence number from IP = 10.0.1.2   Expected:  29117,   Received:  29476    Missing:   359 

[ERROR]hostTransceiver()::onMsgReception() detected an ERROR in sequence number from IP = 10.0.1.4   Expected:  27820,   Received:  28180    Missing:   360 

[ERROR]hostTransceiver()::onMsgReception() detected an ERROR in sequence number from IP = 10.0.1.3   Expected:  5765,    Received:  5837     Missing:   72 

[ERROR]hostTransceiver()::onMsgReception() detected an ERROR in sequence number from IP = 10.0.1.1   Expected:  6024,    Received:  6096     Missing:   72 

[ERROR]hostTransceiver()::onMsgReception() detected an ERROR in sequence number from IP = 10.0.1.5   Expected:  6099,    Received:  6171     Missing:   72 

[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:  -19.9972 
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 45.082 des: 45.000 -> delta: 0.082 threshold: 1000.000 output: 70.000 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 133s 431m 392u: (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 133s 435m 392u: (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 calibration of device torso_mc_wrapper 
[WARNING] from BOARD 5, src LOCAL, adr 0, time 133s 440m 392u: (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
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 45.038 des: 45.000 -> delta: 0.038 threshold: 1000.000 output: 71.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 0.038 over: 1000.000
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 0.837 des: 0.000 -> delta: 0.837 threshold: 1000.000 output: 65372.000 mode: pos
[DEBUG]Left_Arm_Calibrator : calib joint ended 
[DEBUG]Left_Arm_Calibrator : set 4 : Calibration ended, going to zero!

[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 0.837 des: 0.000 -> delta: 0.837 threshold: 1000.000 output: 65331.000 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
[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 : calib joint ended 
[DEBUG]Head_Calibrator : set 4 : Calibration ended, going to zero!

[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: 47.000 mode: pos
[DEBUG]Head_Calibrator : Sending positionMove to joint 5  (desired pos:  0 desired speed:  10  ) 
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.354 des: 0.000 -> delta: 0.354 threshold: 1000.000 output: 47.000 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 135s 333m 416u: (code 0x0000000d, par16 0x0306 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]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 7.016 des: 45.000 -> delta: 37.984 threshold: 1000.000 output: 64203.000 mode: pos
[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 135s 456m 194u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65
[INFO]from BOARD 4, src CAN1, adr 5, time 135s 456m 331u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2
[WARNING] from BOARD 4, src LOCAL, adr 0, time 135s 456m 536u: (code 0x0000000b, par16 0x01c6 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 135s 457m 184u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65
[INFO]from BOARD 4, src CAN1, adr 7, time 135s 457m 402u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2
[WARNING] from BOARD 4, src LOCAL, adr 0, time 135s 457m 527u: (code 0x0000000b, par16 0x01bc 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 135s 458m 179u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65
[INFO]from BOARD 4, src CAN1, adr 7, time 135s 458m 314u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3
[INFO]from BOARD 4, src CAN1, adr 7, time 135s 458m 392u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65
[WARNING] from BOARD 4, src LOCAL, adr 0, time 135s 458m 601u: (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
[DEBUG]Right_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib:  0.739229 
[DEBUG]Right_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib:  4.17858 
[DEBUG]Right_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib:  -0.183716 
[DEBUG]Right_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib:  0.00533203 
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 7.016 des: 45.000 -> delta: 37.984 threshold: 1000.000 output: 64203.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 37.984 over: 1000.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 87.651 des: 0.000 -> delta: 87.651 threshold: 1000.000 output: 64203.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.004 des: 0.000 -> delta: 0.004 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.004 over: 2.000
[DEBUG]Head_Calibrator : set 4 : Reached zero position!

[DEBUG]head_calibrator finished calibration of device head_mc_wrapper 
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 87.651 des: 0.000 -> delta: 87.651 threshold: 1000.000 output: 64203.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 87.651 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
[ERROR] from BOARD 5, src LOCAL, adr 0, time 136s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[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: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 65396.000 mode: pos
[DEBUG]cfw2can [0] thread ran 487 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 27.18 seconds
[WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 27.18 seconds
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 65396.000 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 137s 371m 320u: (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 : 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 7, time 137s 493m 174u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65
[INFO]from BOARD 2, src CAN1, adr 5, time 137s 494m 176u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65
[INFO]from BOARD 2, src CAN1, adr 5, time 137s 494m 312u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2
[INFO]from BOARD 2, src CAN1, adr 7, time 137s 494m 538u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2
[WARNING] from BOARD 2, src LOCAL, adr 0, time 137s 494m 606u: (code 0x0000000b, par16 0x0206 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 137s 495m 189u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65
[INFO]from BOARD 2, src CAN1, adr 7, time 137s 495m 254u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3
[INFO]from BOARD 2, src CAN1, adr 7, time 137s 495m 400u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65
[INFO]from BOARD 2, src CAN1, adr 7, time 137s 496m 128u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0
[DEBUG]Left_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib:  79.9762 
[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:  10.7131 
[DEBUG]Left_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib:  -0.658936 
[ERROR] from BOARD 5, src LOCAL, adr 0, time 141s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[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 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]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: 10 curr: 70.662 des: 0.000 -> delta: 70.662 threshold: 1000.000 output: 703.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 8.627 des: 0.000 -> delta: 8.627 threshold: 1000.000 output: 736.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 89.084 des: 0.000 -> delta: 89.084 threshold: 1000.000 output: 64203.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 1.096 des: 0.000 -> delta: 1.096 threshold: 1000.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 1.096 over: 1000.000
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: -0.079 des: 0.000 -> delta: 0.079 threshold: 1000.000 output: 65389.000 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]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: 0.833 des: 0.000 -> delta: 0.833 threshold: 1000.000 output: 0.000 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: 90.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 0.833 des: 0.000 -> delta: 0.833 threshold: 1000.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 0.833 over: 1000.000
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 0.005 des: 0.000 -> delta: 0.005 threshold: 1000.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: -0.537 des: 0.000 -> delta: 0.537 threshold: 1000.000 output: 71.000 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: 11.768 des: 0.000 -> delta: 11.768 threshold: 1000.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 0.005 des: 0.000 -> delta: 0.005 threshold: 1000.000 output: 0.000 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 145s 758m 381u: (code 0x0000000d, par16 0x02de 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: 14 curr: 11.416 des: 0.000 -> delta: 11.416 threshold: 1000.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 11.416 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
[WARNING] from BOARD 2, src LOCAL, adr 0, time 146s 596m 319u: (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 #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: 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
[ERROR] from BOARD 5, src LOCAL, adr 0, time 146s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[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 151s 616m 479u: (code 0x02000009, par16 0x0000 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 156s 616m 479u: (code 0x02000009, par16 0x0000 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 161s 616m 479u: (code 0x02000009, par16 0x0000 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 166s 616m 479u: (code 0x02000009, par16 0x0000 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 171s 616m 479u: (code 0x02000009, par16 0x0000 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 176s 616m 479u: (code 0x02000009, par16 0x0000 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 181s 616m 479u: (code 0x02000009, par16 0x0000 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 186s 616m 479u: (code 0x02000009, par16 0x0000 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 191s 616m 479u: (code 0x02000009, par16 0x0000 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 196s 616m 479u: (code 0x02000009, par16 0x0000 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 201s 616m 479u: (code 0x02000009, par16 0x0000 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 206s 616m 478u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[DEBUG]robot-interface running happily 
yarp: Receiving input from /icub/yarpmotorgui0/head/rpc:o to /icub/head/rpc:i using tcp
yarp: Receiving input from /icub/yarpmotorgui0/head/command:o to /icub/head/command:i using udp
yarp: Sending output from /icub/head/state:o to /icub/yarpmotorgui0/head/state:i using udp
yarp: Sending output from /icub/head/stateExt:o to /icub/yarpmotorgui0/head/stateExt:i using udp
Registering new thread 2 out of 500
[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
yarp: Receiving input from /icub/yarpmotorgui0/torso/rpc:o to /icub/torso/rpc:i using tcp
yarp: Receiving input from /icub/yarpmotorgui0/torso/command:o to /icub/torso/command:i using udp
yarp: Sending output from /icub/torso/state:o to /icub/yarpmotorgui0/torso/state:i using udp
yarp: Sending output from /icub/torso/stateExt:o to /icub/yarpmotorgui0/torso/stateExt:i using udp
Registering new thread 2 out of 500
yarp: Receiving input from /icub/yarpmotorgui0/left_arm/rpc:o to /icub/left_arm/rpc:i using tcp
yarp: Receiving input from /icub/yarpmotorgui0/left_arm/command:o to /icub/left_arm/command:i using udp
yarp: Sending output from /icub/left_arm/state:o to /icub/yarpmotorgui0/left_arm/state:i using udp
yarp: Sending output from /icub/left_arm/stateExt:o to /icub/yarpmotorgui0/left_arm/stateExt:i using udp
Registering new thread 2 out of 500
Registering new thread 2 out of 500
yarp: Receiving input from /icub/yarpmotorgui0/right_arm/rpc:o to /icub/right_arm/rpc:i using tcp
yarp: Receiving input from /icub/yarpmotorgui0/right_arm/command:o to /icub/right_arm/command:i using udp
yarp: Sending output from /icub/right_arm/state:o to /icub/yarpmotorgui0/right_arm/state:i using udp
yarp: Sending output from /icub/right_arm/stateExt:o to /icub/yarpmotorgui0/right_arm/stateExt:i using udp
Registering new thread 2 out of 500
Registering new thread 2 out of 500
[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 211s 616m 479u: (code 0x02000009, par16 0x0000 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 216s 616m 478u: (code 0x02000009, par16 0x0000 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 221s 616m 479u: (code 0x02000009, par16 0x0000 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 226s 616m 479u: (code 0x02000009, par16 0x0000 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
[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/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[WARNING] from BOARD 5, src LOCAL, adr 0, time 228s 640m 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 5, src LOCAL, adr 0, time 228s 690m 474u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[ERROR] from BOARD 5, src LOCAL, adr 0, time 231s 616m 479u: (code 0x02000009, par16 0x0000 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 236s 616m 479u: (code 0x02000009, par16 0x0000 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 241s 616m 479u: (code 0x02000009, par16 0x0000 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 246s 616m 479u: (code 0x02000009, par16 0x0000 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 251s 616m 479u: (code 0x02000009, par16 0x0000 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 256s 616m 478u: (code 0x02000009, par16 0x0000 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 261s 616m 479u: (code 0x02000009, par16 0x0000 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 266s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[DEBUG]robot-interface running happily 
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[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 271s 616m 479u: (code 0x02000009, par16 0x0000 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 276s 616m 479u: (code 0x02000009, par16 0x0000 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 281s 616m 479u: (code 0x02000009, par16 0x0000 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 286s 616m 479u: (code 0x02000009, par16 0x0000 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 291s 616m 479u: (code 0x02000009, par16 0x0000 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 296s 616m 478u: (code 0x02000009, par16 0x0000 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 301s 616m 479u: (code 0x02000009, par16 0x0000 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 306s 616m 479u: (code 0x02000009, par16 0x0000 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 311s 616m 479u: (code 0x02000009, par16 0x0000 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 316s 616m 478u: (code 0x02000009, par16 0x0000 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 321s 616m 479u: (code 0x02000009, par16 0x0000 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 326s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[DEBUG]robot-interface running happily 
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[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 331s 616m 479u: (code 0x02000009, par16 0x0000 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 336s 616m 479u: (code 0x02000009, par16 0x0000 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 341s 616m 478u: (code 0x02000009, par16 0x0000 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 346s 616m 479u: (code 0x02000009, par16 0x0000 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 351s 616m 479u: (code 0x02000009, par16 0x0000 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 356s 616m 479u: (code 0x02000009, par16 0x0000 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 361s 616m 479u: (code 0x02000009, par16 0x0000 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 366s 616m 479u: (code 0x02000009, par16 0x0000 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 371s 616m 478u: (code 0x02000009, par16 0x0000 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 376s 616m 479u: (code 0x02000009, par16 0x0000 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 381s 616m 479u: (code 0x02000009, par16 0x0000 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 386s 616m 478u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[DEBUG]robot-interface running happily 
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[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 391s 616m 479u: (code 0x02000009, par16 0x0000 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 396s 616m 479u: (code 0x02000009, par16 0x0000 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 401s 616m 479u: (code 0x02000009, par16 0x0000 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 406s 616m 479u: (code 0x02000009, par16 0x0000 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 411s 616m 479u: (code 0x02000009, par16 0x0000 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 416s 616m 479u: (code 0x02000009, par16 0x0000 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 421s 616m 479u: (code 0x02000009, par16 0x0000 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 426s 616m 479u: (code 0x02000009, par16 0x0000 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 431s 616m 479u: (code 0x02000009, par16 0x0000 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 436s 616m 479u: (code 0x02000009, par16 0x0000 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 441s 616m 479u: (code 0x02000009, par16 0x0000 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 446s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[DEBUG]robot-interface running happily 
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[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 451s 616m 479u: (code 0x02000009, par16 0x0000 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 456s 616m 479u: (code 0x02000009, par16 0x0000 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 461s 616m 479u: (code 0x02000009, par16 0x0000 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 466s 616m 479u: (code 0x02000009, par16 0x0000 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 471s 616m 479u: (code 0x02000009, par16 0x0000 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 476s 616m 479u: (code 0x02000009, par16 0x0000 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 481s 616m 479u: (code 0x02000009, par16 0x0000 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 486s 616m 479u: (code 0x02000009, par16 0x0000 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 491s 616m 479u: (code 0x02000009, par16 0x0000 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 496s 616m 479u: (code 0x02000009, par16 0x0000 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 501s 616m 479u: (code 0x02000009, par16 0x0000 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 506s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[DEBUG]robot-interface running happily 
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[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 511s 616m 478u: (code 0x02000009, par16 0x0000 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 516s 616m 479u: (code 0x02000009, par16 0x0000 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 521s 616m 479u: (code 0x02000009, par16 0x0000 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 526s 616m 479u: (code 0x02000009, par16 0x0000 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 531s 616m 479u: (code 0x02000009, par16 0x0000 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 536s 616m 478u: (code 0x02000009, par16 0x0000 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 541s 616m 478u: (code 0x02000009, par16 0x0000 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 546s 616m 478u: (code 0x02000009, par16 0x0000 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 551s 616m 479u: (code 0x02000009, par16 0x0000 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 556s 616m 479u: (code 0x02000009, par16 0x0000 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 561s 616m 479u: (code 0x02000009, par16 0x0000 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 566s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[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
[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 571s 616m 479u: (code 0x02000009, par16 0x0000 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 576s 616m 479u: (code 0x02000009, par16 0x0000 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 581s 616m 479u: (code 0x02000009, par16 0x0000 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 586s 616m 479u: (code 0x02000009, par16 0x0000 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 591s 616m 479u: (code 0x02000009, par16 0x0000 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 596s 616m 479u: (code 0x02000009, par16 0x0000 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 601s 616m 479u: (code 0x02000009, par16 0x0000 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 606s 616m 479u: (code 0x02000009, par16 0x0000 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 611s 616m 479u: (code 0x02000009, par16 0x0000 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 616s 616m 479u: (code 0x02000009, par16 0x0000 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 621s 616m 478u: (code 0x02000009, par16 0x0000 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 626s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[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
[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 631s 616m 478u: (code 0x02000009, par16 0x0000 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 636s 616m 479u: (code 0x02000009, par16 0x0000 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 641s 616m 478u: (code 0x02000009, par16 0x0000 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 646s 616m 479u: (code 0x02000009, par16 0x0000 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 651s 616m 479u: (code 0x02000009, par16 0x0000 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 656s 616m 478u: (code 0x02000009, par16 0x0000 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 661s 616m 478u: (code 0x02000009, par16 0x0000 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 666s 616m 478u: (code 0x02000009, par16 0x0000 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 671s 616m 479u: (code 0x02000009, par16 0x0000 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 676s 616m 479u: (code 0x02000009, par16 0x0000 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 681s 616m 479u: (code 0x02000009, par16 0x0000 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 686s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[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
[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 691s 616m 479u: (code 0x02000009, par16 0x0000 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 696s 616m 479u: (code 0x02000009, par16 0x0000 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 701s 616m 479u: (code 0x02000009, par16 0x0000 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 706s 616m 478u: (code 0x02000009, par16 0x0000 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 711s 616m 479u: (code 0x02000009, par16 0x0000 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 716s 616m 479u: (code 0x02000009, par16 0x0000 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 721s 616m 478u: (code 0x02000009, par16 0x0000 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 726s 616m 478u: (code 0x02000009, par16 0x0000 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 731s 616m 479u: (code 0x02000009, par16 0x0000 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 736s 616m 479u: (code 0x02000009, par16 0x0000 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 741s 616m 479u: (code 0x02000009, par16 0x0000 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 746s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[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
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[ERROR] from BOARD 5, src LOCAL, adr 0, time 751s 616m 479u: (code 0x02000009, par16 0x0000 par64 0x0000000000000000) -> MC: AEA encoder invalid data + INFO = NO MORE
[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 756s 616m 479u: (code 0x02000009, par16 0x0000 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 761s 616m 479u: (code 0x02000009, par16 0x0000 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
yarp: Removing input from /icub/yarpmotorgui0/head/rpc:o to /icub/head/rpc:i
yarp: Removing input from /icub/yarpmotorgui0/head/command:o to /icub/head/command:i
yarp: Removing output from /icub/head/state:o to /icub/yarpmotorgui0/head/state:i
yarp: Removing output from /icub/head/stateExt:o to /icub/yarpmotorgui0/head/stateExt:i
yarp: Removing input from /icub/yarpmotorgui0/left_arm/rpc:o to /icub/left_arm/rpc:i
yarp: Removing input from /icub/yarpmotorgui0/left_arm/command:o to /icub/left_arm/command:i
yarp: Removing output from /icub/left_arm/state:o to /icub/yarpmotorgui0/left_arm/state:i
yarp: Removing output from /icub/left_arm/stateExt:o to /icub/yarpmotorgui0/left_arm/stateExt:i
yarp: Removing input from /icub/yarpmotorgui0/right_arm/rpc:o to /icub/right_arm/rpc:i
yarp: Removing input from /icub/yarpmotorgui0/right_arm/command:o to /icub/right_arm/command:i
yarp: Removing output from /icub/right_arm/state:o to /icub/yarpmotorgui0/right_arm/state:i
yarp: Removing output from /icub/right_arm/stateExt:o to /icub/yarpmotorgui0/right_arm/stateExt:i
yarp: Removing input from /icub/yarpmotorgui0/torso/rpc:o to /icub/torso/rpc:i
yarp: Removing input from /icub/yarpmotorgui0/torso/command:o to /icub/torso/command:i
yarp: Removing output from /icub/torso/state:o to /icub/yarpmotorgui0/torso/state:i
yarp: Removing output from /icub/torso/stateExt:o to /icub/yarpmotorgui0/torso/stateExt:i
[ERROR] from BOARD 5, src LOCAL, adr 0, time 766s 616m 479u: (code 0x02000009, par16 0x0000 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
[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 
Registering new thread 3 out of 500
Registering new thread 3 out of 500
[DEBUG]torso_calibrator starting park device torso_mc_wrapper 
[ERROR]Torso_Calibrator : joint  0  has an hardware fault, skipping park 
[[INFO]All actions for action level 1 of interrupt1 phase started. Waiting for unfinished actions. 
ERROR[DEBUG]head_calibrator starting park device head_mc_wrapper 
Torso_Calibrator : joint  1  has an hardware fault, skipping park 
[ERROR]Torso_Calibrator : joint  2  has an hardware fault, skipping park 
[DEBUG]positionMoveRaw: Deprecated automatic switch to VOCAB_CM_POSITION, board  5  joint  2 
Registering new thread 3 out of 500
[[WARNING] from BOARD 3, src LOCAL, adr 0, time 768s 382m 218u: (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
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 1, src LOCAL, adr 0, time 768s 383m 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
[ERROR]Unable to set the control mode of board 5 joint 0 in HW_FAULT
[WARNING[DEBUG]positionMoveRaw: Deprecated automatic switch to VOCAB_CM_POSITION, board  5  joint  1 
 from BOARD 3, src LOCAL, adr 0, time 768s 386m 218u: (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 3 out of 500
[WARNING] from BOARD 1, src LOCAL, adr 0, time 768s 387m 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
[ERROR]Unable to set the control mode of board 5 joint 1 in HW_FAULT
[WARNING] from BOARD 3, src LOCAL, adr 0, time 768s 392m 217u: (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 1, src LOCAL, adr 0, time 768s 392m 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 3 out of 500
Registering new thread 3 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 768s 407m 392u: (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 768s 412m 392u: (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 1 in HW_FAULT
[DEBUG]torso_calibrator finished park device torso_mc_wrapper 
[WARNING] from BOARD 5, src LOCAL, adr 0, time 768s 418m 392u: (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
[WARNING] from BOARD 2, src LOCAL, adr 0, time 768s 468m 761u: (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 768s 464m 755u: (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 4, src LOCAL, adr 0, time 768s 465m 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]Right_Arm_Calibrator : Moving to park position, joint: 0 
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 0 
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 1 
[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]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 
[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]Left_Arm_Calibrator : Moving to park position, joint: 7 
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 8 
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 5 
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 9 
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 6 
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 7 
[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]Right_Arm_Calibrator : Moving to park position, joint: 8 
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 13 
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 9 
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 14 
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 15 
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 10 
[DEBUG]Left_Arm_Calibrator : Park  completed 
[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 769s 496m 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 769s 495m 227u: (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 769s 501m 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 769s 501m 227u: (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 769s 532m 98u: CAN PRINT MESSAGE[id 3] -> PWM DIS:0
[INFO]from BOARD 4, src CAN1, adr 3, time 769s 528m 172u: CAN PRINT MESSAGE[id 3] -> PWM DIS:0
[INFO]from BOARD 4, src CAN1, adr 3, time 769s 548m 396u: CAN PRINT MESSAGE[id 1] -> PWM DIS COUPLED:2
[INFO]from BOARD 4, src CAN1, adr 3, time 769s 548m 464u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:1
[INFO]from BOARD 2, src CAN1, adr 3, time 769s 553m 317u: CAN PRINT MESSAGE[id 1] -> PWM DIS COUPLED:2
[INFO]from BOARD 2, src CAN1, adr 3, time 769s 553m 389u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:1
[WARNING] from BOARD 2, src LOCAL, adr 0, time 769s 553m 488u: (code 0x0000000b, par16 0x0198 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 769s 548m 568u: (code 0x0000000b, par16 0x01e8 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 769s 578m 100u: CAN PRINT MESSAGE[id 2] -> PWM DIS:3
[INFO]from BOARD 4, src CAN1, adr 3, time 769s 574m 167u: CAN PRINT MESSAGE[id 2] -> PWM DIS:3
[INFO]from BOARD 2, src CAN1, adr 5, time 769s 598m 167u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0
[INFO]from BOARD 4, src CAN1, adr 5, time 769s 594m 172u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0
[INFO]from BOARD 2, src CAN1, adr 5, time 769s 618m 171u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1
[INFO]from BOARD 4, src CAN1, adr 5, time 769s 614m 167u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1
[INFO]from BOARD 4, src CAN1, adr 5, time 769s 634m 171u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2
[INFO]from BOARD 2, src CAN1, adr 5, time 769s 639m 184u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2
[INFO]from BOARD 2, src CAN1, adr 5, time 769s 659m 189u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3
[INFO]from BOARD 4, src CAN1, adr 5, time 769s 655m 167u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3
[INFO]from BOARD 2, src CAN1, adr 7, time 769s 679m 98u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0
[INFO]from BOARD 4, src CAN1, adr 7, time 769s 675m 167u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0
[INFO]from BOARD 2, src CAN1, adr 7, time 769s 699m 98u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1
[INFO]from BOARD 4, src CAN1, adr 7, time 769s 695m 169u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1
[INFO]from BOARD 2, src CAN1, adr 7, time 769s 719m 100u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2
[INFO]from BOARD 4, src CAN1, adr 7, time 769s 715m 167u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2
[INFO]from BOARD 2, src CAN1, adr 7, time 769s 740m 167u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3
[INFO]from BOARD 4, src CAN1, adr 7, time 769s 736m 188u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3
[DEBUG]right_arm_calibrator finished park device right_arm_mc_wrapper 
[DEBUG]left_arm_calibrator finished park device left_arm_mc_wrapper 
[ERROR] from BOARD 5, src LOCAL, adr 0, time 771s 616m 479u: (code 0x02000009, par16 0x0000 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
                        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
                        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

[julijenv]

Hi Sheffield users, did the robot got faulted and fell forward which lead to get the AEA wire pinched? (wire can be find following the belly metal plate and running inside of the bottom of the robot? seee picture

take a look at this specific wire.see if in another case one of the wire is disoldered but most probably also one wire got broekn at the level of the board in between the 2 hips, stack of boards. let us know

[urielmtz]

Hi Julien,

Thanks for the picture. I think that wire seems to be broken, below there is a photo of the robot:

Do you think this could be the problem? I was thinking to measure continuity but I am not sure which screws we should remove. Is there a procedure we could follow to check these wires on the torso?

Cheers Uriel

[urielmtz]

I forgot to mention that the robot also fell forward when there was a failure.

Cheers Uriel

[julijenv]

Hi @urielmtz , From the picture u sent i guess the cable is pretty severe and the simplest way to repair it is to replace it as the pinch mark is a bit further from the edge of the cable. We will send you the replacement part asap. Could u please give us the add on which we have to send u the spare part and a name and phone number of the person in charge of retrieving the part?

[urielmtz]

Hi @julijenv,

Thanks for the fast reply. The person that will receive the cable is James Law and the details for sending the parcel are below.

Dr James Law Senior Experimental Officer Sheffield Robotics

The University of Sheffield Rm B04 Pam Liversidge Building Sir Frederick Mappin Building Mappin Street Sheffield S1 3JD UK Tel. +44 (0)114 222 5690

Please let me know if you need more information.

Cheers Uriel

[super-ste]

@urielmtz : Shipping spare today.

Tracking here:

http://www.dhl.com/cgi-bin/tracking.pl?AWB=6288587734

[urielmtz]

We received the cable today, we replaced it and the torso is working again!

Thanks for the support.

Cheers Uriel

[super-ste]

YEIIIIIII!!! Closing the Issue then!!