{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/icub-support/issues/407","repository_url":"https://api.github.com/repos/robotology/icub-support","labels_url":"https://api.github.com/repos/robotology/icub-support/issues/407/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-support/issues/407/comments","events_url":"https://api.github.com/repos/robotology/icub-support/issues/407/events","html_url":"https://github.com/robotology/icub-support/issues/407","id":209465170,"number":407,"title":"Fail left and right arm calibration. iCubNottingham01","user":{"login":"pedrombmachado","id":9907068,"avatar_url":"https://avatars.githubusercontent.com/u/9907068?v=3","gravatar_id":"","url":"https://api.github.com/users/pedrombmachado","html_url":"https://github.com/pedrombmachado","followers_url":"https://api.github.com/users/pedrombmachado/followers","following_url":"https://api.github.com/users/pedrombmachado/following{/other_user}","gists_url":"https://api.github.com/users/pedrombmachado/gists{/gist_id}","starred_url":"https://api.github.com/users/pedrombmachado/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pedrombmachado/subscriptions","organizations_url":"https://api.github.com/users/pedrombmachado/orgs","repos_url":"https://api.github.com/users/pedrombmachado/repos","events_url":"https://api.github.com/users/pedrombmachado/events{/privacy}","received_events_url":"https://api.github.com/users/pedrombmachado/received_events","type":"User","site_admin":false},"labels":[{"id":545453048,"url":"https://api.github.com/repos/robotology/icub-support/labels/iCubNottingham01","name":"iCubNottingham01","color":"000000","default":false}],"state":"open","locked":false,"assignee":{"login":"valegagge","id":4233231,"avatar_url":"https://avatars.githubusercontent.com/u/4233231?v=3","gravatar_id":"","url":"https://api.github.com/users/valegagge","html_url":"https://github.com/valegagge","followers_url":"https://api.github.com/users/valegagge/followers","following_url":"https://api.github.com/users/valegagge/following{/other_user}","gists_url":"https://api.github.com/users/valegagge/gists{/gist_id}","starred_url":"https://api.github.com/users/valegagge/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/valegagge/subscriptions","organizations_url":"https://api.github.com/users/valegagge/orgs","repos_url":"https://api.github.com/users/valegagge/repos","events_url":"https://api.github.com/users/valegagge/events{/privacy}","received_events_url":"https://api.github.com/users/valegagge/received_events","type":"User","site_admin":false},"assignees":[{"login":"valegagge","id":4233231,"avatar_url":"https://avatars.githubusercontent.com/u/4233231?v=3","gravatar_id":"","url":"https://api.github.com/users/valegagge","html_url":"https://github.com/valegagge","followers_url":"https://api.github.com/users/valegagge/followers","following_url":"https://api.github.com/users/valegagge/following{/other_user}","gists_url":"https://api.github.com/users/valegagge/gists{/gist_id}","starred_url":"https://api.github.com/users/valegagge/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/valegagge/subscriptions","organizations_url":"https://api.github.com/users/valegagge/orgs","repos_url":"https://api.github.com/users/valegagge/repos","events_url":"https://api.github.com/users/valegagge/events{/privacy}","received_events_url":"https://api.github.com/users/valegagge/received_events","type":"User","site_admin":false},{"login":"marcoaccame","id":7148284,"avatar_url":"https://avatars.githubusercontent.com/u/7148284?v=3","gravatar_id":"","url":"https://api.github.com/users/marcoaccame","html_url":"https://github.com/marcoaccame","followers_url":"https://api.github.com/users/marcoaccame/followers","following_url":"https://api.github.com/users/marcoaccame/following{/other_user}","gists_url":"https://api.github.com/users/marcoaccame/gists{/gist_id}","starred_url":"https://api.github.com/users/marcoaccame/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marcoaccame/subscriptions","organizations_url":"https://api.github.com/users/marcoaccame/orgs","repos_url":"https://api.github.com/users/marcoaccame/repos","events_url":"https://api.github.com/users/marcoaccame/events{/privacy}","received_events_url":"https://api.github.com/users/marcoaccame/received_events","type":"User","site_admin":false}],"milestone":null,"comments":6,"created_at":"2017-02-22T14:12:21Z","updated_at":"2017-02-23T13:16:01Z","closed_at":null,"body":"\r\niCub **iCubNottingham01**\r\n### Description of the failure\r\nEvery time that I run the yarprobotinterface I get the following errors: \r\n[ERROR]Right_Arm_Calibrator : checkGoneToZeroThreshold: joint  0  Timeout while going to zero! \r\n[[DEBUGERROR]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.038 des: 0.060 -> delta: 0.022 threshold: 2.000 output: 246.000 mode: pos\r\n[ERROR]Right_Arm_Calibrator : set 1 : some axis got timeout while reaching zero position... disabling this set of axes\r\n\r\n[ERROR]Right_Arm_Calibrator : joint  0  is idle, skipping park \r\n[ERROR]Right_Arm_Calibrator : joint  1  is idle, skipping park \r\n[ERROR]Right_Arm_Calibrator : joint  2  is idle, skipping park \r\n[ERROR]Right_Arm_Calibrator : joint  3  is idle, skipping park ERROR\r\n\r\n[ERROR]Left_Arm_Calibrator : joint  1  is idle, skipping park \r\n[ERROR]Left_Arm_Calibrator : joint  2  is idle, skipping park \r\n[ERROR]Left_Arm_Calibrator : joint  3  is idle, skipping park \r\n\r\nCould you please help me to diagnose and solve the above errors?\r\nMany thanks,\r\nPedro\r\nNTU\r\n\r\n### Detailed conditions and logs of the failure\r\niCub LIVE image for PC104 version 6.0-16.04.05\r\nBased on jessie amd64\r\nBuild on 05-Apr-2016\r\nicub@pc104's password: \r\n\r\nThe programs included with the Debian GNU/Linux system are free software;\r\nthe exact distribution terms for each program are described in the\r\nindividual files in /usr/share/doc/*/copyright.\r\n\r\nDebian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent\r\npermitted by applicable law.\r\nLast login: Wed Feb 22 14:37:22 2017 from 10.0.0.1\r\nSetting up yarp and iCub env vars\r\nicub@pc104:~$ cat .bashrc_iCub | grep Nottin\r\nexport YARP_ROBOT_NAME=iCubNottingham01\r\nicub@pc104:~$ yarprobotinterface \r\n||| configuring\r\n||| default config file specified as yarprobotinterface.ini\r\n||| checking [/home/icub/yarprobotinterface.ini] (pwd)\r\n||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/yarprobotinterface.ini] (robot)\r\n||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/yarprobotinterface.ini\r\n||| finding file [config]\r\n||| checking [/home/icub/./icub_all.xml] (pwd)\r\n||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml] (robot)\r\n||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml\r\nyarp: Port /log/pc104/yarprobotinterface/3655 active at tcp://10.0.0.2:10180\r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./icub_all.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./cartesian/left_arm-cartesian.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./cartesian/right_arm-cartesian.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/head-cfw2_can0-mc.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/head-cfw2_can0-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/head-cfw2_can0-mec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/head-mc_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/torso-ems5-mc.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/torso-ems5-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/torso-ems5-mec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/torso-mc_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_upper_arm-ems1-mc.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_arm-ems1-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_upper_arm-ems1-mec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_lower_arm-ems2-mc.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_lower_arm-ems2-mec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/left_arm-mc_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_upper_arm-ems3-mc.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_upper_arm-ems3-mec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_lower_arm-ems4-mc.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_lower_arm-ems4-mec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/right_arm-mc_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_arm-FT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_arm-FT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_leg-FT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_leg-FT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/right_foot-FT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/FT/left_foot-FT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_upper_arm-ems1-strain.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_arm-ems1-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_upper_arm-ems3-strain.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_arm-ems3-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_upper_leg-ems6-strain.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_upper_leg-ems8-strain.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/left_lower_leg-ems7-strain.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/FT/right_lower_leg-ems9-strain.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/left_arm-VFT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/right_leg-VFT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/left_leg-VFT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/right_arm-VFT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/VFT/torso-VFT_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . \"devices\" element should contain the \"robot\" attribute \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found  instead of iCubNottingham01 \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . \"devices\" element should contain the \"build\" attribute [unsigned int]. Assuming 0 \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/left_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . \"devices\" element should contain the \"robot\" attribute \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Trying to import a file for the wrong robot. Found  instead of iCubNottingham01 \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . \"devices\" element should contain the \"build\" attribute [unsigned int]. Assuming 0 \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/MAIS/right_hand-mais_wrapper.xml at line 4 . Import a file for a different robot build. Found 0 instead of 1 \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/MAIS/left_hand-ems2-mais.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/MAIS/right_hand-ems4-mais.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_upper_leg-ems6-mc.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_upper_leg-ems6-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_upper_leg-ems6-mec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/left_lower_leg-ems7-mc.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems7-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/left_lower_leg-ems7-mec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/left_leg-mc_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_upper_leg-ems8-mc.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_upper_leg-ems8-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_upper_leg-ems8-mec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/motorControl/right_lower_leg-ems9-mc.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems9-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/mechanicals/right_lower_leg-ems9-mec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/motorControl/right_leg-mc_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/inertial.xml \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/inertial.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/left_arm-skin_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skin.xml \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skin.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_arm-ems2-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skinSpec.xml \r\n[WARNING]Invalid syntax while loading /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_arm-ems2-skinSpec.xml at line 4 . Trying to import a file for the wrong robot. Found iCubGenova05 instead of iCubNottingham01 \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/right_arm-skin_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/torso-skin_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skin.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/torso-cfw2_can9-skinSpec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_arm-ems4-skin.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_arm-ems4-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_arm-ems4-skinSpec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/left_leg-skin_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./wrappers/skin/right_leg-skin_wrapper.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_leg-ems10-skin.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/left_lower_leg-ems10-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/left_leg-ems10-skinSpec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_leg-ems11-skin.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/right_lower_leg-ems11-eln.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/electronics/pc104.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./hardware/skin/right_leg-ems11-skinSpec.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/left_arm-calib.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/right_arm-calib.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/left_leg-calib.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/right_leg-calib.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/torso-calib.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./calibrators/head-calib.xml \r\n[DEBUG]Reading file /usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/./general.xml \r\nyarp: Port /icub/yarprobotinterface active at tcp://10.0.0.2:10076\r\n[INFO]startup phase starting... \r\n||| finding paths [plugins]\r\n||| checking [/home/icub/plugins] (pwd)\r\n||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/robots/iCubNottingham01/plugins] (robot)\r\n||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME)\r\n||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME)\r\n||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS)\r\n||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS)\r\n||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins\r\n||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS)\r\n||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins\r\n||| checking [/usr/local/src/robot/iCubContrib/share/ICUBcontrib/plugins] (YARP_DATA_DIRS)\r\n[INFO]***** Configuring cartesian controller *****\r\n[INFO]Acquiring options for group GENERAL...\r\n[INFO]Acquiring options for group DRIVER_0...\r\n[INFO]Acquiring options for group DRIVER_1...\r\n[INFO]PLANT_MODEL group detected\r\n[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)) \r\nyarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10077\r\nyarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10078\r\nyarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10079\r\nyarp: Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10080\r\nyarp: Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10081\r\nyarp: Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10082\r\nyarp: Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10083\r\n[INFO]created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation.\r\n[INFO]***** Configuring cartesian controller *****\r\n[INFO]Acquiring options for group GENERAL...\r\n[INFO]Acquiring options for group DRIVER_0...\r\n[INFO]Acquiring options for group DRIVER_1...\r\n[INFO]PLANT_MODEL group detected\r\n[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)) \r\nyarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10084\r\nyarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10085\r\nyarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10086\r\nyarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10087\r\nyarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10088\r\nyarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10089\r\nyarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10090\r\n[INFO]created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation.\r\n[WARNING]Rotor: Using default value = 1\r\n[INFO]Position Pids section found, new format\r\n[INFO]Position Pids successfully loaded\r\n[WARNING]Torque control parameters not found for part , skipping...\r\n[DEBUG]DEBUG parameters section NOT found, skipping...\r\n[DEBUG]IMPEDANCE parameters section NOT found, skipping...\r\n[WARNING]jntVelMax: Using default jntVelMax=100 deg/s\r\n[WARNING]maxPosStep: Using default MaxPosStep=10 degs\r\n[WARNING]Rotor: Using default value = 1\r\n[INFO]Position Pids section found, new format\r\n[INFO]Position Pids successfully loaded\r\n[WARNING]Torque control parameters not found for part , skipping...\r\n[DEBUG]DEBUG parameters section NOT found, skipping...\r\n[DEBUG]IMPEDANCE parameters section NOT found, skipping...\r\n[WARNING]jntVelMax: Using default jntVelMax=100 deg/s\r\n[WARNING]maxPosStep: Using default MaxPosStep=10 degs\r\n[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.\r\nprinting destinations and inverted map\r\n0 1\r\n2 2\r\n4 3\r\n[INFO]using ICUB_CANMASKS_STRICT_FILTER option\r\n[DEBUG]class 0 set\r\n[DEBUG]class 1 set\r\n[DEBUG]class 2 set\r\n[DEBUG]class 3 set\r\n[DEBUG]Can read/write buffers created, buffer size: 500\r\n[INFO]CanBusResources::initialized correctly\r\nRegistering new thread 0 out of 500\r\n[INFO]\r\n[INFO]**********************************\r\n[INFO]iCubInterface CAN protocol: 1.6\r\n[INFO]Firmware report:\r\n[INFO]cfw2can [0] joint: 0 can_address:  1 board type: 4 (BLL) version: 1.62 build: 87 CAN_protocol:1.6\r\n[INFO]cfw2can [0] joint: 1 can_address:  1 board type: 4 (BLL) version: 1.62 build: 87 CAN_protocol:1.6\r\n[INFO]cfw2can [0] joint: 2 can_address:  2 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6\r\n[INFO]cfw2can [0] joint: 3 can_address:  2 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6\r\n[INFO]cfw2can [0] joint: 4 can_address:  3 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6\r\n[INFO]cfw2can [0] joint: 5 can_address:  3 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6\r\n[INFO]**********************************\r\n[INFO]\r\n[DEBUG]CanBusMotionControl::open returned true\r\n \r\n[INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation.\r\n[INFO]/icub/head : no ROS initialization required \r\n[INFO]/icub/head  initting YARP initialization \r\nyarp: Port /icub/head/rpc:i active at tcp://10.0.0.2:10091\r\nyarp: Port /icub/head/command:i active at tcp://10.0.0.2:10092\r\nyarp: Port /icub/head/state:o active at tcp://10.0.0.2:10093\r\nyarp: Port /icub/head/stateExt:o active at tcp://10.0.0.2:10094\r\n[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.\r\n[DEBUG]POSITION_CONTROL: using metric_units\r\n[DEBUG]POSITION_CONTROL: using control law joint_pid_v1\r\n[WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping \r\n[DEBUG]TORQUE_CONTROL: using metric_units\r\n[DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1\r\n[DEBUG]CURRENT_CONTROL: using metric_units\r\n[DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback\r\n[INFO]IMPEDANCE section: parameters successfully loaded\r\n[DEBUG]TheEthManager::initCommunication() has found IP for PC104 =  10.0.1.104:12345 \r\n[DEBUG]EthSender is a RateThread with txrate = 1 ms \r\n[DEBUG]EthReceiver is a RateThread with rxrate = 5 ms \r\n[WARNING]in EthReceiver::config() the config socket has queue size =  2097152 ; you request ETHRECEIVER_BUFFER_SIZE=  \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.5 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.5 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.5 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.5 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.5 \r\n[INFO] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1781s 851m 69u: (code 0x00000034, par16 0x0001 par64 0x000000000000003c) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB5 with IP 10.0.1.5 at 5 ms \r\n[INFO] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1781s 886m 241u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + .\r\n[DEBUG] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1781s 906m 241u: (code 0x05000015, par16 0x0300 par64 0x0000000000103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + .\r\n[INFO] from BOARD 10.0.1.5 (EB5) @ 1781s 906m 293u: CAN discovery has started for 3 eobrd_foc boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.5 (EB5) @ 1781s 906m 934u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.5 (EB5) @ 1781s 906m 949u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.5 (EB5) @ 1781s 906m 964u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.5 (EB5) @ 1781s 906m 984u: CAN discovery is OK for 3 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1781s 907m 218u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .\r\n[INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.\r\n[INFO]/icub/torso : no ROS initialization required \r\n[INFO]/icub/torso  initting YARP initialization \r\nyarp: Port /icub/torso/rpc:i active at tcp://10.0.0.2:10095\r\nyarp: Port /icub/torso/command:i active at tcp://10.0.0.2:10096\r\nyarp: Port /icub/torso/state:o active at tcp://10.0.0.2:10097\r\nyarp: Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10098\r\n[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.\r\n[DEBUG]POSITION_CONTROL: using metric_units\r\n[DEBUG]POSITION_CONTROL: using control law joint_pid_v1\r\n[WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping \r\n[DEBUG]TORQUE_CONTROL: using metric_units\r\n[DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1\r\n[DEBUG]CURRENT_CONTROL: using metric_units\r\n[DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback\r\n[INFO]IMPEDANCE section: parameters successfully loaded\r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.1 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.1 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.1 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.1 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.1 \r\n[INFO] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1782s 158m 568u: (code 0x00000034, par16 0x0001 par64 0x0000000000000054) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB1 with IP 10.0.1.1 at 5 ms \r\n[INFO] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1782s 193m 730u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + .\r\n[DEBUG] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1782s 213m 248u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + .\r\n[INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 213m 314u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 214m 170u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 214m 185u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 214m 199u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 214m 214u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.1 (EB1) @ 1782s 214m 234u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1782s 214m 525u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .\r\n[INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.\r\n[DEBUG]POSITION_CONTROL: using machine_units\r\n[DEBUG]POSITION_CONTROL: using control law joint_pid_v1\r\n[WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping \r\n[DEBUG]TORQUE_CONTROL: using metric_units\r\n[DEBUG]TORQUE_CONTROL: using control law joint_pid_v1\r\n[DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file \r\n[INFO]IMPEDANCE section: parameters successfully loaded\r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.2 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.2 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.2 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.2 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.2 \r\n[INFO] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1782s 394m 207u: (code 0x00000034, par16 0x0001 par64 0x00000000000000d6) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB2 with IP 10.0.1.2 at 3 ms \r\n[INFO] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1782s 429m 846u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + .\r\n[INFO] from BOARD 10.0.1.2 (EB2) @ 1782s 429m 879u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.2 (EB2) @ 1782s 430m 687u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.2 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.2 (EB2) @ 1782s 430m 705u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1782s 430m 727u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + .\r\n[INFO] from BOARD 10.0.1.2 (EB2) @ 1782s 430m 746u: CAN discovery has started for 6 eobrd_mc4 boards on (can1map, can2map) = (0x01f8, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0.\r\n[WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 564u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 3 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms\r\n[WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 579u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 4 with can protocol ver 1.6 and application ver 2.25.87 Search time was 1 ms\r\n[WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 593u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 5 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms\r\n[WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 608u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 6 with can protocol ver 1.6 and application ver 2.40.87 Search time was 1 ms\r\n[WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 622u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 7 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms\r\n[WARNING] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 637u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 8 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.2 (EB2) @ 1782s 432m 656u: CAN discovery is OK for 6 eobrd_mc4 boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms\r\n[DEBUG] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1782s 432m 706u: (code 0x05000010, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4-based motion. more info will follow + .\r\n[INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.\r\n[INFO]/icub/left_arm : no ROS initialization required \r\n[INFO]/icub/left_arm  initting YARP initialization \r\nyarp: Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10099\r\nyarp: Port /icub/left_arm/command:i active at tcp://10.0.0.2:10100\r\nyarp: Port /icub/left_arm/state:o active at tcp://10.0.0.2:10101\r\nyarp: Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10102\r\n[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.\r\n[DEBUG]POSITION_CONTROL: using metric_units\r\n[DEBUG]POSITION_CONTROL: using control law joint_pid_v1\r\n[WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping \r\n[DEBUG]TORQUE_CONTROL: using metric_units\r\n[DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1\r\n[DEBUG]CURRENT_CONTROL: using metric_units\r\n[DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback\r\n[INFO]IMPEDANCE section: parameters successfully loaded\r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.3 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.3 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.3 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.3 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.3 \r\n[INFO] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1782s 955m 377u: (code 0x00000034, par16 0x0001 par64 0x0000000000000054) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB3 with IP 10.0.1.3 at 5 ms \r\n[INFO] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1782s 990m 985u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + .\r\n[DEBUG] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1783s 11m 254u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + .\r\n[INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 11m 320u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 12m 176u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 12m 191u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 12m 206u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 12m 220u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.3 (EB3) @ 1783s 12m 240u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1783s 12m 531u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .\r\n[WARNING] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1783s 39m 586u: (code 0x0200000a, par16 0x0000 par64 0x0000000000000001) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .\r\n[WARNING] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1783s 39m 608u: (code 0x0200000a, par16 0x0001 par64 0x0000000000000001) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .\r\n[WARNING] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1783s 39m 628u: (code 0x0200000a, par16 0x0002 par64 0x0000000000000001) -> MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. par16 = AEA port (msb) and ID of joint (lsb). + .\r\n[INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.\r\n[DEBUG]POSITION_CONTROL: using machine_units\r\n[DEBUG]POSITION_CONTROL: using control law joint_pid_v1\r\n[WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping \r\n[DEBUG]TORQUE_CONTROL: using metric_units\r\n[DEBUG]TORQUE_CONTROL: using control law joint_pid_v1\r\n[DEBUG]embObjMotionControl::fromConfig(): no CURRENT_CONTROL group found in config file \r\n[INFO]IMPEDANCE section: parameters successfully loaded\r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.4 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.4 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.4 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = MAXIMUM and will prepare protocol for 12 jomos for BOARD w/ IP 10.0.1.4 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.4 \r\n[INFO] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1783s 197m 907u: (code 0x00000034, par16 0x0001 par64 0x00000000000000d6) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB4 with IP 10.0.1.4 at 3 ms \r\n[INFO] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1783s 232m 558u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + .\r\n[INFO] from BOARD 10.0.1.4 (EB4) @ 1783s 232m 592u: CAN discovery has started for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.4 (EB4) @ 1783s 232m 900u: CAN discovery has detected a eobrd_mais board in CAN1 addr 14 with can protocol ver 1.0 and application ver 3.1.2 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.4 (EB4) @ 1783s 232m 918u: CAN discovery is OK for 1 eobrd_mais boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1783s 232m 940u: (code 0x0500000a, par16 0x000e par64 0x0000000001000000) -> CFG: EOtheMAIS can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + .\r\n[INFO] from BOARD 10.0.1.4 (EB4) @ 1783s 232m 959u: CAN discovery has started for 6 eobrd_mc4 boards on (can1map, can2map) = (0x01f8, 0x0000) with target can protocol ver 1.0 and application ver 0.0.0.\r\n[WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 178u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 3 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms\r\n[WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 192u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 4 with can protocol ver 1.6 and application ver 2.25.87 Search time was 0 ms\r\n[WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 207u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 5 with can protocol ver 1.6 and application ver 2.40.87 Search time was 0 ms\r\n[WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 222u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 6 with can protocol ver 1.6 and application ver 2.40.87 Search time was 0 ms\r\n[WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 236u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 7 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms\r\n[WARNING] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 251u: CAN discovery has detected a eobrd_mc4 board in CAN1 addr 8 with can protocol ver 1.6 and application ver 2.48.87 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.4 (EB4) @ 1783s 234m 270u: CAN discovery is OK for 6 eobrd_mc4 boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms\r\n[DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1783s 234m 320u: (code 0x05000010, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4-based motion. more info will follow + .\r\n[INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.\r\n[INFO]/icub/right_arm : no ROS initialization required \r\n[INFO]/icub/right_arm  initting YARP initialization \r\nyarp: Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10103\r\nyarp: Port /icub/right_arm/command:i active at tcp://10.0.0.2:10104\r\nyarp: Port /icub/right_arm/state:o active at tcp://10.0.0.2:10105\r\nyarp: Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10106\r\n[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.\r\n[INFO]No ROS group found in config file ... skipping ROS initialization. \r\n[INFO]AnalogServer : no ROS initialization required \r\nyarp: Port /icub/left_arm/analog:o/rpc:i active at tcp://10.0.0.2:10107\r\n[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.\r\n[INFO]No ROS group found in config file ... skipping ROS initialization. \r\n[INFO]AnalogServer : no ROS initialization required \r\nyarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.0.0.2:10108\r\n[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.\r\n[INFO]No ROS group found in config file ... skipping ROS initialization. \r\n[INFO]AnalogServer : no ROS initialization required \r\nyarp: Port /icub/right_leg/analog:o/rpc:i active at tcp://10.0.0.2:10109\r\n[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.\r\n[INFO]No ROS group found in config file ... skipping ROS initialization. \r\n[INFO]AnalogServer : no ROS initialization required \r\nyarp: Port /icub/left_leg/analog:o/rpc:i active at tcp://10.0.0.2:10110\r\n[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.\r\n[INFO]No ROS group found in config file ... skipping ROS initialization. \r\n[INFO]AnalogServer : no ROS initialization required \r\nyarp: Port /icub/right_foot/analog:o/rpc:i active at tcp://10.0.0.2:10111\r\n[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.\r\n[INFO]No ROS group found in config file ... skipping ROS initialization. \r\n[INFO]AnalogServer : no ROS initialization required \r\nyarp: Port /icub/left_foot/analog:o/rpc:i active at tcp://10.0.0.2:10112\r\n[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.\r\n[INFO]The embObjStrain device using BOARD EB1  w/ IP 10.0.1.1 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO] from BOARD 10.0.1.1 (EB1) @ 1783s 938m 562u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.1 (EB1) @ 1783s 939m 595u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 1 ms\r\n[INFO]The embObjStrain device using BOARD EB1  w/ IP 10.0.1.1 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_l_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO] from BOARD 10.0.1.1 (EB1) @ 1783s 939m 608u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms\r\n[DEBUG] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1783s 939m 628u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + .\r\n[INFO]created device <embObjStrain>. See C++ class yarp::dev::embObjStrain for documentation.\r\n[INFO]The embObjStrain device using BOARD EB3  w/ IP 10.0.1.3 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO] from BOARD 10.0.1.3 (EB3) @ 1784s 997m 777u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.3 (EB3) @ 1784s 998m 810u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.3 (EB3) @ 1784s 998m 824u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 1 ms\r\n[DEBUG] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1784s 998m 844u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + .\r\n[INFO]The embObjStrain device using BOARD EB3  w/ IP 10.0.1.3 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_r_upper_arm_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO]created device <embObjStrain>. See C++ class yarp::dev::embObjStrain for documentation.\r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.6 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.6 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.6 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.6 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.6 \r\n[INFO]The embObjStrain device using BOARD EB6  w/ IP 10.0.1.6 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1786s 2m 160u: (code 0x00000034, par16 0x0001 par64 0x0000000000000048) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB6 with IP 10.0.1.6 at 5 ms \r\n[INFO] from BOARD 10.0.1.6 (EB6) @ 1786s 37m 945u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.6 (EB6) @ 1786s 38m 243u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.6 (EB6) @ 1786s 38m 258u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1786s 38m 280u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + .\r\n[INFO]The embObjStrain device using BOARD EB6  w/ IP 10.0.1.6 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_l_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO]created device <embObjStrain>. See C++ class yarp::dev::embObjStrain for documentation.\r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.8 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.8 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.8 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.8 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.8 \r\n[INFO]The embObjStrain device using BOARD EB8  w/ IP 10.0.1.8 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1787s 92m 47u: (code 0x00000034, par16 0x0001 par64 0x0000000000000049) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB8 with IP 10.0.1.8 at 5 ms \r\n[INFO] from BOARD 10.0.1.8 (EB8) @ 1787s 128m 136u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 1.0 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.8 (EB8) @ 1787s 128m 433u: CAN discovery has detected a eobrd_strain board in CAN2 addr 13 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.8 (EB8) @ 1787s 128m 448u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1787s 128m 470u: (code 0x05000008, par16 0x010d par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + .\r\n[INFO]The embObjStrain device using BOARD EB8  w/ IP 10.0.1.8 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_r_upper_leg_strain @ CAN2:13 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[DEBUG]cfw2can [0] thread ran 597 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]\r\n[DEBUG]     Device has no ICanBusErr interface\r\n[DEBUG]cfw2can [0] printing boards infos:\r\nNone\r\n[WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 6.12 seconds\r\n[WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 6.12 seconds\r\n[WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 6.12 seconds\r\n[WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 6.12 seconds\r\n[WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 6.12 seconds\r\n[WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 6.12 seconds\r\n[INFO]created device <embObjStrain>. See C++ class yarp::dev::embObjStrain for documentation.\r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.7 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.7 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.7 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.7 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.7 \r\n[INFO]The embObjStrain device using BOARD EB7  w/ IP 10.0.1.7 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_l_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1788s 150m 826u: (code 0x00000034, par16 0x0001 par64 0x0000000000000032) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB7 with IP 10.0.1.7 at 5 ms \r\n[INFO] from BOARD 10.0.1.7 (EB7) @ 1788s 186m 851u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x0002) with target can protocol ver 1.0 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.7 (EB7) @ 1788s 187m 145u: CAN discovery has detected a eobrd_strain board in CAN2 addr 1 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.7 (EB7) @ 1788s 187m 162u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1788s 187m 184u: (code 0x05000008, par16 0x0101 par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + .\r\n[INFO]The embObjStrain device using BOARD EB7  w/ IP 10.0.1.7 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_l_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO]created device <embObjStrain>. See C++ class yarp::dev::embObjStrain for documentation.\r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 5 for BOARD w/ IP 10.0.1.9 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.9 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.9 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.9 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.9 \r\n[INFO]The embObjStrain device using BOARD EB9  w/ IP 10.0.1.9 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_r_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1789s 243m 542u: (code 0x00000034, par16 0x0001 par64 0x0000000000000031) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB9 with IP 10.0.1.9 at 5 ms \r\n[INFO] from BOARD 10.0.1.9 (EB9) @ 1789s 279m 388u: CAN discovery has started for 1 eobrd_strain boards on (can1map, can2map) = (0x0000, 0x0002) with target can protocol ver 1.0 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.9 (EB9) @ 1789s 279m 682u: CAN discovery has detected a eobrd_strain board in CAN2 addr 1 with can protocol ver 1.0 and application ver 3.0.4 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.9 (EB9) @ 1789s 279m 699u: CAN discovery is OK for 1 eobrd_strain boards with target can protocol ver 1.0 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1789s 279m 721u: (code 0x05000008, par16 0x0101 par64 0x0000000001000000) -> CFG: EOtheSTRAIN can be correctly configured. can address in p16, prot and vers in p64 lower 32 bits + .\r\n[INFO]The embObjStrain device using BOARD EB9  w/ IP 10.0.1.9 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- useCalibration = true \r\n[INFO]- STRAIN named id_r_lower_leg_strain @ CAN2:1 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO]created device <embObjStrain>. See C++ class yarp::dev::embObjStrain for documentation.\r\n[DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name \"/icub/joint_vsens/left_arm:i\") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) \r\n[DEBUG]Using VirtualAnalogServer\r\n \r\nyarp: Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10113\r\n[INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation.\r\n[DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name \"/icub/joint_vsens/right_leg:i\") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) \r\n[DEBUG]Using VirtualAnalogServer\r\n \r\nyarp: Port /icub/joint_vsens/right_leg:i active at tcp://10.0.0.2:10114\r\n[INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation.\r\n[DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 6) (robotName icub) (SecondSetOfJoints 4 5 0 1) (name \"/icub/joint_vsens/left_leg:i\") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) \r\n[DEBUG]Using VirtualAnalogServer\r\n \r\nyarp: Port /icub/joint_vsens/left_leg:i active at tcp://10.0.0.2:10115\r\n[INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation.\r\n[DEBUG](period 10) (networks (FirstSetOfJoints SecondSetOfJoints)) (channels 7) (robotName icub) (SecondSetOfJoints 4 6 0 2) (name \"/icub/joint_vsens/right_arm:i\") (device virtualAnalogServer) (FirstSetOfJoints 0 3 0 3) \r\n[DEBUG]Using VirtualAnalogServer\r\n \r\nyarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10116\r\n[INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation.\r\n[DEBUG](period 10) (networks (FirstSetOfJoints)) (channels 3) (robotName icub) (name \"/icub/joint_vsens/torso:i\") (device virtualAnalogServer) (FirstSetOfJoints 0 2 0 2) \r\n[DEBUG]Using VirtualAnalogServer\r\n \r\nyarp: Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10117\r\n[INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation.\r\n[INFO]No ROS group found in config file ... skipping ROS initialization. \r\n[INFO]AnalogServer : no ROS initialization required \r\nyarp: Port /icub/left_hand/analog:o/rpc:i active at tcp://10.0.0.2:10118\r\n[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.\r\n[INFO]No ROS group found in config file ... skipping ROS initialization. \r\n[INFO]AnalogServer : no ROS initialization required \r\nyarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10119\r\n[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.\r\n||| finding paths [plugins]\r\n[INFO]The embObjMais device using BOARD EB2 w/ IP 10.0.1.2 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- MAIS named id_l_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO]created device <embObjMais>. See C++ class yarp::dev::embObjMais for documentation.\r\n[INFO]The embObjMais device using BOARD EB4 w/ IP 10.0.1.4 has the following service config: \r\n[INFO]- acquisitionrate = 10 \r\n[INFO]- MAIS named id_r_hand_mais @ CAN1:14 with required protocol version = (1, 0) and required firmware version = (0, 0, 0) \r\n[INFO]created device <embObjMais>. See C++ class yarp::dev::embObjMais for documentation.\r\n[DEBUG]POSITION_CONTROL: using metric_units\r\n[DEBUG]POSITION_CONTROL: using control law joint_pid_v1\r\n[WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping \r\n[DEBUG]TORQUE_CONTROL: using metric_units\r\n[DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1\r\n[DEBUG]CURRENT_CONTROL: using metric_units\r\n[DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback\r\n[INFO]IMPEDANCE section: parameters successfully loaded\r\n[INFO] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1790s 892m 852u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + .\r\n[DEBUG] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1790s 913m 263u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + .\r\n[INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 913m 323u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 914m 869u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 914m 882u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 914m 895u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 914m 908u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.6 (EB6) @ 1790s 914m 926u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 1 ms\r\n[DEBUG] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1790s 915m 222u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .\r\n[WARNING] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1790s 915m 811u: (code 0x0000000b, par16 0x01d7 par64 0x006e001400060018) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .\r\n[INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.\r\n[DEBUG]POSITION_CONTROL: using metric_units\r\n[DEBUG]POSITION_CONTROL: using control law joint_pid_v1\r\n[WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping \r\n[DEBUG]TORQUE_CONTROL: using metric_units\r\n[DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1\r\n[DEBUG]CURRENT_CONTROL: using metric_units\r\n[DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback\r\n[INFO]IMPEDANCE section: parameters successfully loaded\r\n[INFO] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1791s 93m 273u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + .\r\n[DEBUG] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1791s 113m 224u: (code 0x05000015, par16 0x0200 par64 0x0000000000003000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + .\r\n[INFO] from BOARD 10.0.1.7 (EB7) @ 1791s 113m 287u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.7 (EB7) @ 1791s 115m 267u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.7 (EB7) @ 1791s 115m 280u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.7 (EB7) @ 1791s 115m 298u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 1 ms\r\n[DEBUG] from BOARD 10.0.1.7 (EB7), src LOCAL, adr 0, time 1791s 115m 515u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .\r\n[INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.\r\n[INFO]/icub/left_leg : no ROS initialization required \r\n[INFO]/icub/left_leg  initting YARP initialization \r\nyarp: Port /icub/left_leg/rpc:i active at tcp://10.0.0.2:10120\r\nyarp: Port /icub/left_leg/command:i active at tcp://10.0.0.2:10121\r\nyarp: Port /icub/left_leg/state:o active at tcp://10.0.0.2:10122\r\nyarp: Port /icub/left_leg/stateExt:o active at tcp://10.0.0.2:10123\r\n[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.\r\n[DEBUG]POSITION_CONTROL: using metric_units\r\n[DEBUG]POSITION_CONTROL: using control law joint_pid_v1\r\n[WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping \r\n[DEBUG]TORQUE_CONTROL: using metric_units\r\n[DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1\r\n[DEBUG]CURRENT_CONTROL: using metric_units\r\n[DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback\r\n[INFO]IMPEDANCE section: parameters successfully loaded\r\n[INFO] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1791s 300m 863u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + .\r\n[DEBUG] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1791s 321m 263u: (code 0x05000015, par16 0x0400 par64 0x0000000040103000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + .\r\n[INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 321m 323u: CAN discovery has started for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 322m 879u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 322m 891u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 322m 904u: CAN discovery has detected a eobrd_foc board in CAN1 addr 3 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 322m 917u: CAN discovery has detected a eobrd_foc board in CAN1 addr 4 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.8 (EB8) @ 1791s 322m 935u: CAN discovery is OK for 4 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 1 ms\r\n[DEBUG] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1791s 323m 232u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .\r\n[WARNING] from BOARD 10.0.1.8 (EB8), src LOCAL, adr 0, time 1791s 323m 821u: (code 0x0000000b, par16 0x01d7 par64 0x006e001500060018) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .\r\n[INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.\r\n[DEBUG]POSITION_CONTROL: using metric_units\r\n[DEBUG]POSITION_CONTROL: using control law joint_pid_v1\r\n[WARNING]embObjMotionControl::fromConfig(): Warning: no VEL_PIDS group found in config file, skipping \r\n[DEBUG]TORQUE_CONTROL: using metric_units\r\n[DEBUG]TORQUE_CONTROL: using control law motor_pid_with_friction_v1\r\n[DEBUG]CURRENT_CONTROL: using metric_units\r\n[DEBUG]CORRENT_CONTROL: using control law motor 2foc_feedback\r\n[INFO]IMPEDANCE section: parameters successfully loaded\r\n[INFO] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1791s 503m 18u: (code 0x05000025, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController service is using the local default configuration based on its IP address. + .\r\n[DEBUG] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1791s 523m 218u: (code 0x05000015, par16 0x0200 par64 0x0000000000003000) -> CFG: EOtheEncoderReader can be correctly configured. in p16 the number of joints (msb) and failure mask (lsb), in p64 for each physical joint a byte with (port, errorcode) + .\r\n[INFO] from BOARD 10.0.1.9 (EB9) @ 1791s 523m 258u: CAN discovery has started for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.4 and application ver 0.0.0.\r\n[INFO] from BOARD 10.0.1.9 (EB9) @ 1791s 525m 11u: CAN discovery has detected a eobrd_foc board in CAN1 addr 1 with can protocol ver 1.4 and application ver 3.1.0 Search time was 0 ms\r\n[INFO] from BOARD 10.0.1.9 (EB9) @ 1791s 525m 24u: CAN discovery has detected a eobrd_foc board in CAN1 addr 2 with can protocol ver 1.4 and application ver 3.1.0 Search time was 1 ms\r\n[INFO] from BOARD 10.0.1.9 (EB9) @ 1791s 525m 43u: CAN discovery is OK for 2 eobrd_foc boards with target can protocol ver 1.4 and application ver 0.0.0. Search time was 1 ms\r\n[DEBUG] from BOARD 10.0.1.9 (EB9), src LOCAL, adr 0, time 1791s 525m 260u: (code 0x0500000d, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow + .\r\n[INFO]created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.\r\n[INFO]/icub/right_leg : no ROS initialization required \r\n[INFO]/icub/right_leg  initting YARP initialization \r\nyarp: Port /icub/right_leg/rpc:i active at tcp://10.0.0.2:10124\r\nyarp: Port /icub/right_leg/command:i active at tcp://10.0.0.2:10125\r\nyarp: Port /icub/right_leg/state:o active at tcp://10.0.0.2:10126\r\nyarp: Port /icub/right_leg/stateExt:o active at tcp://10.0.0.2:10127\r\n[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.\r\nXSensMtX init check: device ok.\r\n[INFO]created device <xsensmtx>. See C++ class yarp::dev::XSensMTx for documentation.\r\n[INFO]No ROS group found in config file ... skipping ROS initialization. \r\nyarp: Port /icub/inertial active at tcp://10.0.0.2:10128\r\n[INFO]Server Inertial : no ROS initialization required \r\n[INFO]Starting server Inertial thread\r\n[DEBUG]Writing an Inertial measurement.\r\n[INFO]created wrapper <inertial>. See C++ class yarp::dev::ServerInertial for documentation.\r\n[DEBUG]SkinWrapper part  left_hand  mapping port/taxels-->  left_hand :  0   191   0   191 \r\n[DEBUG]SkinWrapper part  left_hand  mapping port/taxels-->  left_forearm :  192   575   0   383 \r\n[DEBUG]SkinWrapper part  left_hand  mapping port/taxels-->  left_arm :  576   1343   0   767 \r\nyarp: Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10129\r\nyarp: Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10130\r\nyarp: Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10131\r\n[INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation.\r\n[INFO] from BOARD 10.0.1.2 (EB2) @ 1792s 21m 262u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0.\r\n[WARNING] from BOARD 10.0.1.2 (EB2) @ 1792s 21m 290u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1792s 21m 324u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + .\r\n[WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1792s 27m 267u: (code 0x0000000d, par16 0x015d par64 0x07000018004e0006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1792s 38m 379u: (code 0x0000000d, par16 0x01ce par64 0x0700008400b50006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[INFO]created device <embObjSkin>. See C++ class EmbObjSkin for documentation.\r\n[DEBUG]SkinWrapper part  right_hand  mapping port/taxels-->  right_hand :  0   191   0   191 \r\n[DEBUG]SkinWrapper part  right_hand  mapping port/taxels-->  right_forearm :  192   575   0   383 \r\n[DEBUG]SkinWrapper part  right_hand  mapping port/taxels-->  right_arm :  576   1343   0   767 \r\nyarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10132\r\nyarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10133\r\nyarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10134\r\n[INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation.\r\n[DEBUG]SkinWrapper part  torso  mapping port/taxels-->  torso :  0   767   0   767 \r\nyarp: Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10135\r\n[INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation.\r\n[WARNING]CanBusSkin id list contains more than one entry -> devices will be merged.  \r\n[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.\r\n[INFO]Skin on can bus  9  uses NEW configuration version!!! \r\nyarp: Port /diagnostics/skin/errors:o active at tcp://10.0.0.2:10136\r\n[INFO]created device <canBusSkin>. See C++ class CanBusSkin for documentation.\r\n[INFO] from BOARD 10.0.1.4 (EB4) @ 1793s 506m 371u: CAN discovery has started for 7 eobrd_mtb boards on (can1map, can2map) = (0x0000, 0x7f00) with target can protocol ver 0.0 and application ver 0.0.0.\r\n[WARNING] from BOARD 10.0.1.4 (EB4) @ 1793s 506m 398u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 7 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1793s 506m 433u: (code 0x05000005, par16 0x0001 par64 0x7f00000000000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + .\r\n[WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1793s 513m 376u: (code 0x0000000d, par16 0x015f par64 0x0700001800600006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1793s 523m 488u: (code 0x0000000d, par16 0x01cf par64 0x0700048200c90006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]\r\n[DEBUG]     Device has no ICanBusErr interface\r\n[DEBUG]cfw2can [0] printing boards infos:\r\nNone\r\n[WARNING]cfw2can [0] have not heard from board 1 (channel 0) since 12.13 seconds\r\n[WARNING]cfw2can [0] have not heard from board 1 (channel 1) since 12.13 seconds\r\n[WARNING]cfw2can [0] have not heard from board 2 (channel 0) since 12.13 seconds\r\n[WARNING]cfw2can [0] have not heard from board 2 (channel 1) since 12.13 seconds\r\n[WARNING]cfw2can [0] have not heard from board 3 (channel 0) since 12.13 seconds\r\n[WARNING]cfw2can [0] have not heard from board 3 (channel 1) since 12.13 seconds\r\n[INFO]created device <embObjSkin>. See C++ class EmbObjSkin for documentation.\r\n[DEBUG]SkinWrapper part  left_leg_upper  mapping port/taxels-->  left_leg_upper :  1152   2495   0   1343 \r\n[DEBUG]SkinWrapper part  left_leg_upper  mapping port/taxels-->  left_leg_lower :  384   1151   0   767 \r\n[DEBUG]SkinWrapper part  left_leg_upper  mapping port/taxels-->  left_foot :  0   383   0   383 \r\nyarp: Port /icub/skin/left_leg_upper/rpc:i active at tcp://10.0.0.2:10137\r\nyarp: Port /icub/skin/left_leg_lower/rpc:i active at tcp://10.0.0.2:10138\r\nyarp: Port /icub/skin/left_foot/rpc:i active at tcp://10.0.0.2:10139\r\n[INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation.\r\n[DEBUG]SkinWrapper part  right_leg_upper  mapping port/taxels-->  right_leg_upper :  1152   2495   0   1343 \r\n[DEBUG]SkinWrapper part  right_leg_upper  mapping port/taxels-->  right_leg_lower :  384   1151   0   767 \r\n[DEBUG]SkinWrapper part  right_leg_upper  mapping port/taxels-->  right_foot :  0   383   0   383 \r\nyarp: Port /icub/skin/right_leg_upper/rpc:i active at tcp://10.0.0.2:10140\r\nyarp: Port /icub/skin/right_leg_lower/rpc:i active at tcp://10.0.0.2:10141\r\nyarp: Port /icub/skin/right_foot/rpc:i active at tcp://10.0.0.2:10142\r\n[INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation.\r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.10 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.10 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.10 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.10 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.10 \r\n[INFO] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 1794s 335m 218u: (code 0x00000034, par16 0x0001 par64 0x000000000000000c) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB10 with IP 10.0.1.10 at 3 ms \r\n[INFO] from BOARD 10.0.1.10 (EB10) @ 1794s 370m 386u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0.\r\n[WARNING] from BOARD 10.0.1.10 (EB10) @ 1794s 370m 415u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.10 (EB10), src LOCAL, adr 0, time 1794s 370m 465u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + .\r\n[INFO]created device <embObjSkin>. See C++ class EmbObjSkin for documentation.\r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected TXrateOfRegulars = 3 for BOARD w/ IP 10.0.1.11 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected capacityofTXpacket = 768 for BOARD w/ IP 10.0.1.11 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected maxSizeOfROP = 256 for BOARD w/ IP 10.0.1.11 \r\n[DEBUG]HostTransceiver::prepareTransceiverConfig2() has detected protocolToUse = STANDARD and will prepare protocol for 4 jomos for BOARD w/ IP 10.0.1.11 \r\n[DEBUG]TheEthManager::requestResource2(): has just succesfully created a new EthResource for IP =  10.0.1.11 \r\n[INFO] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 1794s 913m 712u: (code 0x00000034, par16 0x0001 par64 0x000000000000000c) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + .\r\n[DEBUG]EthResource::setTXrate() has succesfully set the TX rate of the transceiver of BOARD EB11 with IP 10.0.1.11 at 3 ms \r\n[INFO] from BOARD 10.0.1.11 (EB11) @ 1794s 948m 354u: CAN discovery has started for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0.\r\n[WARNING] from BOARD 10.0.1.11 (EB11) @ 1794s 948m 383u: CAN discovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 13 eobrd_mtb boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms\r\n[DEBUG] from BOARD 10.0.1.11 (EB11), src LOCAL, adr 0, time 1794s 948m 433u: (code 0x05000005, par16 0x0002 par64 0x3f0000fe00000000) -> CFG: EOtheSKIN can be correctly configured. num of patches in p16, can mapping in p64 upper 32 bits, prot and vers in p64 lower 32 bits + .\r\n[INFO]created device <embObjSkin>. See C++ class EmbObjSkin for documentation.\r\n[INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.\r\n[INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.\r\n[INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.\r\n[INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.\r\n[INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.\r\n[INFO]created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.\r\n[INFO]Entering action level 5 of phase startup \r\nyarp: Port /icub/left_arm/analog:o active at tcp://10.0.0.2:10143\r\nyarp: Port /icub/right_arm/analog:o active at tcp://10.0.0.2:10144\r\nyarp: Port /icub/right_leg/analog:o active at tcp://10.0.0.2:10145\r\nyarp: Port /icub/left_leg/analog:o active at tcp://10.0.0.2:10146\r\nyarp: Port /icub/right_foot/analog:o active at tcp://10.0.0.2:10147\r\nyarp: Port /icub/left_foot/analog:o active at tcp://10.0.0.2:10148\r\nyarp: Port /icub/left_hand/analog:o active at tcp://10.0.0.2:10149\r\nyarp: Port /icub/right_hand/analog:o active at tcp://10.0.0.2:10150\r\nyarp: Port /icub/skin/left_hand active at tcp://10.0.0.2:10151\r\nyarp: Port /icub/skin/left_forearm active at tcp://10.0.0.2:10152\r\nyarp: Port /icub/skin/left_arm active at tcp://10.0.0.2:10153\r\nyarp: Port /icub/skin/right_hand active at tcp://10.0.0.2:10154\r\nyarp: Port /icub/skin/right_forearm active at tcp://10.0.0.2:10155\r\nyarp: Port /icub/skin/right_arm active at tcp://10.0.0.2:10156\r\nyarp: Port /icub/skin/torso active at tcp://10.0.0.2:10157\r\nyarp: Port /icub/skin/left_leg_upper active at tcp://10.0.0.2:10158\r\nyarp: Port /icub/skin/left_leg_lower active at tcp://10.0.0.2:10159\r\nyarp: Port /icub/skin/left_foot active at tcp://10.0.0.2:10160\r\nyarp: Port /icub/skin/right_leg_upper active at tcp://10.0.0.2:10161\r\nyarp: Port /icub/skin/right_leg_lower active at tcp://10.0.0.2:10162\r\nyarp: Port /icub/skin/right_foot active at tcp://10.0.0.2:10163\r\n[INFO]All actions for action level 5 of startup phase started. Waiting for unfinished actions. \r\n[INFO]All actions for action level 5 of startup phase finished. \r\n[INFO]Entering action level 10 of phase startup \r\n[DEBUG]left_arm_calibrator starting calibration of device left_arm_mc_wrapper \r\n[INFO]Left_Arm_Calibrator : starting calibration \r\n[DEBUG]Left_Arm_Calibrator : Joints calibration order: ( 0 1 2 3 ) ( 4 ) ( 5 6 7 ) ( 8 9 11 13 ) ( 10 12 14 15 )  \r\nRegistering new thread 0 out of 500\r\n[DEBUG]right_arm_calibrator starting calibration of device right_arm_mc_wrapper \r\n[DEBUG]left_leg_calibrator starting calibration of device left_leg_mc_wrapper \r\n[INFO]Right_Arm_Calibrator : starting calibration \r\n[DEBUG]Right_Arm_Calibrator : Joints calibration order: ( 0 1 2 3 ) ( 4 ) ( 5 6 7 ) ( 8 9 11 13 ) ( 10 12 14 15 )  \r\n[DEBUG]right_leg_calibrator starting calibration of device right_leg_mc_wrapper \r\n[DEBUG]torso_calibrator starting calibration of device torso_mc_wrapper \r\n[INFO]All actions for action level 10 of startup phase started. Waiting for unfinished actions. \r\n[DEBUG]head_calibrator starting calibration of device head_mc_wrapper \r\nRegistering new thread 0 out of 500\r\n[INFO]Right_Leg_Calibrator : starting calibration \r\n[INFO]Torso_Calibrator : starting calibration \r\n[DEBUG]Right_Leg_Calibrator : Joints calibration order: ( 0 1 2 3 4 5 )  \r\n[DEBUG]Torso_Calibrator : Joints calibration order: ( 0 1 2 )  \r\n[INFO]Head_Calibrator : starting calibration \r\nRegistering new thread 0 out of 500\r\nRegistering new thread 0 out of 500\r\n[INFO]Left_Leg_Calibrator : starting calibration \r\n[DEBUG]Head_Calibrator : Joints calibration order: ( 0 1 2 ) ( 3 ) ( 4 ) ( 5 )  \r\nRegistering new thread 1 out of 500\r\n[DEBUG]Left_Leg_Calibrator : Joints calibration order: ( 0 1 2 3 4 5 )  \r\nRegistering new thread 0 out of 500\r\nRegistering new thread 0 out of 500\r\nRegistering new thread 0 out of 500\r\n[DEBUG]Head_Calibrator : skipping startupMaxPWM=0 of joint  2 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  0 : type  3  with params:  38229.2 10 14879.1 0 0 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  1 : type  3  with params:  51882.5 10 8575 0 0 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  2 : type  3  with params:  32767.9 10 25519.1 0 0 \r\n[DEBUG]Torso_Calibrator : Calling calibrateJoint on joint  0 : type  3  with params:  32767.9 10 44397.9 0 0 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  3 : type  3  with params:  24575.9 10 53646.9 0 0 \r\n[DEBUG]Torso_Calibrator : Calling calibrateJoint on joint  1 : type  3  with params:  32767.9 10 63197.9 0 0 \r\n[DEBUG]Torso_Calibrator : Calling calibrateJoint on joint  2 : type  3  with params:  32767.9 10 56798.9 0 0 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  0 : type  3  with params:  27306.6 10 44542.9 0 0 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  1 : type  3  with params:  13653.3 10 35887 0 0 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  2 : type  3  with params:  32767.9 10 5452.1 0 0 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  3 : type  3  with params:  40959.9 10 41822.9 0 0 \r\n[WARNING] from BOARD 10.0.1.1 (EB1), src LOCAL, adr 0, time 1795s 901m 726u: (code 0x0000000d, par16 0x01fd par64 0x0009002000a900d6) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[WARNING] from BOARD 10.0.1.5 (EB5), src LOCAL, adr 0, time 1795s 882m 277u: (code 0x0000000d, par16 0x018c par64 0x00070070008e00a0) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[DEBUG]Head_Calibrator : Calling calibrateJoint on joint  0 : type  3  with params:  2047.5 10 1149.5 0 0 \r\n[DEBUG]Head_Calibrator : Calling calibrateJoint on joint  1 : type  3  with params:  2047.5 10 3897.5 0 0 \r\n[DEBUG]Head_Calibrator : Calling calibrateJoint on joint  2 : type  3  with params:  2047.5 10 1683.5 0 0 \r\n[WARNING] from BOARD 10.0.1.3 (EB3), src LOCAL, adr 0, time 1795s 923m 884u: (code 0x0000000d, par16 0x01c3 par64 0x0009007900a400d2) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint  0 : type  3  with params:  32767.9 10 51950.9 0 0 \r\n[DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint  1 : type  3  with params:  32767.9 10 18255.1 0 0 \r\n[DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint  2 : type  3  with params:  32767.9 10 49694.9 0 0 \r\n[DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint  3 : type  3  with params:  32767.9 10 54798.9 0 0 \r\n[[DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint  4 : type  3  with params:  32767.9 10 62366.9 0 0 \r\n[DEBUG]Right_Leg_Calibrator : Calling calibrateJoint on joint  5 : type  3  with params:  32767.9 10 8223.1 0 0 \r\nDEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint  0 : type  3  with params:  32767.9 10 33118.9 0 0 \r\n[DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint  1 : type  3  with params:  32767.9 10 1039.1 0 0 \r\n[DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint  2 : type  3  with params:  32767.9 10 23231.1 0 0 \r\n[DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint  3 : type  3  with params:  32767.9 10 44414.9 0 0 \r\n[DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint  4 : type  3  with params:  32767.9 10 33390.9 0 0 \r\n[DEBUG]Left_Leg_Calibrator : Calling calibrateJoint on joint  5 : type  3  with params:  32767.9 10 4639.1 0 0 \r\n[DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 \r\n[DEBUG]cfw2can [0] msg from board 1: PWM ENA CH0 \r\n[DEBUG]cfw2can [0] msg from board 1: CMODE SET:1 \r\n[DEBUG]cfw2can [0] msg from board 1: CMODE SET:1 \r\n[DEBUG]cfw2can [0] msg from board 1: PWM ENA COUPLED:0 & 1 \r\n[DEBUG]cfw2can [0] msg from board 1: PWM ENA CH0 \r\n[DEBUG]cfw2can [0] msg from board 1: PWM ENA CH1 \r\n[DEBUG]cfw2can [0] msg from board 1: PWM ENA COUPLED:0 & 1 \r\n[DEBUG]cfw2can [0] msg from board 2: PWM ENA:0 \r\n[WARNING] from BOARD 10.0.1.6 (EB6), src LOCAL, adr 0, time 1795s 897m 890u: (code 0x0000000d, par16 0x016e par64 0x0007007d008400d2) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[DEBUG]Left_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  -34.4203 \r\n[DEBUG]Left_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib:  24.961 \r\n[DEBUG]Torso_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  -4.03749 \r\n[DEBUG]Left_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  6.41603 \r\n[DEBUG]Left_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib:  2.02149 \r\n[DEBUG]Torso_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib:  -7.4103 \r\n[DEBUG]Torso_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  -24.2579 \r\n[DEBUG]Right_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  19.336 \r\n[DEBUG]Right_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib:  28.5426 \r\n[DEBUG]Right_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  1.00525 \r\n[DEBUG]Right_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib:  49.9879 \r\n[DEBUG]Left_Arm_Calibrator : calib joint  0 ended \r\n[DEBUG]Torso_Calibrator : calib joint  0 ended \r\n[DEBUG]Head_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  27.7363 \r\n[DEBUG]Head_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib:  26.7692 \r\n[DEBUG]Head_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  0.0659341 \r\n[DEBUG]Right_Arm_Calibrator : calib joint  0 ended \r\n[DEBUG]Torso_Calibrator : calib joint  1 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  1 ended \r\n[DEBUG]Right_Leg_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  0 \r\n[DEBUG]Right_Leg_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib:  -0.703127 \r\n[DEBUG]Right_Leg_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  0.0219727 \r\n[DEBUG]Right_Leg_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib:  -0.0494386 \r\n[DEBUG]Right_Leg_Calibrator : set 1 j 4 : Calibrating... enc values AFTER calib:  -0.153809 \r\n[DEBUG]Right_Leg_Calibrator : set 1 j 5 : Calibrating... enc values AFTER calib:  0.12085 \r\n[DEBUG]Left_Leg_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  0.0109864 \r\n[DEBUG]Left_Leg_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib:  -1.64795 \r\n[DEBUG]Left_Leg_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  0.0219727 \r\n[DEBUG]Left_Leg_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib:  0 \r\n[DEBUG]Left_Leg_Calibrator : set 1 j 4 : Calibrating... enc values AFTER calib:  -0.164795 \r\n[DEBUG]Left_Leg_Calibrator : set 1 j 5 : Calibrating... enc values AFTER calib:  -0.153809 \r\n[DEBUG]Right_Arm_Calibrator : calib joint  1 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  2 ended \r\n[DEBUG]Torso_Calibrator : calib joint  2 ended \r\n[DEBUG]Torso_Calibrator : set 1 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Right_Leg_Calibrator : calib joint  0 ended \r\n[DEBUG]Head_Calibrator : calib joint  0 ended \r\n[DEBUG]Right_Arm_Calibrator : calib joint  2 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  3 ended \r\n[DEBUG]Left_Arm_Calibrator : set 1 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Right_Leg_Calibrator : calib joint  1 ended \r\n[DEBUG]Left_Leg_Calibrator : calib joint  0 ended \r\n[DEBUG]Right_Arm_Calibrator : calib joint  3 ended \r\n[DEBUG]Right_Arm_Calibrator : set 1 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Right_Leg_Calibrator : calib joint  2 ended \r\n[DEBUG]Left_Leg_Calibrator : calib joint  1 ended \r\n[DEBUG]Head_Calibrator : calib joint  1 ended \r\n[DEBUG]Right_Leg_Calibrator : calib joint  3 ended \r\n[DEBUG]Left_Leg_Calibrator : calib joint  2 ended \r\n[DEBUG]Left_Leg_Calibrator : calib joint  3 ended \r\n[DEBUG]Right_Leg_Calibrator : calib joint  4 ended \r\n[DEBUG]Head_Calibrator : calib joint  2 ended \r\n[DEBUG]Head_Calibrator : set 1 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Left_Leg_Calibrator : calib joint  4 ended \r\n[DEBUG]Right_Leg_Calibrator : calib joint  5 ended \r\n[DEBUG]Right_Leg_Calibrator : set 1 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Left_Leg_Calibrator : calib joint  5 ended \r\n[DEBUG]Left_Leg_Calibrator : set 1 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Torso_Calibrator : Sending positionMove to joint 0  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Torso_Calibrator : Sending positionMove to joint 1  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Torso_Calibrator : Sending positionMove to joint 2  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 0  (desired pos:  -35.97 desired speed:  10  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 1  (desired pos:  29.97 desired speed:  10  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 2  (desired pos:  0.06 desired speed:  10  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 3  (desired pos:  50 desired speed:  10  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 0  (desired pos:  -35.97 desired speed:  10  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 1  (desired pos:  29.97 desired speed:  10  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 2  (desired pos:  0.06 desired speed:  10  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 3  (desired pos:  50 desired speed:  10  ) \r\n[DEBUG]Head_Calibrator : Sending positionMove to joint 0  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Head_Calibrator : Sending positionMove to joint 1  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Head_Calibrator : Sending positionMove to joint 2  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 0  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 1  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 2  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 3  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 5  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 0  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 1  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 2  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 3  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 5  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.005 des: 0.000 -> delta: 0.005 threshold: 2.000 output: -754.000 mode: pos\r\n[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.005 over: 2.000\r\n[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 0.412 des: 0.000 -> delta: 0.412 threshold: 2.000 output: 135.000 mode: pos\r\n[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.412 over: 2.000\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -35.387 des: -35.970 -> delta: 0.583 threshold: 2.000 output: -613.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.583 over: 2.000\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 30.059 des: 29.970 -> delta: 0.089 threshold: 2.000 output: -293.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.089 over: 2.000\r\n[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -12.480 des: 0.000 -> delta: 12.480 threshold: 2.000 output: -3686.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.352 des: 0.060 -> delta: 0.292 threshold: 2.000 output: -406.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.292 over: 2.000\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.021 des: 50.000 -> delta: 47.979 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.000 over: 2.000\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.560 des: 0.000 -> delta: 19.560 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.011 des: 0.000 -> delta: 0.011 threshold: 2.000 output: 128.000 mode: pos\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.011 over: 2.000\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.088 des: 0.000 -> delta: 0.088 threshold: 2.000 output: -253.000 mode: pos\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.088 over: 2.000\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.066 des: 0.000 -> delta: 0.066 threshold: 2.000 output: 601.000 mode: pos\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.066 over: 2.000\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: 5.000 mode: pos\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.022 over: 2.000\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: -47.000 mode: pos\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.022 over: 2.000\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -0.049 des: 0.000 -> delta: 0.049 threshold: 2.000 output: -56.000 mode: pos\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.049 over: 2.000\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.000 over: 2.000\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.154 des: 0.000 -> delta: 0.154 threshold: 2.000 output: -316.000 mode: pos\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.154 over: 2.000\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.121 des: 0.000 -> delta: 0.121 threshold: 2.000 output: 269.000 mode: pos\r\n[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.121 over: 2.000\r\n[DEBUG]Right_Leg_Calibrator : set 1 : Reached zero position!\r\n \r\n[DEBUG]right_leg_calibrator finished calibration of device right_leg_mc_wrapper \r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.077 des: 0.000 -> delta: 0.077 threshold: 2.000 output: 347.000 mode: pos\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.077 over: 2.000\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: -0.154 des: 0.000 -> delta: 0.154 threshold: 2.000 output: 330.000 mode: pos\r\n[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.154 over: 2.000\r\n[DEBUG]Left_Leg_Calibrator : set 1 : Reached zero position!\r\n \r\n[DEBUG]left_leg_calibrator finished calibration of device left_leg_mc_wrapper \r\n[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -3.428 des: 0.000 -> delta: 3.428 threshold: 2.000 output: -2576.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 10.593 des: 0.000 -> delta: 10.593 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.352 des: 0.000 -> delta: 0.352 threshold: 2.000 output: -101.000 mode: pos\r\n[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.352 over: 2.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Torso_Calibrator : set 1 : Reached zero position!\r\n \r\n[DEBUG]torso_calibrator finished calibration of device torso_mc_wrapper \r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 2.769 des: 0.000 -> delta: 2.769 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.424 des: -35.970 -> delta: 55.394 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.132 des: 0.000 -> delta: 0.132 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.132 over: 2.000\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.396 des: 0.000 -> delta: 0.396 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.396 over: 2.000\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.022 over: 2.000\r\n[DEBUG]Head_Calibrator : set 1 : Reached zero position!\r\n \r\n[DEBUG]Head_Calibrator : skipping startupMaxPWM=0 of joint  3 \r\n[DEBUG]Head_Calibrator : Calling calibrateJoint on joint  3 : type  3  with params:  2047.5 10 3111.5 0 0 \r\n[DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 \r\n[DEBUG]cfw2can [0] msg from board 2: PWM ENA:1 \r\n[DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]\r\n[DEBUG]     Device has no ICanBusErr interface\r\n[WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES!\r\n[DEBUG]cfw2can [0] printing boards infos:\r\n\r\n[DEBUG]Head_Calibrator : set 2 j 3 : Calibrating... enc values AFTER calib:  0.021978 \r\n[DEBUG]Head_Calibrator : calib joint  3 ended \r\n[DEBUG]Head_Calibrator : set 2 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator : Sending positionMove to joint 3  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.424 des: -35.970 -> delta: 55.394 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.022 over: 2.000\r\n[DEBUG]Head_Calibrator : set 2 : Reached zero position!\r\n \r\n[DEBUG]Head_Calibrator : skipping startupMaxPWM=0 of joint  4 \r\n[DEBUG]Head_Calibrator : Calling calibrateJoint on joint  4 : type  0  with params:  900 20 0 0 0 \r\n[DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 \r\n[DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 \r\n[DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 \r\n[DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 \r\n[DEBUG]Head_Calibrator : set 3 j 4 : Calibrating... enc values AFTER calib:  3.11243 \r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.021 des: 50.000 -> delta: 47.979 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator : calib joint  4 ended \r\n[DEBUG]Head_Calibrator : set 3 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.021 des: 50.000 -> delta: 47.979 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.424 des: -35.970 -> delta: 55.394 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.021 des: 50.000 -> delta: 47.979 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 23.878 des: 0.000 -> delta: 23.878 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 15.060 des: 0.000 -> delta: 15.060 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]\r\n[DEBUG]     Device has no ICanBusErr interface\r\n[WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES!\r\n[DEBUG]cfw2can [0] printing boards infos:\r\n\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 6.375 des: 0.000 -> delta: 6.375 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.424 des: -35.970 -> delta: 55.394 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 1.038 des: 0.000 -> delta: 1.038 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.001 des: 0.000 -> delta: 0.001 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.001 over: 2.000\r\n[DEBUG]Head_Calibrator : set 3 : Reached zero position!\r\n \r\n[DEBUG]Head_Calibrator : skipping startupMaxPWM=0 of joint  5 \r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator : Calling calibrateJoint on joint  5 : type  0  with params:  900 20 0 0 0 \r\n[DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 \r\n[DEBUG]cfw2can [0] msg from board 2: CMODE SET:32 \r\n[DEBUG]cfw2can [0] msg from board 2: CMODE SET:1 \r\n[DEBUG]cfw2can [0] msg from board 2: PWM ENA COUPLED:2 & 3 \r\n[DEBUG]Head_Calibrator : set 4 j 5 : Calibrating... enc values AFTER calib:  -27.0848 \r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 19.336 des: -35.970 -> delta: 55.306 threshold: 2.000 output: 0.000 mode: pos\r\nc\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 29.597 des: 29.970 -> delta: 0.373 threshold: 2.000 output: -598.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.373 over: 2.000\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 2.109 des: 50.000 -> delta: 47.891 threshold: 2.000 output: 0.000 mode: pos\r\n[ERROR]Left_Arm_Calibrator : checkGoneToZeroThreshold: joint  3  Timeout while going to zero! \r\n[[DEBUGERROR]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.038 des: 0.060 -> delta: 0.022 threshold: 2.000 output: 246.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.022 over: 2.000\r\n]Left_Arm_Calibrator : set 1 : some axis got timeout while reaching zero position... disabling this set of axes\r\n \r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 49.988 des: 50.000 -> delta: 0.012 threshold: 2.000 output: -737.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.012 over: 2.000\r\n[ERROR]Right_Arm_Calibrator : set 1 : some axis got timeout while reaching zero position... disabling this set of axes\r\n \r\nRegistering new thread 0 out of 500\r\nRegistering new thread 0 out of 500\r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  4 \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  4 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  4 : type  0  with params:  500 20 0 0 0 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  4 : type  0  with params:  500 -20 0 0 0 \r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1807s 812m 250u: CAN PRINT MESSAGE[id 2] -> CMODE SET:32\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1807s 812m 281u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1807s 840m 371u: CAN PRINT MESSAGE[id 2] -> CMODE SET:32\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1807s 841m 356u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0\r\n[DEBUG]Left_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib:  3.47169 \r\n[DEBUG]Right_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib:  2.46644 \r\n[DEBUG]Head_Calibrator : calib joint  5 ended \r\n[DEBUG]Head_Calibrator : set 4 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Head_Calibrator : Sending positionMove to joint 5  (desired pos:  0 desired speed:  10  ) \r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: -0.011 des: 0.000 -> delta: 0.011 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.011 over: 2.000\r\n[DEBUG]Head_Calibrator : set 4 : Reached zero position!\r\n \r\n[DEBUG]head_calibrator finished calibration of device head_mc_wrapper \r\n[DEBUG]Left_Arm_Calibrator : calib joint  4 ended \r\n[DEBUG]Left_Arm_Calibrator : set 2 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Right_Arm_Calibrator : calib joint  4 ended \r\n[DEBUG]Right_Arm_Calibrator : set 2 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  30  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  30  ) \r\n[DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]\r\n[DEBUG]     Device has no ICanBusErr interface\r\n[WARNING]cfw2can [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES!\r\n[DEBUG]cfw2can [0] printing boards infos:\r\n\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.839 des: 0.000 -> delta: 51.839 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 51.998 des: 0.000 -> delta: 51.998 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.181 des: 0.000 -> delta: 24.181 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 24.077 des: 0.000 -> delta: 24.077 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.268 des: 0.000 -> delta: 4.268 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 4.323 des: 0.000 -> delta: 4.323 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.011 des: 0.000 -> delta: 0.011 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.011 over: 2.000\r\n[DEBUG]Left_Arm_Calibrator : set 2 : Reached zero position!\r\n \r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.016 des: 0.000 -> delta: 0.016 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.016 over: 2.000\r\n[DEBUG]Right_Arm_Calibrator : set 2 : Reached zero position!\r\n \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  5 \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  5 \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  6 \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  7 \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  6 \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  7 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  5 : type  3  with params:  2047.5 10 1277.5 0 0 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  6 : type  3  with params:  2047.5 10 267.5 0 0 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  7 : type  7  with params:  67800 100 0 2720 2815 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  5 : type  3  with params:  2047.5 10 3810.5 0 0 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  6 : type  3  with params:  2047.5 10 1656.3 0 0 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  7 : type  7  with params:  26700 100 0 2311 2463 \r\n[WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1814s 67m 547u: (code 0x0000000d, par16 0x0275 par64 0x00090093008d0006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 68m 247u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 69m 231u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 69m 297u: CAN PRINT MESSAGE[id 2] -> PWM ENA COUPLED:1 & 2\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 69m 363u: CAN PRINT MESSAGE[id 3] -> PWM ENA COUPLED:1 & 2\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 70m 244u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1814s 70m 276u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3\r\n[WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1814s 96m 657u: (code 0x0000000d, par16 0x0278 par64 0x0009001900980006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1814s 97m 323u: (code 0x0000000b, par16 0x01bf par64 0x0019009800060278) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 98m 356u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 98m 387u: CAN PRINT MESSAGE[id 1] -> CMODE SET:1\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 98m 464u: CAN PRINT MESSAGE[id 2] -> PWM ENA COUPLED:1 & 2\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 99m 406u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 99m 437u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1814s 99m 453u: CAN PRINT MESSAGE[id 3] -> PWM ENA COUPLED:1 & 2\r\n[DEBUG]Left_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib:  -0.521852 \r\n[DEBUG]Left_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib:  30.6025 \r\n[DEBUG]Left_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib:  68.8405 \r\n[DEBUG]Right_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib:  4.56483 \r\n[DEBUG]Right_Arm_Calibrator : set 3 j 6 : Calibrating... enc values AFTER calib:  23.8184 \r\n[DEBUG]Right_Arm_Calibrator : set 3 j 7 : Calibrating... enc values AFTER calib:  16.1829 \r\n[DEBUG]Left_Arm_Calibrator : calib joint  5 ended \r\n[DEBUG]Right_Arm_Calibrator : calib joint  5 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  6 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  7 ended \r\n[DEBUG]Left_Arm_Calibrator : set 3 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Right_Arm_Calibrator : calib joint  6 ended \r\n[DEBUG]Right_Arm_Calibrator : calib joint  7 ended \r\n[DEBUG]Right_Arm_Calibrator : set 3 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 5  (desired pos:  0 desired speed:  30  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 6  (desired pos:  0 desired speed:  30  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 7  (desired pos:  15 desired speed:  100  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 5  (desired pos:  0 desired speed:  30  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 6  (desired pos:  0 desired speed:  30  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 7  (desired pos:  15 desired speed:  100  ) \r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 1.055 des: 0.000 -> delta: 1.055 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 1.055 over: 2.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 1.401 des: 0.000 -> delta: 1.401 threshold: 2.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 1.401 over: 2.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 2.900 des: 0.000 -> delta: 2.900 threshold: 90.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 2.214 des: 0.000 -> delta: 2.214 threshold: 90.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 2.214 over: 90.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 2.900 over: 90.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 16.578 des: 15.000 -> delta: 1.578 threshold: 90.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 1.578 over: 90.000[\r\nDEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 52.421 des: 15.000 -> delta: 37.421 threshold: 90.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator : set 3 : Reached zero position!\r\n \r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 37.421 over: 90.000\r\n[DEBUG]Left_Arm_Calibrator : set 3 : Reached zero position!\r\n \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  8 \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  8 \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  9 \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  9 \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  11 \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  11 \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  13 \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  13 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  8 : type  7  with params:  27822.2 10 0 1198 1990 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  9 : type  6  with params:  0 10 -1 255 30 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  11 : type  6  with params:  0 10 -1 242 0 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  13 : type  6  with params:  0 10 -1 255 12 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  8 : type  7  with params:  13913.9 10 0 1070 1860 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  9 : type  6  with params:  0 10 -1 255 30 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  11 : type  6  with params:  0 10 -1 255 10 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  13 : type  6  with params:  0 10 -1 255 0 \r\n[WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1815s 847m 970u: (code 0x0000000d, par16 0x03b1 par64 0x000c001900df0006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1815s 849m 384u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1815s 849m 418u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1815s 850m 355u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1815s 850m 387u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1815s 850m 438u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1\r\n[WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1815s 829m 861u: (code 0x0000000d, par16 0x03b0 par64 0x000c001800b90006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1815s 851m 402u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 831m 276u: CAN PRINT MESSAGE[id 1] -> PWM ENA:0\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1815s 851m 417u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 831m 292u: CAN PRINT MESSAGE[id 0] -> CMODE SET:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 831m 323u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 832m 228u: CAN PRINT MESSAGE[id 3] -> PWM ENA:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 832m 260u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1815s 832m 295u: CAN PRINT MESSAGE[id 1] -> PWM ENA:3\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1815s 833m 255u: CAN PRINT MESSAGE[id 1] -> PWM ENA:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1815s 833m 294u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65\r\n[DEBUG]Right_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib:  6.7621 \r\n[DEBUG]Right_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib:  3.19703 \r\n[DEBUG]Right_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib:  0 \r\n[DEBUG]Right_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib:  0 \r\n[DEBUG]Left_Arm_Calibrator : set 4 j 8 : Calibrating... enc values AFTER calib:  29.6412 \r\n[DEBUG]Left_Arm_Calibrator : set 4 j 9 : Calibrating... enc values AFTER calib:  0 \r\n[DEBUG]Left_Arm_Calibrator : set 4 j 11 : Calibrating... enc values AFTER calib:  0 \r\n[DEBUG]Left_Arm_Calibrator : set 4 j 13 : Calibrating... enc values AFTER calib:  0 \r\n[DEBUG]Right_Arm_Calibrator : calib joint  8 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  8 ended \r\n[DEBUG]Right_Arm_Calibrator : calib joint  9 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  9 ended \r\n[DEBUG]Right_Arm_Calibrator : calib joint  11 ended \r\n[DEBUG]Right_Arm_Calibrator : calib joint  13 ended \r\n[DEBUG]Right_Arm_Calibrator : set 4 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Left_Arm_Calibrator : calib joint  11 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  13 ended \r\n[DEBUG]Left_Arm_Calibrator : set 4 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 8  (desired pos:  30 desired speed:  100  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 9  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 11  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 13  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 8  (desired pos:  30 desired speed:  100  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 9  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 11  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 13  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 30.905 des: 30.000 -> delta: 0.905 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 0.905 over: 1000.000\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 curr: 29.641 des: 30.000 -> delta: 0.359 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG[]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 1.198 des: 0.000 -> delta: 1.198 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 1.198 over: 1000.000\r\nDEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 8 completed with delta: 0.359 over: 1000.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.000 over: 1000.000\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 9 completed with delta: 0.000 over: 1000.000\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 11 completed with delta: 0.000 over: 1000.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.000 over: 1000.000\r\n[DEBUG]Right_Arm_Calibrator : set 4 : Reached zero position!\r\n \r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 13 completed with delta: 0.000 over: 1000.000\r\n[DEBUG]Left_Arm_Calibrator : set 4 : Reached zero position!\r\n \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  10 \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  12 \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  10 \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  14 \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  12 \r\n[DEBUG]Right_Arm_Calibrator : skipping startupMaxPWM=0 of joint  15 \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  14 \r\n[DEBUG]Left_Arm_Calibrator : skipping startupMaxPWM=0 of joint  15 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  10 : type  6  with params:  0 30 1 500 27 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  12 : type  6  with params:  0 10 1 487 45 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  14 : type  6  with params:  0 10 1 490 0 \r\n[DEBUG]Right_Arm_Calibrator : Calling calibrateJoint on joint  15 : type  6  with params:  0 10 -1 690 120 \r\n[WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1817s 613m 975u: (code 0x0000000d, par16 0x03b6 par64 0x000c00ae00d20006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1817s 615m 384u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1817s 615m 400u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 615m 435u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65\r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  10 : type  6  with params:  0 30 1 510 30 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  12 : type  6  with params:  0 10 1 510 0 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  14 : type  6  with params:  0 10 1 502 0 \r\n[DEBUG]Left_Arm_Calibrator : Calling calibrateJoint on joint  15 : type  6  with params:  0 10 -1 762 160 \r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 616m 394u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 616m 409u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 616m 425u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 616m 457u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1817s 617m 353u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0\r\n[WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1817s 600m 569u: (code 0x0000000d, par16 0x028c par64 0x0009001900c00006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1817s 601m 212u: (code 0x0000000b, par16 0x0200 par64 0x001900c00006028c) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1817s 602m 272u: CAN PRINT MESSAGE[id 3] -> PWM ENA:2\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1817s 602m 288u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 603m 270u: CAN PRINT MESSAGE[id 1] -> PWM ENA:2\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 603m 302u: CAN PRINT MESSAGE[id 3] -> PWM ENA:3\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 603m 334u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 604m 275u: CAN PRINT MESSAGE[id 0] -> CMODE SET:65\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 604m 309u: CAN PRINT MESSAGE[id 3] -> PWM ENA:0\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1817s 605m 228u: CAN PRINT MESSAGE[id 2] -> CMODE SET:65\r\n[DEBUG]Right_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib:  15.2216 \r\n[DEBUG]Right_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib:  0.406495 \r\n[DEBUG]Right_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib:  0.36255 \r\n[DEBUG]Right_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib:  0.472413 \r\n[DEBUG]Left_Arm_Calibrator : set 5 j 10 : Calibrating... enc values AFTER calib:  0 \r\n[DEBUG]Left_Arm_Calibrator : set 5 j 12 : Calibrating... enc values AFTER calib:  1.41175 \r\n[DEBUG]Left_Arm_Calibrator : set 5 j 14 : Calibrating... enc values AFTER calib:  1.43372 \r\n[DEBUG]Left_Arm_Calibrator : set 5 j 15 : Calibrating... enc values AFTER calib:  -0.444947 \r\n[DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]\r\n[DEBUG]     Device has no ICanBusErr interface\r\n[DEBUG]cfw2can [0] printing boards infos:\r\nNone\r\n[DEBUG]Right_Arm_Calibrator : calib joint  10 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  10 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  12 ended \r\n[DEBUG]Right_Arm_Calibrator : calib joint  12 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  14 ended \r\n[DEBUG]Right_Arm_Calibrator : calib joint  14 ended \r\n[DEBUG]Left_Arm_Calibrator : calib joint  15 ended \r\n[DEBUG]Left_Arm_Calibrator : set 5 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Right_Arm_Calibrator : calib joint  15 ended \r\n[DEBUG]Right_Arm_Calibrator : set 5 : Calibration ended, going to zero!\r\n \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 10  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 12  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 14  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 10  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 15  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 12  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 14  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 15  (desired pos:  0 desired speed:  100  ) \r\n[DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]\r\n[DEBUG]     Device has no ICanBusErr interface\r\n[DEBUG]cfw2can [0] printing boards infos:\r\nNone\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 85.243 des: 0.000 -> delta: 85.243 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 84.375 des: 0.000 -> delta: 84.375 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 11.250 des: 0.000 -> delta: 11.250 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 17.122 des: 0.000 -> delta: 17.122 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 15.980 des: 0.000 -> delta: 15.980 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 curr: 0.374 des: 0.000 -> delta: 0.374 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 0.374 over: 1000.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 10 completed with delta: 15.980 over: 1000.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: 1.626 des: 0.000 -> delta: 1.626 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 1.626 over: 1000.000\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 curr: 1.763 des: 0.000 -> delta: 1.763 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 12 completed with delta: 1.763 over: 1000.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 1.467 des: 0.000 -> delta: 1.467 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 1.467 over: 1000.000\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 curr: 1.791 des: 0.000 -> delta: 1.791 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 14 completed with delta: 1.791 over: 1000.000\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 0.472 des: 0.000 -> delta: 0.472 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 0.472 over: 1000.000\r\n[DEBUG]Right_Arm_Calibrator : set 5 : Reached zero position!\r\n \r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 1000.000 output: 0.000 mode: pos\r\n[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 15 completed with delta: 0.000 over: 1000.000\r\n[DEBUG]Left_Arm_Calibrator : set 5 : Reached zero position!\r\n \r\n[DEBUG]left_arm_calibrator finished calibration of device left_arm_mc_wrapper \r\n[DEBUG]right_arm_calibrator finished calibration of device right_arm_mc_wrapper \r\n[INFO]All actions for action level 10 of startup phase finished. \r\n[INFO]Entering action level 15 of phase startup \r\n[INFO]***** Attaching drivers to cartesian controller icub/cartesianController/left_arm *****\r\n[INFO]Received list of 2 driver(s)\r\n[INFO]Acquiring info on driver torso...\r\n[INFO]driver torso successfully open\r\n[INFO]Acquiring info on driver left_arm...\r\n[INFO]driver left_arm successfully open\r\n[INFO]icub/cartesianController/left_arm: IControlMode2 available\r\n[INFO]icub/cartesianController/left_arm: IEncodersTimed interface will be used\r\n[INFO]icub/cartesianController/left_arm: IPidControl available\r\n[INFO]icub/cartesianController/left_arm: IPositionDirect available\r\n[INFO]icub/cartesianController/left_arm: IVelocityControl2 available\r\n[INFO]icub/cartesianController/left_arm: IPositionDirect interface will be used\r\n[INFO]icub/cartesianController/left_arm: multiple joints control will be used\r\n[INFO]icub/cartesianController/left_arm: aligning joints bounds ...\r\n[INFO]part #0: torso\r\nRegistering new thread 1 out of 500\r\n[INFO]joint #0: [-19.9897, 69.9886] deg\r\n[INFO]joint #1: [-29.9873, 29.9873] deg\r\n[INFO]joint #2: [-49.9879, 49.9879] deg\r\n[INFO]part #1: left_arm\r\nRegistering new thread 1 out of 500\r\n[INFO]joint #3: [-95.4879, 7.98708] deg\r\n[INFO]joint #4: [12.0136, 159.989] deg\r\n[INFO]joint #5: [-31.9868, 79.9917] deg\r\n[INFO]joint #6: [15.0129, 105.991] deg\r\nRegistering new thread 1 out of 500\r\n[INFO]joint #7: [-59.9855, 59.991] deg\r\n[INFO]joint #8: [-79.9642, 25.0379] deg\r\n[INFO]joint #9: [-20.0062, 24.9665] deg\r\n[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet\r\n[INFO]Starting icub/cartesianController/left_arm at 10 ms\r\n[INFO]icub/cartesianController/left_arm started successfully\r\n[INFO]***** Attaching drivers to cartesian controller icub/cartesianController/right_arm *****\r\n[INFO]Received list of 2 driver(s)\r\n[INFO]Acquiring info on driver torso...\r\n[INFO]driver torso successfully open\r\n[INFO]Acquiring info on driver right_arm...\r\n[INFO]driver right_arm successfully open\r\n[INFO]icub/cartesianController/right_arm: IControlMode2 available\r\n[INFO]icub/cartesianController/right_arm: IEncodersTimed interface will be used\r\n[INFO]icub/cartesianController/right_arm: IPidControl available\r\n[INFO]icub/cartesianController/right_arm: IPositionDirect available\r\n[INFO]icub/cartesianController/right_arm: IVelocityControl2 available\r\n[INFO]icub/cartesianController/right_arm: IPositionDirect interface will be used\r\n[INFO]icub/cartesianController/right_arm: multiple joints control will be used\r\n[INFO]icub/cartesianController/right_arm: aligning joints bounds ...\r\n[INFO]part #0: torso\r\n[INFO]joint #0: [-19.9897, 69.9886] deg\r\n[INFO]joint #1: [-29.9873, 29.9873] deg\r\n[INFO]joint #2: [-49.9879, 49.9879] deg\r\n[INFO]part #1: right_arm\r\nRegistering new thread 1 out of 500\r\n[INFO]joint #3: [-95.4879, 7.98708] deg\r\n[INFO]joint #4: [12.0136, 159.989] deg\r\n[INFO]joint #5: [-31.9868, 79.9917] deg\r\n[INFO]joint #6: [15.0129, 105.991] deg\r\nRegistering new thread 1 out of 500\r\n[INFO]joint #7: [-59.9855, 59.991] deg\r\n[INFO]joint #8: [-80.0576, 24.9445] deg\r\n[INFO]joint #9: [-19.9347, 25.0379] deg\r\n[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet\r\n[INFO]Starting icub/cartesianController/right_arm at 10 ms\r\n[INFO]icub/cartesianController/right_arm started successfully\r\n[INFO]All actions for action level 15 of startup phase started. Waiting for unfinished actions. \r\n[INFO]All actions for action level 15 of startup phase finished. \r\n[INFO]startup phase finished. \r\n[INFO]run phase starting... \r\n[DEBUG]yarprobotinterface running happily \r\n[DEBUG]cfw2can [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]\r\n[DEBUG]     Device has no ICanBusErr interface\r\n[DEBUG]cfw2can [0] printing boards infos:\r\nNone\r\n[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet\r\n[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet\r\n^C[try 1 of 3] Trying to shut down\r\n[WARNING]Interrupt # 1 # received. \r\n[INFO]Interrupt received. Stopping all running threads. \r\nRFModule closing\r\n[INFO]interrupt1 phase starting... \r\n[INFO]Entering action level 1 of phase interrupt1 \r\n[DEBUG]left_arm_calibrator starting park device left_arm_mc_wrapper \r\n[[DEBUG]right_arm_calibrator starting park device right_arm_mc_wrapper \r\n[ERROR]Right_Arm_Calibrator : joint  0  is idle, skipping park \r\n[ERROR]Right_Arm_Calibrator : joint  1  is idle, skipping park \r\n[ERROR]Right_Arm_Calibrator : joint  2  is idle, skipping park \r\n[ERROR]Right_Arm_Calibrator : joint  3  is idle, skipping park ERROR\r\nRegistering new thread 2 out of 500\r\n[DEBUG]left_leg_calibrator starting park device left_leg_mc_wrapper \r\nRegistering new thread 1 out of 500\r\n[DEBUG]right_leg_calibrator starting park device right_leg_mc_wrapper \r\n]Registering new thread 1 out of 500\r\nLeft_Arm_Calibrator : joint  0  is idle, skipping park \r\n[DEBUG]torso_calibrator starting park device torso_mc_wrapper \r\nRegistering new thread 2 out of 500\r\n[INFO]All actions for action level 1 of interrupt1 phase started. Waiting for unfinished actions. \r\n[DEBUG]head_calibrator starting park device head_mc_wrapper \r\n[ERROR]Left_Arm_Calibrator : joint  1  is idle, skipping park \r\n[ERROR]Left_Arm_Calibrator : joint  2  is idle, skipping park \r\n[ERROR]Left_Arm_Calibrator : joint  3  is idle, skipping park \r\nRegistering new thread 2 out of 500\r\n[DEBUG]Head_Calibrator : Moving to park position, joint: 0 \r\nRegistering new thread 2 out of 500\r\n[DEBUG]Head_Calibrator : Moving to park position, joint: 1 \r\nRegistering new thread 1 out of 500\r\nRegistering new thread 1 out of 500\r\n[DEBUG]Head_Calibrator : Moving to park position, joint: 2 \r\n[DEBUG]Torso_Calibrator : Moving to park position, joint: 0 \r\n[DEBUG]Torso_Calibrator : Moving to park position, joint: 1 \r\n[DEBUG]Head_Calibrator : Moving to park position, joint: 3 \r\n[DEBUG]Torso_Calibrator : Moving to park position, joint: 2 \r\n[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 0 \r\n[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 0 \r\n[DEBUG]Head_Calibrator : Moving to park position, joint: 4 \r\n[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 1 \r\n[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 1 \r\n[DEBUG]Head_Calibrator : Moving to park position, joint: 5 \r\n[WARNING] from BOARD 10.0.1.4 (EB4), src LOCAL, adr 0, time 1832s 108m 48u: (code 0x0000000d, par16 0x0016 par64 0x000c001901800006) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[DEBUG]Head_Calibrator : Park  completed \r\n[WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1832s 89m 944u: (code 0x0000000b, par16 0x019d par64 0x009600580006001b) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + .\r\n[WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1832s 89m 957u: (code 0x0000000d, par16 0x001b par64 0x000c001b019d0017) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 4 \r\n[WARNING] from BOARD 10.0.1.2 (EB2), src LOCAL, adr 0, time 1832s 90m 261u: (code 0x0000000d, par16 0x0158 par64 0x0000001b035c01d3) -> SYS: the TX phase of the control loop has last more than wanted. In par16: TX execution time [usec]. In par64: num of tx can2 and can1 frames and latest previous execution times of TX, RX, DO [usec] + .\r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 5 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 4 \r\n[DEBUG]cfw2can [0] msg from board 1: PWM DIA CH1 \r\n[DEBUG]cfw2can [0] msg from board 1: PWM DIS CH1 \r\n[DEBUG]cfw2can [0] msg from board 1: PWM DIS CH0 \r\n[DEBUG]cfw2can [0] msg from board 1: PWM DIS COUPLED:0 \r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 6 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 5 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 6 \r\n[DEBUG]cfw2can [0] msg from board 2: PWM DIS:0 \r\n[DEBUG]cfw2can [0] msg from board 2: PWM DIS:1 \r\n[DEBUG]cfw2can [0] msg from board 2: PWM DIS COUPLED:3 \r\n[DEBUG]cfw2can [0] msg from board 2: PWM DIS COUPLED:2 \r\n[DEBUG]head_calibrator finished park device head_mc_wrapper \r\n[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 2 \r\n[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 2 \r\n[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 3 \r\n[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 3 \r\n[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 4 \r\n[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 4 \r\n[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 5 \r\n[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 5 \r\n[DEBUG]Left_Leg_Calibrator : Park  completed \r\n[DEBUG]Right_Leg_Calibrator : Park  completed \r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 7 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 7 \r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 8 \r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 9 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 8 \r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 10 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 9 \r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 11 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 10 \r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 12 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 11 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 12 \r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 13 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 13 \r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 14 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 14 \r\n[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 15 \r\n[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 15 \r\n[DEBUG]Left_Arm_Calibrator : Park  completed \r\n[DEBUG]Right_Arm_Calibrator : Park  completed \r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1833s 192m 353u: CAN PRINT MESSAGE[id 2] -> PWM DIS:0\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1833s 169m 257u: CAN PRINT MESSAGE[id 2] -> PWM DIS:0\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1833s 212m 403u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:2\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1833s 213m 340u: CAN PRINT MESSAGE[id 3] -> PWM DIS COUPLED:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1833s 190m 263u: CAN PRINT MESSAGE[id 0] -> PWM DIS COUPLED:2\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1833s 190m 279u: CAN PRINT MESSAGE[id 3] -> PWM DIS COUPLED:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 3, time 1833s 214m 257u: CAN PRINT MESSAGE[id 1] -> PWM DIS:3\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 3, time 1833s 238m 381u: CAN PRINT MESSAGE[id 1] -> PWM DIS:3\r\n[DEBUG]left_leg_calibrator finished park device left_leg_mc_wrapper \r\n[DEBUG]right_leg_calibrator finished park device right_leg_mc_wrapper \r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1833s 234m 257u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1833s 258m 370u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1833s 278m 381u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1833s 255m 247u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1833s 275m 244u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1833s 298m 381u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 5, time 1833s 318m 370u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 5, time 1833s 295m 247u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1833s 338m 372u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1833s 315m 244u: CAN PRINT MESSAGE[id 0] -> PWM DIS:0\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1833s 359m 359u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1833s 336m 244u: CAN PRINT MESSAGE[id 1] -> PWM DIS:1\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1833s 356m 244u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1833s 379m 362u: CAN PRINT MESSAGE[id 2] -> PWM DIS:2\r\n[INFO]from BOARD 10.0.1.4 (EB4), src CAN1, adr 7, time 1833s 399m 362u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3\r\n[INFO]from BOARD 10.0.1.2 (EB2), src CAN1, adr 7, time 1833s 376m 244u: CAN PRINT MESSAGE[id 3] -> PWM DIS:3\r\n[DEBUG]left_arm_calibrator finished park device left_arm_mc_wrapper \r\n[DEBUG]right_arm_calibrator finished park device right_arm_mc_wrapper \r\n[DEBUG]Torso_Calibrator : Park  completed \r\n[DEBUG]torso_calibrator finished park device torso_mc_wrapper \r\n[INFO]All actions for action level 1 of interrupt1 phase finished. \r\n[INFO]interrupt1 phase finished. \r\n[INFO]shutdown phase starting... \r\n[INFO]Entering action level 2 of phase shutdown \r\n[INFO]Stopping icub/cartesianController/left_arm\r\n[INFO]Stopping icub/cartesianController/right_arm\r\n[INFO]All actions for action level 2 of shutdown phase started. Waiting for unfinished actions. \r\n[INFO]All actions for action level 2 of shutdown phase finished. \r\n[INFO]Entering action level 5 of phase shutdown \r\n[INFO]All actions for action level 5 of shutdown phase started. Waiting for unfinished actions. \r\n[INFO]All actions for action level 5 of shutdown phase finished. \r\n[INFO]Closing Server Inertial...\r\n[INFO]Server Intertial thread finished\r\nSegmentation fault\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/robotology/icub-support/issues/comments/281988607","html_url":"https://github.com/robotology/icub-support/issues/407#issuecomment-281988607","issue_url":"https://api.github.com/repos/robotology/icub-support/issues/407","id":281988607,"user":{"login":"julijenv","id":7140395,"avatar_url":"https://avatars.githubusercontent.com/u/7140395?v=3","gravatar_id":"","url":"https://api.github.com/users/julijenv","html_url":"https://github.com/julijenv","followers_url":"https://api.github.com/users/julijenv/followers","following_url":"https://api.github.com/users/julijenv/following{/other_user}","gists_url":"https://api.github.com/users/julijenv/gists{/gist_id}","starred_url":"https://api.github.com/users/julijenv/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/julijenv/subscriptions","organizations_url":"https://api.github.com/users/julijenv/orgs","repos_url":"https://api.github.com/users/julijenv/repos","events_url":"https://api.github.com/users/julijenv/events{/privacy}","received_events_url":"https://api.github.com/users/julijenv/received_events","type":"User","site_admin":false},"created_at":"2017-02-23T13:16:01Z","updated_at":"2017-02-23T13:16:01Z","body":"Hi @pedrombmachado ,\r\nmy colleague's gonna give you some pings on what to do next and we will talk tomorrow about it"}}
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