[DEBUG] Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubValparaiso01/./icub_all.xml
[DEBUG] yarprobotinterface: using xml parser for DTD v3.x
[DEBUG] Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubValparaiso01/./icub_all.xml
[INFO] Yarprobotinterface was started using the following enable_tags: 
[INFO] Yarprobotinterface was started using the following disable_tags: 
[DEBUG] List of all enable attributes found in the include tags: 
[DEBUG] List of all disable attributes found in the include tags: 
[DEBUG] Preprocessor complete in:  0.0158465 s
[INFO] |yarp.os.Port|/icub/yarprobotinterface| Port /icub/yarprobotinterface active at tcp://10.0.0.2:10005/
[INFO] startup phase starting...
[INFO] Opening device left_arm-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/left_arm")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id left_arm-mc_nws_yarp) (name "/icub/left_arm") (period 0.0100000000000000002082) (robotName icub)
[INFO] |yarp.os.Port|/icub/left_arm/rpc:i| Port /icub/left_arm/rpc:i active at tcp://10.0.0.2:10006/
[INFO] |yarp.os.Port|/icub/left_arm/command:i| Port /icub/left_arm/command:i active at tcp://10.0.0.2:10007/
[INFO] |yarp.os.Port|/icub/left_arm/state:o| Port /icub/left_arm/state:o active at tcp://10.0.0.2:10008/
[INFO] |yarp.os.Port|/icub/left_arm/stateExt:o| Port /icub/left_arm/stateExt:o active at tcp://10.0.0.2:10009/
[INFO] |yarp.dev.PolyDriver|left_arm-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device right_arm-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/right_arm")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id right_arm-mc_nws_yarp) (name "/icub/right_arm") (period 0.0100000000000000002082) (robotName icub)
[INFO] |yarp.os.Port|/icub/right_arm/rpc:i| Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10010/
[INFO] |yarp.os.Port|/icub/right_arm/command:i| Port /icub/right_arm/command:i active at tcp://10.0.0.2:10011/
[INFO] |yarp.os.Port|/icub/right_arm/state:o| Port /icub/right_arm/state:o active at tcp://10.0.0.2:10012/
[INFO] |yarp.os.Port|/icub/right_arm/stateExt:o| Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10013/
[INFO] |yarp.dev.PolyDriver|right_arm-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device left_leg-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/left_leg")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id left_leg-mc_nws_yarp) (name "/icub/left_leg") (period 0.0100000000000000002082) (robotName icub)
[INFO] |yarp.os.Port|/icub/left_leg/rpc:i| Port /icub/left_leg/rpc:i active at tcp://10.0.0.2:10014/
[INFO] |yarp.os.Port|/icub/left_leg/command:i| Port /icub/left_leg/command:i active at tcp://10.0.0.2:10015/
[INFO] |yarp.os.Port|/icub/left_leg/state:o| Port /icub/left_leg/state:o active at tcp://10.0.0.2:10016/
[INFO] |yarp.os.Port|/icub/left_leg/stateExt:o| Port /icub/left_leg/stateExt:o active at tcp://10.0.0.2:10017/
[INFO] |yarp.dev.PolyDriver|left_leg-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device right_leg-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/right_leg")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id right_leg-mc_nws_yarp) (name "/icub/right_leg") (period 0.0100000000000000002082) (robotName icub)
[INFO] |yarp.os.Port|/icub/right_leg/rpc:i| Port /icub/right_leg/rpc:i active at tcp://10.0.0.2:10018/
[INFO] |yarp.os.Port|/icub/right_leg/command:i| Port /icub/right_leg/command:i active at tcp://10.0.0.2:10019/
[INFO] |yarp.os.Port|/icub/right_leg/state:o| Port /icub/right_leg/state:o active at tcp://10.0.0.2:10020/
[INFO] |yarp.os.Port|/icub/right_leg/stateExt:o| Port /icub/right_leg/stateExt:o active at tcp://10.0.0.2:10021/
[INFO] |yarp.dev.PolyDriver|right_leg-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device head-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/head")]
[DEBUG] |yarp.dev.PolyDriver|head-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id head-mc_nws_yarp) (name "/icub/head") (period 0.0100000000000000002082) (robotName icub)
[INFO] |yarp.os.Port|/icub/head/rpc:i| Port /icub/head/rpc:i active at tcp://10.0.0.2:10022/
[INFO] |yarp.os.Port|/icub/head/command:i| Port /icub/head/command:i active at tcp://10.0.0.2:10023/
[INFO] |yarp.os.Port|/icub/head/state:o| Port /icub/head/state:o active at tcp://10.0.0.2:10024/
[INFO] |yarp.os.Port|/icub/head/stateExt:o| Port /icub/head/stateExt:o active at tcp://10.0.0.2:10025/
[INFO] |yarp.dev.PolyDriver|head-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device face-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/face")]
[DEBUG] |yarp.dev.PolyDriver|face-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id face-mc_nws_yarp) (name "/icub/face") (period 0.0100000000000000002082) (robotName icub)
[INFO] |yarp.os.Port|/icub/face/rpc:i| Port /icub/face/rpc:i active at tcp://10.0.0.2:10026/
[INFO] |yarp.os.Port|/icub/face/command:i| Port /icub/face/command:i active at tcp://10.0.0.2:10027/
[INFO] |yarp.os.Port|/icub/face/state:o| Port /icub/face/state:o active at tcp://10.0.0.2:10028/
[INFO] |yarp.os.Port|/icub/face/stateExt:o| Port /icub/face/stateExt:o active at tcp://10.0.0.2:10029/
[INFO] |yarp.dev.PolyDriver|face-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device torso-mc_nws_yarp with parameters [("robotName" = "icub"), ("period" = "0.01"), ("name" = "/icub/torso")]
[DEBUG] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Parameters are (device controlBoard_nws_yarp) (id torso-mc_nws_yarp) (name "/icub/torso") (period 0.0100000000000000002082) (robotName icub)
[INFO] |yarp.os.Port|/icub/torso/rpc:i| Port /icub/torso/rpc:i active at tcp://10.0.0.2:10030/
[INFO] |yarp.os.Port|/icub/torso/command:i| Port /icub/torso/command:i active at tcp://10.0.0.2:10031/
[INFO] |yarp.os.Port|/icub/torso/state:o| Port /icub/torso/state:o active at tcp://10.0.0.2:10032/
[INFO] |yarp.os.Port|/icub/torso/stateExt:o| Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10033/
[INFO] |yarp.dev.PolyDriver|torso-mc_nws_yarp| Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
[INFO] Opening device left_arm-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(left_arm_joints1 left_arm_joints2 left_arm_joints3 left_arm_joints4)"), ("left_arm_joints1" = "( 0 3 0 3 )"), ("left_arm_joints2" = "( 4 7 0 3 )"), ("left_arm_joints3" = "( 8 11 0 3 )"), ("left_arm_joints4" = "( 12 15 0 3 )"), ("joints" = "16")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-mc_remapper| Parameters are (device controlboardremapper) (id left_arm-mc_remapper) (joints 16) (left_arm_joints1 (0 3 0 3)) (left_arm_joints2 (4 7 0 3)) (left_arm_joints3 (8 11 0 3)) (left_arm_joints4 (12 15 0 3)) (networks (left_arm_joints1 left_arm_joints2 left_arm_joints3 left_arm_joints4)) (robotName icub)
[INFO] |yarp.dev.PolyDriver|left_arm-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device right_arm-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4)"), ("right_arm_joints1" = "( 0 3 0 3 )"), ("right_arm_joints2" = "( 4 7 0 3 )"), ("right_arm_joints3" = "( 8 11 0 3 )"), ("right_arm_joints4" = "( 12 15 0 3 )"), ("joints" = "16")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-mc_remapper| Parameters are (device controlboardremapper) (id right_arm-mc_remapper) (joints 16) (networks (right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4)) (right_arm_joints1 (0 3 0 3)) (right_arm_joints2 (4 7 0 3)) (right_arm_joints3 (8 11 0 3)) (right_arm_joints4 (12 15 0 3)) (robotName icub)
[INFO] |yarp.dev.PolyDriver|right_arm-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device left_leg-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(left_leg_joints1 left_leg_joints2)"), ("left_leg_joints1" = "( 0 3 0 3 )"), ("left_leg_joints2" = "( 4 5 0 1 )"), ("joints" = "6")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-mc_remapper| Parameters are (device controlboardremapper) (id left_leg-mc_remapper) (joints 6) (left_leg_joints1 (0 3 0 3)) (left_leg_joints2 (4 5 0 1)) (networks (left_leg_joints1 left_leg_joints2)) (robotName icub)
[INFO] |yarp.dev.PolyDriver|left_leg-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device right_leg-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(right_leg_joints1 right_leg_joints2)"), ("right_leg_joints1" = "( 0 3 0 3 )"), ("right_leg_joints2" = "( 4 5 0 1 )"), ("joints" = "6")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-mc_remapper| Parameters are (device controlboardremapper) (id right_leg-mc_remapper) (joints 6) (networks (right_leg_joints1 right_leg_joints2)) (right_leg_joints1 (0 3 0 3)) (right_leg_joints2 (4 5 0 1)) (robotName icub)
[INFO] |yarp.dev.PolyDriver|right_leg-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device head-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(head_joints1 head_joints2)"), ("head_joints1" = "( 0 1 0 1 )"), ("head_joints2" = "( 2 5 0 3 )"), ("joints" = "6")]
[DEBUG] |yarp.dev.PolyDriver|head-mc_remapper| Parameters are (device controlboardremapper) (head_joints1 (0 1 0 1)) (head_joints2 (2 5 0 3)) (id head-mc_remapper) (joints 6) (networks (head_joints1 head_joints2)) (robotName icub)
[INFO] |yarp.dev.PolyDriver|head-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device face-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(face_joints)"), ("face_joints" = "( 0 0 0 0 )"), ("joints" = "1")]
[DEBUG] |yarp.dev.PolyDriver|face-mc_remapper| Parameters are (device controlboardremapper) (face_joints (0 0 0 0)) (id face-mc_remapper) (joints 1) (networks (face_joints)) (robotName icub)
[INFO] |yarp.dev.PolyDriver|face-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device torso-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(torso_joints)"), ("torso_joints" = "( 0 2 0 2 )"), ("joints" = "3")]
[DEBUG] |yarp.dev.PolyDriver|torso-mc_remapper| Parameters are (device controlboardremapper) (id torso-mc_remapper) (joints 3) (networks (torso_joints)) (robotName icub) (torso_joints (0 2 0 2))
[INFO] |yarp.dev.PolyDriver|torso-mc_remapper| Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
[INFO] Opening device left_arm-cartesian with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(ControllerName icub/cartesianController/left_arm) (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect cartesianSolver/left_arm) (KinematicPart arm) (KinematicType left_v2.7) (PositionControl on) (NumberOfDrivers 2)"), ("DRIVER_0" [group] = "(Key torso) (JointsOrder reversed) (MinAbsVels (0.35 0.35 0.35))"), ("DRIVER_1" [group] = "(Key left_arm) (JointsOrder direct) (MinAbsVels (0.35 0.35 0.35 0.35 0.35 0.35 0.35))"), ("PLANT_MODEL" [group] = "(plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000))) (joint_1 ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000))) (joint_2 ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000))) (joint_3 ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000))) (joint_4 ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000))) (joint_5 ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000))) (joint_6 ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000))) (joint_7 ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000))) (joint_8 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000))) (joint_9 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)))")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-cartesian| Parameters are (DRIVER_0 (Key torso) (JointsOrder reversed) (MinAbsVels (0.349999999999999977796 0.349999999999999977796 0.349999999999999977796))) (DRIVER_1 (Key left_arm) (JointsOrder direct) (MinAbsVels (0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796))) (GENERAL (ControllerName "icub/cartesianController/left_arm") (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect "cartesianSolver/left_arm") (KinematicPart arm) (KinematicType left_v2.7) (PositionControl on) (NumberOfDrivers 2)) (PLANT_MODEL (plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.02200000000000001954) (Tz 0.405000000000000026645) (Tw 0.247999999999999998224) (Zeta 0.797000000000000041744) (Td 0.0))) (joint_1 ((Kp 1.02600000000000002309) (Tz 0.406999999999999972911) (Tw 0.242999999999999993783) (Zeta 0.821999999999999952927) (Td 0.0))) (joint_2 ((Kp 1.04000000000000003553) (Tz 0.343999999999999972466) (Tw 0.160000000000000003331) (Zeta 1.1100000000000000977) (Td 0.0))) (joint_3 ((Kp 1.03499999999999992006) (Tz 0.409999999999999975575) (Tw 0.177999999999999991562) (Zeta 1.19799999999999995381) (Td 0.0))) (joint_4 ((Kp 1.01600000000000001421) (Tz 0.384000000000000007994) (Tw 0.159000000000000002442) (Zeta 1.22199999999999997513) (Td 0.0))) (joint_5 ((Kp 1.02499999999999991118) (Tz 0.822999999999999953815) (Tw 0.405000000000000026645) (Zeta 1.03000000000000002665) (Td 0.0))) (joint_6 ((Kp 1.02200000000000001954) (Tz 0.299999999999999988898) (Tw 0.119999999999999995559) (Zeta 1.30299999999999993605) (Td 0.0))) (joint_7 ((Kp 1.01600000000000001421) (Tz 0.122999999999999998224) (Tw 0.0299999999999999988898) (Zeta 2.20400000000000018119) (Td 0.0))) (joint_8 ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0))) (joint_9 ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)))) (device cartesiancontrollerserver) (id left_arm-cartesian) (robotName icub)
[INFO] ***** Configuring cartesian controller *****
[INFO] Acquiring options for group GENERAL...
[INFO] Acquiring options for group DRIVER_0...
[INFO] Acquiring options for group DRIVER_1...
[INFO] PLANT_MODEL group detected
[INFO] DH Table:  (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_0 (A 0.0320000000000000006661) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.00549999999999999968081) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_2 (A 0.0233646999999999986641) (D -0.143300000000000010703) (alpha -90.0) (offset 105.000000000000014211) (min -59.0000000000000071054) (max 59.0000000000000071054) (blocked 0.0)) (link_3 (A 0.0) (D 0.107740000000000002434) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.800000000000011369)) (link_5 (A 0.0149999999999999994449) (D 0.152279999999999998694) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.0149999999999999994449) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_7 (A 0.0) (D 0.141300000000000008926) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) (link_9 (A 0.0625) (D -0.0259799999999999996214) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (numLinks 10) (type left_v2.7)
[INFO] |yarp.os.Port|/icub/cartesianController/left_arm/cartesianSolver/left_arm/in| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.0.0.2:10034/
[INFO] |yarp.os.Port|/icub/cartesianController/left_arm/cartesianSolver/left_arm/out| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.0.0.2:10035/
[INFO] |yarp.os.Port|/icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc| Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.0.0.2:10036/
[INFO] |yarp.os.Port|/icub/cartesianController/left_arm/command:i| Port /icub/cartesianController/left_arm/command:i active at tcp://10.0.0.2:10037/
[INFO] |yarp.os.Port|/icub/cartesianController/left_arm/state:o| Port /icub/cartesianController/left_arm/state:o active at tcp://10.0.0.2:10038/
[INFO] |yarp.os.Port|/icub/cartesianController/left_arm/events:o| Port /icub/cartesianController/left_arm/events:o active at tcp://10.0.0.2:10039/
[INFO] |yarp.os.Port|/icub/cartesianController/left_arm/rpc:i| Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.0.0.2:10040/
[INFO] |yarp.dev.PolyDriver|left_arm-cartesian| Created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation.
[INFO] Opening device right_arm-cartesian with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(ControllerName icub/cartesianController/right_arm) (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect cartesianSolver/right_arm) (KinematicPart arm) (KinematicType right_v2.7) (PositionControl on) (NumberOfDrivers 2)"), ("DRIVER_0" [group] = "(Key torso) (JointsOrder reversed) (MinAbsVels (0.35 0.35 0.35))"), ("DRIVER_1" [group] = "(Key right_arm) (JointsOrder direct) (MinAbsVels (0.35 0.35 0.35 0.35 0.35 0.35 0.35))"), ("PLANT_MODEL" [group] = "(plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000))) (joint_1 ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000))) (joint_2 ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000))) (joint_3 ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000))) (joint_4 ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000))) (joint_5 ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000))) (joint_6 ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000))) (joint_7 ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000))) (joint_8 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000))) (joint_9 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)))")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-cartesian| Parameters are (DRIVER_0 (Key torso) (JointsOrder reversed) (MinAbsVels (0.349999999999999977796 0.349999999999999977796 0.349999999999999977796))) (DRIVER_1 (Key right_arm) (JointsOrder direct) (MinAbsVels (0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796 0.349999999999999977796))) (GENERAL (ControllerName "icub/cartesianController/right_arm") (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect "cartesianSolver/right_arm") (KinematicPart arm) (KinematicType right_v2.7) (PositionControl on) (NumberOfDrivers 2)) (PLANT_MODEL (plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.02200000000000001954) (Tz 0.405000000000000026645) (Tw 0.247999999999999998224) (Zeta 0.797000000000000041744) (Td 0.0))) (joint_1 ((Kp 1.02600000000000002309) (Tz 0.406999999999999972911) (Tw 0.242999999999999993783) (Zeta 0.821999999999999952927) (Td 0.0))) (joint_2 ((Kp 1.04000000000000003553) (Tz 0.343999999999999972466) (Tw 0.160000000000000003331) (Zeta 1.1100000000000000977) (Td 0.0))) (joint_3 ((Kp 1.03499999999999992006) (Tz 0.409999999999999975575) (Tw 0.177999999999999991562) (Zeta 1.19799999999999995381) (Td 0.0))) (joint_4 ((Kp 1.01600000000000001421) (Tz 0.384000000000000007994) (Tw 0.159000000000000002442) (Zeta 1.22199999999999997513) (Td 0.0))) (joint_5 ((Kp 1.02499999999999991118) (Tz 0.822999999999999953815) (Tw 0.405000000000000026645) (Zeta 1.03000000000000002665) (Td 0.0))) (joint_6 ((Kp 1.02200000000000001954) (Tz 0.299999999999999988898) (Tw 0.119999999999999995559) (Zeta 1.30299999999999993605) (Td 0.0))) (joint_7 ((Kp 1.01600000000000001421) (Tz 0.122999999999999998224) (Tw 0.0299999999999999988898) (Zeta 2.20400000000000018119) (Td 0.0))) (joint_8 ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0))) (joint_9 ((Kp 1.0) (Tz 0.0) (Tw 0.0) (Zeta 0.0) (Td 0.0)))) (device cartesiancontrollerserver) (id right_arm-cartesian) (robotName icub)
[INFO] ***** Configuring cartesian controller *****
[INFO] Acquiring options for group GENERAL...
[INFO] Acquiring options for group DRIVER_0...
[INFO] Acquiring options for group DRIVER_1...
[INFO] PLANT_MODEL group detected
[INFO] DH Table:  (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_0 (A 0.0320000000000000006661) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.00549999999999999968081) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_2 (A -0.0233646999999999986641) (D -0.143300000000000010703) (alpha 90.0) (offset -105.000000000000014211) (min -59.0000000000000071054) (max 59.0000000000000071054) (blocked 0.0)) (link_3 (A 0.0) (D -0.107740000000000002434) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.800000000000011369)) (link_5 (A -0.0149999999999999994449) (D -0.152279999999999998694) (alpha -90.0) (offset -105.000000000000014211) (min -37.0) (max 100.0)) (link_6 (A 0.0149999999999999994449) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_7 (A 0.0) (D -0.141300000000000008926) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) (link_9 (A 0.0625) (D 0.0259799999999999996214) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (numLinks 10) (type right_v2.7)
[INFO] |yarp.os.Port|/icub/cartesianController/right_arm/cartesianSolver/right_arm/in| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10041/
[INFO] |yarp.os.Port|/icub/cartesianController/right_arm/cartesianSolver/right_arm/out| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10042/
[INFO] |yarp.os.Port|/icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc| Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10043/
[INFO] |yarp.os.Port|/icub/cartesianController/right_arm/command:i| Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10044/
[INFO] |yarp.os.Port|/icub/cartesianController/right_arm/state:o| Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10045/
[INFO] |yarp.os.Port|/icub/cartesianController/right_arm/events:o| Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10046/
[INFO] |yarp.os.Port|/icub/cartesianController/right_arm/rpc:i| Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10047/
[INFO] |yarp.dev.PolyDriver|right_arm-cartesian| Created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation.
[INFO] Opening device head-eb20-j0_1-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.20) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "head-eb20-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "neck_pitch" "neck_roll") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 161.68 161.68) (Gearbox_E2J 1 1) (useMotorSpeedFbk 1 1) (MotorType "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMin -30 -20) (hardwareJntPosMax +22 +20) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 1.000 0.000 0.000 -1.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 0.500 -0.500 0.000 0.000 0.500 0.500 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 1) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port CONN:P3 CONN:P4)) (ENCODER1 (type aea aea) (port CONN:P11 CONN:P10) (position atjoint atjoint) (resolution 4096 -4096) (tolerance 0.703 0.703)) (ENCODER2 (type qenc qenc) (port CONN:P3 CONN:P4) (position atmotor atmotor) (resolution 2048 2048) (tolerance 0 0))))"), ("LIMITS" [group] = "(jntPosMin -30 -20) (jntPosMax +22 +20) (jntVelMax 1000 1000) (motorOverloadCurrents 6000 6000) (motorNominalCurrents 1500 1500) (motorPeakCurrents 4000 4000) (motorPwmLimit 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0) (damping 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none) (currentPid none none) (speedPid none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -645 +547) (kd -19 +16) (ki -2983 +2879) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)")]
[DEBUG] |yarp.dev.PolyDriver|head-eb20-j0_1-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none) (currentPid none none) (speedPid none none)) (COUPLINGS (matrixJ2M 1.0 1.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 0.5 -0.5 0.0 0.0 0.5 0.5 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.20") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name head-eb20-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName neck_pitch neck_roll) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 161.680000000000006821 161.680000000000006821) (Gearbox_E2J 1 1) (useMotorSpeedFbk 1 1) (MotorType DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0) (damping 0.0 0.0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMin -30 -20) (hardwareJntPosMax 22 20) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin -30 -20) (jntPosMax 22 20) (jntVelMax 1000 1000) (motorOverloadCurrents 6000 6000) (motorNominalCurrents 1500 1500) (motorPeakCurrents 4000 4000) (motorPwmLimit 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -645 547) (kd -19 16) (ki -2983 2879) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port "CONN:P3" "CONN:P4")) (ENCODER1 (type aea aea) (port "CONN:P11" "CONN:P10") (position atjoint atjoint) (resolution 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type qenc qenc) (port "CONN:P3" "CONN:P4") (position atmotor atmotor) (resolution 2048 2048) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (device embObjMotionControl) (id head-eb20-j0_1-mc) (robotName icub)
[DEBUG] eth::parser::print(pc104Data) for PC104:
[DEBUG] PC104/PC104IpAddress:PC104IpPort =  10.0.1.104:12345
[DEBUG] PC104/PC104TXrate =  1
[DEBUG] PC104/PC104RXrate =  5
[DEBUG] EthSender is a PeriodicThread with txrate = 1 ms
[DEBUG] EthReceiver is a PeriodicThread with rxrate = 5 ms
[DEBUG] eth::parser::print(boardData) for BOARD head-eb20-j0_1
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.20
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  head-eb20-j0_1
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.20 (head-eb20-j0_1) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.0.1.20
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] from BOARD 10.0.1.20 (head-eb20-j0_1) time=8585s 738m 225u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 20
[DEBUG] EthResource::verifyBoardPresence() found BOARD head-eb20-j0_1 with IP 10.0.1.20 after 0.00282288 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb20-j0_1 with IP 10.0.1.20
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb20-j0_1 with IP 10.0.1.20 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD head-eb20-j0_1 with IP 10.0.1.20 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD head-eb20-j0_1 @ IP 10.0.1.20 of type mc4plus with FW = ver 3.87 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.20 (head-eb20-j0_1) time=8585s 791m 362u : CFG: EOtheEncoderReader can be correctly configured
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[DEBUG] from BOARD 10.0.1.20 (head-eb20-j0_1) time=8585s 791m 814u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|head-eb20-j0_1-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device head-eb21-j2_5-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.21) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "head-eb21-j2_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "neck_yaw" "eyes_tilt" "eyes_version" "eyes_vergence") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100 -141 50 50) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMin -45 -30 -45 0) (hardwareJntPosMax +45 +30 +45 +45) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 -1.000 0.000 0.000 1.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.500 0.500 0.000 0.000 -1.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P5 CONN:P4)) (ENCODER1 (type aea aea none none) (port CONN:P11 CONN:P10 CONN:none CONN:none) (position atjoint atjoint none none) (resolution 4096 4096 0 0) (tolerance 0.703 0.703 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P5 CONN:P4) (position atmotor atmotor atmotor atmotor) (resolution 2048 2048 2048 2048) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMin -45 -30 -30 0) (jntPosMax +45 +30 +30 +45) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2500 2500) (motorNominalCurrents 700 700 700 700) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1100.00 -1000 3500 3500) (kd 0.0 0.0 0.0 0.0) (ki 0.0 -100 600.0 600.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")]
[DEBUG] |yarp.dev.PolyDriver|head-eb21-j2_5-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 -1.0 0.0 0.0 1.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.5 0.5 0.0 0.0 -1.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.21") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name head-eb21-j2_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName neck_yaw eyes_tilt eyes_version eyes_vergence) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100 -141 50 50) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMin -45 -30 -45 0) (hardwareJntPosMax 45 30 45 45) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMin -45 -30 -30 0) (jntPosMax 45 30 30 45) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2500 2500) (motorNominalCurrents 700 700 700 700) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1100.0 -1000 3500 3500) (kd 0.0 0.0 0.0 0.0) (ki 0.0 -100 600.0 600.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P3" "CONN:P2" "CONN:P5" "CONN:P4")) (ENCODER1 (type aea aea none none) (port "CONN:P11" "CONN:P10" "CONN:none" "CONN:none") (position atjoint atjoint none none) (resolution 4096 4096 0 0) (tolerance 0.702999999999999958256 0.702999999999999958256 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port "CONN:P3" "CONN:P2" "CONN:P5" "CONN:P4") (position atmotor atmotor atmotor atmotor) (resolution 2048 2048 2048 2048) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id head-eb21-j2_5-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD head-eb21-j2_5
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.21
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  head-eb21-j2_5
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.21 (head-eb21-j2_5) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.0.1.21
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] from BOARD 10.0.1.21 (head-eb21-j2_5) time=8586s 654m 10u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 36
[DEBUG] EthResource::verifyBoardPresence() found BOARD head-eb21-j2_5 with IP 10.0.1.21 after 0.00357008 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb21-j2_5 with IP 10.0.1.21
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb21-j2_5 with IP 10.0.1.21 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD head-eb21-j2_5 with IP 10.0.1.21 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD head-eb21-j2_5 @ IP 10.0.1.21 of type mc4plus with FW = ver 3.87 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.21 (head-eb21-j2_5) time=8586s 707m 380u : CFG: EOtheEncoderReader can be correctly configured
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[DEBUG] from BOARD 10.0.1.21 (head-eb21-j2_5) time=8586s 707m 843u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|head-eb21-j2_5-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device face-eb22-j0-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.22) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "face-eb22-j0") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 1) (AxisMap 0) (AxisName "eyelids") (AxisType "revolute") (Encoder 182.044) (fullscalePWM 3360) (ampsToSensor 1000.0) (Gearbox_M2J -16) (Gearbox_E2J 2.38) (useMotorSpeedFbk 1) (MotorType "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMin -5) (hardwareJntPosMax +65) (rotorPosMin 0) (rotorPosMax 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 1) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm) (port CONN:P2)) (ENCODER1 (type aea) (port CONN:P10) (position atjoint) (resolution -4096) (tolerance 0.703)) (ENCODER2 (type none) (port none) (position none) (resolution 0) (tolerance 0))))"), ("LIMITS" [group] = "(jntPosMin -5) (jntPosMax +65) (motorOverloadCurrents 2000) (motorNominalCurrents 700) (motorPeakCurrents 1000) (jntVelMax 1000) (motorPwmLimit 3300)"), ("TIMEOUTS" [group] = "(velocity 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0) (damping 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT) (torqueControl none) (currentPid none) (speedPid none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 600.00) (kd 0.0) (ki 100.0) (maxOutput 3360) (maxInt 3360) (stictionUp 0) (stictionDown 0) (kff 0)")]
[DEBUG] |yarp.dev.PolyDriver|face-eb22-j0-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT) (torqueControl none) (currentPid none) (speedPid none)) (COUPLINGS (matrixJ2M 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) (matrixM2J 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) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.22") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name face-eb22-j0) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 1) (AxisMap 0) (AxisName eyelids) (AxisType revolute) (Encoder 182.044000000000011141) (fullscalePWM 3360) (ampsToSensor 1000.0) (Gearbox_M2J -16) (Gearbox_E2J 2.37999999999999989342) (useMotorSpeedFbk 1) (MotorType DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0) (damping 0.0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMin -5) (hardwareJntPosMax 65) (rotorPosMin 0) (rotorPosMax 0) (jntPosMin -5) (jntPosMax 65) (motorOverloadCurrents 2000) (motorNominalCurrents 700) (motorPeakCurrents 1000) (jntVelMax 1000) (motorPwmLimit 3300)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 600.0) (kd 0.0) (ki 100.0) (maxOutput 3360) (maxInt 3360) (stictionUp 0) (stictionDown 0) (kff 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm) (port "CONN:P2")) (ENCODER1 (type aea) (port "CONN:P10") (position atjoint) (resolution -4096) (tolerance 0.702999999999999958256)) (ENCODER2 (type none) (port none) (position none) (resolution 0) (tolerance 0))))) (TIMEOUTS (velocity 100)) (device embObjMotionControl) (id face-eb22-j0-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD face-eb22-j0
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.22
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  face-eb22-j0
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 3
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.22 (face-eb22-j0) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.0.1.22
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] from BOARD 10.0.1.22 (face-eb22-j0) time=8587s 674m 439u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 23
[DEBUG] EthResource::verifyBoardPresence() found BOARD face-eb22-j0 with IP 10.0.1.22 after 0.00214863 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD face-eb22-j0 with IP 10.0.1.22
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD face-eb22-j0 with IP 10.0.1.22 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD face-eb22-j0 with IP 10.0.1.22 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3  every cycle
[INFO] EthResource::askBoardVersion() found BOARD face-eb22-j0 @ IP 10.0.1.22 of type mc4plus with FW = ver 3.87 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.22 (face-eb22-j0) time=8587s 727m 253u : CFG: EOtheEncoderReader can be correctly configured
[DEBUG] from BOARD 10.0.1.22 (face-eb22-j0) time=8587s 727m 601u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|face-eb22-j0-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device torso-eb5-j0_2-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.5) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "torso-eb5-j0_2") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 3) (AxisMap 2 0 1) (AxisName "torso_yaw" "torso_roll" "torso_pitch") (AxisType "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J -100.00 -100.00 -100.00) (Gearbox_E2J 1 1 1) (useMotorSpeedFbk 1 1 1) (MotorType "BLL_MOOG" "BLL_MOOG" "BLL_MOOG") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 50 30 70) (hardwareJntPosMin -50 -30 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0)"), ("2FOC" [group] = "(HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 0.500 -0.500 0.000 0.000 0.500 0.500 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 0.500 0.500 0.000 0.000 -0.500 0.500 0.000 0.000 0.275 0.275 0.550 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 1) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc) (port CAN1:3:0 CAN1:4:0 CAN1:1:0)) (ENCODER1 (type eomc_enc_aea aea aea) (port CONN:P6 CONN:P7 CONN:P8) (position eomc_pos_atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie) (port CAN1:3:0 CAN1:4:0 CAN1:1:0) (position atmotor atmotor atmotor) (resolution -14400 -14400 -14400) (tolerance 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 50 28 68) (jntPosMin -50 -28 -18) (jntVelMax 1000 1000 1000) (motorNominalCurrents 4000 4000 4000) (motorPeakCurrents 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000) (motorPwmLimit 10000 10000 10000)"), ("TIMEOUTS" [group] = "(velocity 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0 0 0) (damping 0 0 0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.11 -1066.66 -1066.66) (kd 0.00 0.00 0.00) (ki -7111.09 -10666.64 -14222.18) (maxOutput 8000 8000 16000) (maxInt 750 1000 1000) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (viscousPos -0.0016 -0.003 -0.003) (viscousNeg -0.0016 -0.003 -0.003) (coulombPos 0 0 0) (coulombNeg 0 0 0) (velocityThres 0 0 0) (filterType 0 0 0) (ktau -200 -200 -200)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8) (kd 0 0 0) (ki 2 2 2) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000) (kff 0 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0) (kp 12 12 12) (kd 0 0 0) (ki 16 16 16) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)")]
[DEBUG] |yarp.dev.PolyDriver|torso-eb5-j0_2-mc| Parameters are ("2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8) (kd 0 0 0) (ki 2 2 2) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000) (kff 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0) (kp 12 12 12) (kd 0 0 0) (ki 16 16 16) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 0.5 -0.5 0.0 0.0 0.5 0.5 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 0.5 0.5 0.0 0.0 -0.5 0.5 0.0 0.0 0.275000000000000022204 0.275000000000000022204 0.550000000000000044409 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.5") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name torso-eb5-j0_2) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 3) (AxisMap 2 0 1) (AxisName torso_yaw torso_roll torso_pitch) (AxisType revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1) (useMotorSpeedFbk 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0 0 0) (damping 0 0 0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 50 30 70) (hardwareJntPosMin -50 -30 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 50 28 68) (jntPosMin -50 -28 -18) (jntVelMax 1000 1000 1000) (motorNominalCurrents 4000 4000 4000) (motorPeakCurrents 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000) (motorPwmLimit 10000 10000 10000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.110000000000013642 -1066.66000000000008185 -1066.66000000000008185) (kd 0.0 0.0 0.0) (ki -7111.09000000000014552 -10666.6399999999994179 -14222.180000000000291) (maxOutput 8000 8000 16000) (maxInt 750 1000 1000) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc) (port "CAN1:3:0" "CAN1:4:0" "CAN1:1:0")) (ENCODER1 (type eomc_enc_aea aea aea) (port "CONN:P6" "CONN:P7" "CONN:P8") (position eomc_pos_atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie) (port "CAN1:3:0" "CAN1:4:0" "CAN1:1:0") (position atmotor atmotor atmotor) (resolution -14400 -14400 -14400) (tolerance 0 0 0))))) (TIMEOUTS (velocity 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (viscousPos -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (viscousNeg -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (coulombPos 0 0 0) (coulombNeg 0 0 0) (velocityThres 0 0 0) (filterType 0 0 0) (ktau -200 -200 -200)) (device embObjMotionControl) (id torso-eb5-j0_2-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD torso-eb5-j0_2
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.5
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  torso-eb5-j0_2
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.5 (torso-eb5-j0_2) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.5
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] embObjMC  BOARD torso-eb5-j0_2 (IP 10.0.1.5)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD torso-eb5-j0_2 (IP 10.0.1.5)  joint  1  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD torso-eb5-j0_2 (IP 10.0.1.5)  joint  2  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=8588s 122m 659u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 14
[DEBUG] EthResource::verifyBoardPresence() found BOARD torso-eb5-j0_2 with IP 10.0.1.5 after 0.0049696 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD torso-eb5-j0_2 with IP 10.0.1.5
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD torso-eb5-j0_2 with IP 10.0.1.5 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD torso-eb5-j0_2 with IP 10.0.1.5 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD torso-eb5-j0_2 @ IP 10.0.1.5 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=8588s 178m 418u : CFG: EOtheEncoderReader can be correctly configured
[INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=8588s 178m 534u :  CFG: CANdiscovery started the search for 3 eobrd_foc boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[DEBUG] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=8588s 678m 436u : CFG: EOtheEncoderReader can be correctly configured
[INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=8588s 679m 585u :  CFG: CANdiscovery started the search for 3 eobrd_foc boards on (can1map, can2map) = (0x001a, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[INFO] Opening device left_arm-eb1-j0_3-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb1-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "l_shoulder_pitch" "l_shoulder_roll" "l_shoulder_yaw" "l_elbow") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100.00 100.00 100.00 100.00) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 15 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0)"), ("2FOC" [group] = "(HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 -1.625 1.625 0.00 0.00 0.00 0.00 1.625 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.000 0.000 0.000 0.000 1.000 0.615 0.000 0.000 0.000 -0.615 0.615 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P8 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution -4096 -4096 4096 -4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0) (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 8 160 80 106) (jntPosMin -95.5 15 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4500 4500 4500 4000) (motorPeakCurrents 5500 5500 5500 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.1 0.1 0.1 0.1) (damping 0.05 0.05 0.05 0.05)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 711.11 1066.66 711.11 1066.66) (kd 0.00 0.00 0.00 0.00) (ki 7111.09 10666.64 7111.09 10666.64) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.7) (stictionDown -0.7 -0.7 -0.8 -1.2) (kff 1 1 1 1) (viscousPos 0.0030 0.0006 0.0007 0.0007) (viscousNeg 0.0030 0.0006 0.0007 0.0007) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 180 464 463 449)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-eb1-j0_3-mc| Parameters are ("2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 -1.625 1.625 0.0 0.0 0.0 0.0 1.625 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 1.0 0.614999999999999991118 0.0 0.0 0.0 -0.614999999999999991118 0.614999999999999991118 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb1-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100.0 100.0 100.0 100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 15 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 8 160 80 106) (jntPosMin -95.5 15 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4500 4500 4500 4000) (motorPeakCurrents 5500 5500 5500 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 711.110000000000013642 1066.66000000000008185 711.110000000000013642 1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki 7111.09000000000014552 10666.6399999999994179 7111.09000000000014552 10666.6399999999994179) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port "CAN1:1:0" "CAN1:2:0" "CAN1:3:0" "CAN1:4:0")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port "CONN:P6" "CONN:P7" "CONN:P8" "CONN:P9") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution -4096 -4096 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port "CAN1:1:0" "CAN1:2:0" "CAN1:3:0" "CAN1:4:0") (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200 250 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 0.5 0.5 1 1.69999999999999995559) (stictionDown -0.699999999999999955591 -0.699999999999999955591 -0.800000000000000044409 -1.19999999999999995559) (kff 1 1 1 1) (viscousPos 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (viscousNeg 0.00300000000000000006245 0.000599999999999999947438 0.000699999999999999992888 0.000699999999999999992888) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 180 464 463 449)) (device embObjMotionControl) (id left_arm-eb1-j0_3-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb1-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.1
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_arm-eb1-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.1 (left_arm-eb1-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.1
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] embObjMC  BOARD left_arm-eb1-j0_3 (IP 10.0.1.1)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD left_arm-eb1-j0_3 (IP 10.0.1.1)  joint  1  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD left_arm-eb1-j0_3 (IP 10.0.1.1)  joint  2  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD left_arm-eb1-j0_3 (IP 10.0.1.1)  joint  3  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1114s 291m 865u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 42
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 after 0.00379801 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb1-j0_3 with IP 10.0.1.1
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb1-j0_3 with IP 10.0.1.1 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_arm-eb1-j0_3 @ IP 10.0.1.1 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1114s 346m 458u : CFG: EOtheEncoderReader can be correctly configured
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1114s 346m 575u :  CFG: CANdiscovery started the search for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1114s 347m 929u : CFG: CANdiscovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1114s 348m 484u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|left_arm-eb1-j0_3-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device left_arm-eb24-j4_7-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.24) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb24-j4_7") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "l_wrist_prosup" "l_wrist_pitch" "l_wrist_yaw" "l_hand_finger") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100 159 159 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 -1.000 +1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 +1.000 0.000 0.000 0.000 +1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P2 CONN:P4 CONN:P3)) (ENCODER1 (type qenc aea aea absanalog) (port CONN:P5 CONN:P10 CONN:P11 CONN:P3) (position atjoint atjoint atjoint atjoint) (resolution 1 -4096 4096 65535) (tolerance 0 0.703 0.703 0)) (ENCODER2 (type qenc qenc qenc none) (port CONN:P5 CONN:P2 CONN:P4 CONN:none) (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200.0 -500.0 -500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -200.0 -50.0 -50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-eb24-j4_7-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.24") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb24-j4_7) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName l_wrist_prosup l_wrist_pitch l_wrist_yaw l_hand_finger) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100 159 159 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0) (jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200.0 -500.0 -500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -200.0 -50.0 -50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P5" "CONN:P2" "CONN:P4" "CONN:P3")) (ENCODER1 (type qenc aea aea absanalog) (port "CONN:P5" "CONN:P10" "CONN:P11" "CONN:P3") (position atjoint atjoint atjoint atjoint) (resolution 1 -4096 4096 65535) (tolerance 0 0.702999999999999958256 0.702999999999999958256 0)) (ENCODER2 (type qenc qenc qenc none) (port "CONN:P5" "CONN:P2" "CONN:P4" "CONN:none") (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)) (device embObjMotionControl) (id left_arm-eb24-j4_7-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb24-j4_7
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.24
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_arm-eb24-j4_7
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 3
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.24 (left_arm-eb24-j4_7) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.0.1.24
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=8590s 589m 133u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 56
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 after 0.00360727 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb24-j4_7 with IP 10.0.1.24
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb24-j4_7 with IP 10.0.1.24 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_arm-eb24-j4_7 @ IP 10.0.1.24 of type mc4plus with FW = ver 3.87 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=8590s 643m 380u : CFG: EOtheEncoderReader can be correctly configured
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[DEBUG] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=8590s 643m 843u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|left_arm-eb24-j4_7-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device left_arm-eb25-j8_11-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.25) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb25-j8_11") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "l_thumb_oppose" "l_thumb_proximal" "l_thumb_distal" "l_index_proximal") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -70000 -5120) (rotorPosMax 0 0 5120 32000)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 -1.000 +1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 +1.000 +1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type absanalog mais mais mais) (port CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port CONN:none CONN:P2 CONN:P4 CONN:P5) (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 -500.0 500.0 -500.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 -50.0 50.0 -50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-eb25-j8_11-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.25") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb25-j8_11) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName l_thumb_oppose l_thumb_proximal l_thumb_distal l_index_proximal) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -70000 -5120) (rotorPosMax 0 0 5120 32000) (jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 -500.0 500.0 -500.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 -50.0 50.0 -50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location "CAN1:14")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5")) (ENCODER1 (type absanalog mais mais mais) (port "CONN:P3" "MAIS:thumbproximal" "MAIS:thumbdistal" "MAIS:indexproximal") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port "CONN:none" "CONN:P2" "CONN:P4" "CONN:P5") (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id left_arm-eb25-j8_11-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb25-j8_11
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.25
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_arm-eb25-j8_11
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.25 (left_arm-eb25-j8_11) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.0.1.25
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=8591s 671m 820u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 28
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 after 0.00260997 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb25-j8_11 with IP 10.0.1.25
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb25-j8_11 with IP 10.0.1.25 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_arm-eb25-j8_11 @ IP 10.0.1.25 of type mc4plus with FW = ver 3.87 built on 2024 Feb 23 13:0
[INFO] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=8591s 706m 38u :  CFG: CANdiscovery started the search for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0.
[DEBUG] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=8591s 706m 277u : CFG: EOtheMAIS can be correctly configured on board at addr: 14 and port:0 with can protocol ver 0.0 and application ver 0.0.
[DEBUG] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=8591s 726m 171u : CFG: EOtheEncoderReader can be correctly configured
[DEBUG] from BOARD 10.0.1.25 (left_arm-eb25-j8_11) time=8591s 726m 430u : CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|left_arm-eb25-j8_11-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device left_arm-eb26-j12_15-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.26) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb26-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "l_index_distal" "l_middle_proximal" "l_middle_distal" "l_pinky") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -5120 -5120 -65000 -5120) (rotorPosMax 65000 32000 5120 65000)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 1.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type mais mais mais mais) (port MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5) (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 500.0 500.0 -200.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 50.0 50.0 -20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-eb26-j12_15-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 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) (matrixM2J 1.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.26") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb26-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName l_index_distal l_middle_proximal l_middle_distal l_pinky) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -5120 -5120 -65000 -5120) (rotorPosMax 65000 32000 5120 65000) (jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 500.0 500.0 -200.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 50.0 50.0 -20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location "CAN1:14")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5")) (ENCODER1 (type mais mais mais mais) (port "MAIS:indexdistal" "MAIS:mediumproximal" "MAIS:mediumdistal" "MAIS:littlefingers") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5") (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id left_arm-eb26-j12_15-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD left_arm-eb26-j12_15
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.26
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_arm-eb26-j12_15
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.26 (left_arm-eb26-j12_15) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.0.1.26
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=8592s 583m 424u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 37
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 after 0.00419569 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb26-j12_15 with IP 10.0.1.26
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb26-j12_15 with IP 10.0.1.26 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_arm-eb26-j12_15 @ IP 10.0.1.26 of type mc4plus with FW = ver 3.87 built on 2024 Feb 23 13:0
[INFO] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=8592s 618m 399u :  CFG: CANdiscovery started the search for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0.
[DEBUG] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=8592s 618m 638u : CFG: EOtheMAIS can be correctly configured on board at addr: 14 and port:0 with can protocol ver 0.0 and application ver 0.0.
[DEBUG] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=8592s 638m 173u : CFG: EOtheEncoderReader can be correctly configured
[DEBUG] from BOARD 10.0.1.26 (left_arm-eb26-j12_15) time=8592s 638m 434u : CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|left_arm-eb26-j12_15-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device right_arm-eb3-j0_3-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.3) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb3-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "r_shoulder_pitch" "r_shoulder_roll" "r_shoulder_yaw" "r_elbow") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100.00 -100.00 -100.00 -100.00) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 15 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0)"), ("2FOC" [group] = "(HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 -1.625 1.625 0.00 0.00 0.00 0.00 1.625 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.000 0.000 0.000 0.000 1.000 0.615 0.000 0.000 0.000 -0.615 0.615 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P8 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 -4096 4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0) (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 8 160 80 106) (jntPosMin -95.5 15 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4000 4000 4000 4000) (motorPeakCurrents 5000 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.1 0.1 0.1 0.1) (damping 0.05 0.05 0.05 0.05)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.11 -1066.66 -711.11 -1066.66) (kd 0.00 0.00 0.00 0.00) (ki -7111.09 -10666.64 -7111.09 -10666.64) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.7) (stictionDown 0.7 0.7 0.8 1.2) (kff 1 1 1 1) (viscousPos -0.0030 -0.0006 -0.0007 0.0007) (viscousNeg -0.0030 -0.0006 -0.0007 0.0007) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -180 -464 -463 -449)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-eb3-j0_3-mc| Parameters are ("2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 -1.625 1.625 0.0 0.0 0.0 0.0 1.625 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 1.0 0.614999999999999991118 0.0 0.0 0.0 -0.614999999999999991118 0.614999999999999991118 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.3") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb3-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 15 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 8 160 80 106) (jntPosMin -95.5 15 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4000 4000 4000 4000) (motorPeakCurrents 5000 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.110000000000013642 -1066.66000000000008185 -711.110000000000013642 -1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki -7111.09000000000014552 -10666.6399999999994179 -7111.09000000000014552 -10666.6399999999994179) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port "CAN1:1:0" "CAN1:2:0" "CAN1:3:0" "CAN1:4:0")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port "CONN:P6" "CONN:P7" "CONN:P8" "CONN:P9") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 -4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port "CAN1:1:0" "CAN1:2:0" "CAN1:3:0" "CAN1:4:0") (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.69999999999999995559) (stictionDown 0.699999999999999955591 0.699999999999999955591 0.800000000000000044409 1.19999999999999995559) (kff 1 1 1 1) (viscousPos -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (viscousNeg -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -180 -464 -463 -449)) (device embObjMotionControl) (id right_arm-eb3-j0_3-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb3-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.3
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_arm-eb3-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.3 (right_arm-eb3-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.3
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] embObjMC  BOARD right_arm-eb3-j0_3 (IP 10.0.1.3)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD right_arm-eb3-j0_3 (IP 10.0.1.3)  joint  1  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD right_arm-eb3-j0_3 (IP 10.0.1.3)  joint  2  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD right_arm-eb3-j0_3 (IP 10.0.1.3)  joint  3  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8593s 195m 884u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 42
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 after 0.00606608 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb3-j0_3 with IP 10.0.1.3
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_arm-eb3-j0_3 @ IP 10.0.1.3 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8593s 252m 458u : CFG: EOtheEncoderReader can be correctly configured
[INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8593s 252m 575u :  CFG: CANdiscovery started the search for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8593s 253m 931u : CFG: CANdiscovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8593s 254m 488u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|right_arm-eb3-j0_3-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device right_arm-eb27-j4_7-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.27) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb27-j4_7") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "r_wrist_prosup" "r_wrist_pitch" "r_wrist_yaw" "r_hand_finger") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100 159 159 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 -1.000 +1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 +1.000 0.000 0.000 0.000 +1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P2 CONN:P4 CONN:P3)) (ENCODER1 (type qenc aea aea absanalog) (port CONN:P5 CONN:P10 CONN:P11 CONN:P3) (position atjoint atjoint atjoint atjoint) (resolution 1 4096 -4096 65535) (tolerance 0 0.703 0.703 0)) (ENCODER2 (type qenc qenc qenc none) (port CONN:P5 CONN:P2 CONN:P4 CONN:none) (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200.0 500.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki 200.0 50.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-eb27-j4_7-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.27") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb27-j4_7) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName r_wrist_prosup r_wrist_pitch r_wrist_yaw r_hand_finger) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100 159 159 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0) (jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200.0 500.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki 200.0 50.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P5" "CONN:P2" "CONN:P4" "CONN:P3")) (ENCODER1 (type qenc aea aea absanalog) (port "CONN:P5" "CONN:P10" "CONN:P11" "CONN:P3") (position atjoint atjoint atjoint atjoint) (resolution 1 4096 -4096 65535) (tolerance 0 0.702999999999999958256 0.702999999999999958256 0)) (ENCODER2 (type qenc qenc qenc none) (port "CONN:P5" "CONN:P2" "CONN:P4" "CONN:none") (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)) (device embObjMotionControl) (id right_arm-eb27-j4_7-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb27-j4_7
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.27
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_arm-eb27-j4_7
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 3
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.27 (right_arm-eb27-j4_7) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.0.1.27
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=8594s 443m 625u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 56
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 after 0.00149965 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb27-j4_7 with IP 10.0.1.27
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_arm-eb27-j4_7 @ IP 10.0.1.27 of type mc4plus with FW = ver 3.87 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=8594s 496m 385u : CFG: EOtheEncoderReader can be correctly configured
[DEBUG] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=8594s 496m 847u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|right_arm-eb27-j4_7-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device right_arm-eb28-j8_11-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.28) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb28-j8_11") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "r_thumb_oppose" "r_thumb_proximal" "r_thumb_distal" "r_index_proximal") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -5120 -5120) (rotorPosMax 0 0 70000 32000)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 -1.000 +1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 +1.000 +1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type absanalog mais mais mais) (port CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port CONN:none CONN:P2 CONN:P4 CONN:P5) (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 500.0 -500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 50.0 -50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-eb28-j8_11-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.28") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb28-j8_11) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName r_thumb_oppose r_thumb_proximal r_thumb_distal r_index_proximal) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -5120 -5120) (rotorPosMax 0 0 70000 32000) (jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 500.0 -500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 50.0 -50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location "CAN1:14")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5")) (ENCODER1 (type absanalog mais mais mais) (port "CONN:P3" "MAIS:thumbproximal" "MAIS:thumbdistal" "MAIS:indexproximal") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port "CONN:none" "CONN:P2" "CONN:P4" "CONN:P5") (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id right_arm-eb28-j8_11-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb28-j8_11
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.28
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_arm-eb28-j8_11
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.28 (right_arm-eb28-j8_11) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.0.1.28
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=8595s 427m 375u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 28
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 after 0.00539207 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb28-j8_11 with IP 10.0.1.28
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_arm-eb28-j8_11 @ IP 10.0.1.28 of type mc4plus with FW = ver 3.87 built on 2024 Feb 23 13:0
[INFO] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=8595s 463m 406u :  CFG: CANdiscovery started the search for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0.
[DEBUG] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=8595s 463m 646u : CFG: EOtheMAIS can be correctly configured on board at addr: 14 and port:0 with can protocol ver 0.0 and application ver 0.0.
[DEBUG] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=8595s 483m 170u : CFG: EOtheEncoderReader can be correctly configured
[DEBUG] from BOARD 10.0.1.28 (right_arm-eb28-j8_11) time=8595s 483m 429u : CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|right_arm-eb28-j8_11-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device right_arm-eb29-j12_15-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.29) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb29-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisName "r_index_distal" "r_middle_proximal" "r_middle_distal" "r_pinky") (AxisType "revolute" "revolute" "revolute" "revolute") (AxisMap 0 1 2 3) (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -65000 -5120 -5120 -65000) (rotorPosMax 5120 32000 65000 5120)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 1.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type mais mais mais mais) (port MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5) (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 500.0 500.0 -500.0 200.0) (kd 0.0 0.0 0.0 0.0) (ki 50.0 50.0 -50.0 20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-eb29-j12_15-mc| Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 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) (matrixM2J 1.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.29") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb29-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisName r_index_distal r_middle_proximal r_middle_distal r_pinky) (AxisType revolute revolute revolute revolute) (AxisMap 0 1 2 3) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 256 256 256 256) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -65000 -5120 -5120 -65000) (rotorPosMax 5120 32000 65000 5120) (jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 500.0 500.0 -500.0 200.0) (kd 0.0 0.0 0.0 0.0) (ki 50.0 50.0 -50.0 20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location "CAN1:14")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5")) (ENCODER1 (type mais mais mais mais) (port "MAIS:indexdistal" "MAIS:mediumproximal" "MAIS:mediumdistal" "MAIS:littlefingers") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port "CONN:P3" "CONN:P2" "CONN:P4" "CONN:P5") (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id right_arm-eb29-j12_15-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD right_arm-eb29-j12_15
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.29
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_arm-eb29-j12_15
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.29 (right_arm-eb29-j12_15) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP =  10.0.1.29
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=8596s 487m 148u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 37
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 after 0.00628471 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb29-j12_15 with IP 10.0.1.29
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_arm-eb29-j12_15 @ IP 10.0.1.29 of type mc4plus with FW = ver 3.87 built on 2024 Feb 23 13:0
[INFO] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=8596s 524m 520u :  CFG: CANdiscovery started the search for 1 eobrd_mais boards on (can1map, can2map) = (0x4000, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0.
[DEBUG] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=8596s 524m 759u : CFG: EOtheMAIS can be correctly configured on board at addr: 14 and port:0 with can protocol ver 0.0 and application ver 0.0.
[DEBUG] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=8596s 544m 173u : CFG: EOtheEncoderReader can be correctly configured
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[DEBUG] from BOARD 10.0.1.29 (right_arm-eb29-j12_15) time=8596s 544m 434u : CFG: EOtheMotionController can correctly configure mc4plusmais-based motion. more info will follow
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|right_arm-eb29-j12_15-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device left_leg-eb6-j0_3-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.6) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb6-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -150.0 100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 92 92 72 0) (hardwareJntPosMin -30 -15 -72 -100) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0)"), ("2FOC" [group] = "(HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P8 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 4096 -4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0) (position eomc_pos_atmotor atmotor atmotor atmotor) (resolution -14400.0 -14400.0 -14400.0 -14400.0) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 85 85 70 0) (jntPosMin -30 0 -70 -100) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 5000 5000 5000 5000) (motorPeakCurrents 6000 10000 6000 10000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1066.66 2066.66 -711.11 -1066.66) (kd 0.00 0.00 0.00 0.00) (ki -10666.64 14222.18 -7111.09 -1066.64) (maxOutput 8000 8000 8000 8000) (maxInt 1500 1500 750 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200 200 0 -200) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -2.0 2.0 -1.0 -1.0) (stictionDown 1.4 -2.0 1.3 0.2) (kff 1 1 1 1) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -162 178 -197 -167)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-eb6-j0_3-mc| Parameters are ("2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 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) (matrixM2J 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) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.6") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb6-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName l_hip_pitch l_hip_roll l_hip_yaw l_knee) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -150.0 100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 92 92 72 0) (hardwareJntPosMin -30 -15 -72 -100) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 85 85 70 0) (jntPosMin -30 0 -70 -100) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 5000 5000 5000 5000) (motorPeakCurrents 6000 10000 6000 10000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1066.66000000000008185 2066.65999999999985448 -711.110000000000013642 -1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki -10666.6399999999994179 14222.180000000000291 -7111.09000000000014552 -1066.64000000000010004) (maxOutput 8000 8000 8000 8000) (maxInt 1500 1500 750 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port "CAN1:3:0" "CAN1:4:0" "CAN1:1:0" "CAN1:2:0")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port "CONN:P6" "CONN:P7" "CONN:P8" "CONN:P9") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port "CAN1:3:0" "CAN1:4:0" "CAN1:1:0" "CAN1:2:0") (position eomc_pos_atmotor atmotor atmotor atmotor) (resolution -14400.0 -14400.0 -14400.0 -14400.0) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200 200 0 -200) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -2.0 2.0 -1.0 -1.0) (stictionDown 1.39999999999999991118 -2.0 1.30000000000000004441 0.200000000000000011102) (kff 1 1 1 1) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -162 178 -197 -167)) (device embObjMotionControl) (id left_leg-eb6-j0_3-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD left_leg-eb6-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.6
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_leg-eb6-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.6 (left_leg-eb6-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.6
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] embObjMC  BOARD left_leg-eb6-j0_3 (IP 10.0.1.6)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD left_leg-eb6-j0_3 (IP 10.0.1.6)  joint  1  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD left_leg-eb6-j0_3 (IP 10.0.1.6)  joint  2  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD left_leg-eb6-j0_3 (IP 10.0.1.6)  joint  3  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8597s 464m 321u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 20
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 after 0.00393367 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb6-j0_3 with IP 10.0.1.6
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_leg-eb6-j0_3 @ IP 10.0.1.6 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8597s 519m 458u : CFG: EOtheEncoderReader can be correctly configured
[INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8597s 519m 574u :  CFG: CANdiscovery started the search for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8598s 19m 475u : CFG: EOtheEncoderReader can be correctly configured
[INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8598s 20m 837u :  CFG: CANdiscovery started the search for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[INFO] Opening device left_leg-eb7-j4_5-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.7) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb7-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "l_ankle_pitch" "l_ankle_roll") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.00 100.00) (Gearbox_E2J 1 1) (MotorType "BLL_MOOG" "BLL_MOOG") (useMotorSpeedFbk 1 1) (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 30.00 20.00) (hardwareJntPosMin -30.00 -20.00) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("2FOC" [group] = "(HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (RotorIndexOffset 0 0) (HasSpeedEncoder 0 0) (MotorPoles 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type eomc_enc_aea aea) (port CONN:P6 CONN:P7) (position eomc_pos_atjoint atjoint) (resolution -4096 4096) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution -14400 -14400) (tolerance 0 0))))"), ("LIMITS" [group] = "(jntPosMax 30 20) (jntPosMin -30 -20) (motorNominalCurrents 5000 5000) (motorPeakCurrents 10000 10000) (motorOverloadCurrents 15000 15000) (jntVelMax 1000 1000) (motorPwmLimit 10000 10000)"), ("TIMEOUTS" [group] = "(velocity 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0) (damping 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 2200.00 2200.00) (kd 0.00 0.00) (ki 0.09 0.09) (maxOutput 8000 8000) (maxInt 750 750) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 8000 8000) (maxInt 500 500) (ko 0 0) (stictionUp 1.7 0.8) (stictionDown -1.7 -1.8) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 209 160)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-eb7-j4_5-mc| Parameters are ("2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (RotorIndexOffset 0 0) (HasSpeedEncoder 0 0) (MotorPoles 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 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) (matrixM2J 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) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.7") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb7-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName l_ankle_pitch l_ankle_roll) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.0 100.0) (Gearbox_E2J 1 1) (MotorType BLL_MOOG BLL_MOOG) (useMotorSpeedFbk 1 1) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0) (damping 0.0 0.0)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 30.0 20.0) (hardwareJntPosMin -30.0 -20.0) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 30 20) (jntPosMin -30 -20) (motorNominalCurrents 5000 5000) (motorPeakCurrents 10000 10000) (motorOverloadCurrents 15000 15000) (jntVelMax 1000 1000) (motorPwmLimit 10000 10000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 2200.0 2200.0) (kd 0.0 0.0) (ki 0.0899999999999999966693 0.0899999999999999966693) (maxOutput 8000 8000) (maxInt 750 750) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc) (port "CAN1:1:0" "CAN1:2:0")) (ENCODER1 (type eomc_enc_aea aea) (port "CONN:P6" "CONN:P7") (position eomc_pos_atjoint atjoint) (resolution -4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port "CAN1:1:0" "CAN1:2:0") (position atmotor atmotor) (resolution -14400 -14400) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 8000 8000) (maxInt 500 500) (ko 0 0) (stictionUp 1.69999999999999995559 0.800000000000000044409) (stictionDown -1.69999999999999995559 -1.80000000000000004441) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 209 160)) (device embObjMotionControl) (id left_leg-eb7-j4_5-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD left_leg-eb7-j4_5
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.7
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_leg-eb7-j4_5
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.7 (left_leg-eb7-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.7
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] embObjMC  BOARD left_leg-eb7-j4_5 (IP 10.0.1.7)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD left_leg-eb7-j4_5 (IP 10.0.1.7)  joint  1  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8598s 971m 611u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 34
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_leg-eb7-j4_5 with IP 10.0.1.7 after 0.0057869 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb7-j4_5 with IP 10.0.1.7
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb7-j4_5 with IP 10.0.1.7 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb7-j4_5 with IP 10.0.1.7 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_leg-eb7-j4_5 @ IP 10.0.1.7 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8599s 28m 376u : CFG: EOtheEncoderReader can be correctly configured
[INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8599s 28m 492u :  CFG: CANdiscovery started the search for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8599s 29m 244u : CFG: CANdiscovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8599s 29m 719u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|left_leg-eb7-j4_5-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device right_leg-eb8-j0_3-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.8) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb8-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 150.00 -100.00 100.00 100.00) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType "BLL_MOOG" "BLL_MOOG" "BLL_MOOG" "BLL_MOOG") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 92 92 72 0) (hardwareJntPosMin -30 -15 -72 -100) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0)"), ("2FOC" [group] = "(HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P8 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution -4096 -4096 -4096 4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0) (position eomc_pos_atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 85 85 70 0) (jntPosMin -30 0 -70 -100) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 5000 5000 5000 5000) (motorPeakCurrents 6000 10000 6000 10000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)"), ("TIMEOUTS" [group] = "(velocity 100 100 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1066.66 -2066.66 711.11 1066.66) (kd 0.00 0.00 0.00 0.00) (ki 10666.64 -14222.18 7111.09 1066.64) (maxOutput 8000 8000 8000 8000) (maxInt 1500 1500 750 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 -200 0 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 2.3 -1.79 1.8 1.2) (stictionDown -3.3 1.76 -1.4 -1.7) (kff 1 1 1 1) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 147 -180 217 282)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-eb8-j0_3-mc| Parameters are ("2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 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) (matrixM2J 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) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.8") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb8-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName r_hip_pitch r_hip_roll r_hip_yaw r_knee) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 150.0 -100.0 100.0 100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 92 92 72 0) (hardwareJntPosMin -30 -15 -72 -100) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 85 85 70 0) (jntPosMin -30 0 -70 -100) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 5000 5000 5000 5000) (motorPeakCurrents 6000 10000 6000 10000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1066.66000000000008185 -2066.65999999999985448 711.110000000000013642 1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki 10666.6399999999994179 -14222.180000000000291 7111.09000000000014552 1066.64000000000010004) (maxOutput 8000 8000 8000 8000) (maxInt 1500 1500 750 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port "CAN1:3:0" "CAN1:4:0" "CAN1:1:0" "CAN1:2:0")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port "CONN:P6" "CONN:P7" "CONN:P8" "CONN:P9") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution -4096 -4096 -4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port "CAN1:3:0" "CAN1:4:0" "CAN1:1:0" "CAN1:2:0") (position eomc_pos_atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 -200 0 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 2.29999999999999982236 -1.79000000000000003553 1.80000000000000004441 1.19999999999999995559) (stictionDown -3.29999999999999982236 1.76000000000000000888 -1.39999999999999991118 -1.69999999999999995559) (kff 1 1 1 1) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 147 -180 217 282)) (device embObjMotionControl) (id right_leg-eb8-j0_3-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD right_leg-eb8-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.8
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_leg-eb8-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.8 (right_leg-eb8-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.8
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] embObjMC  BOARD right_leg-eb8-j0_3 (IP 10.0.1.8)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD right_leg-eb8-j0_3 (IP 10.0.1.8)  joint  1  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD right_leg-eb8-j0_3 (IP 10.0.1.8)  joint  2  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD right_leg-eb8-j0_3 (IP 10.0.1.8)  joint  3  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8600s 225m 285u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 42
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_leg-eb8-j0_3 with IP 10.0.1.8 after 0.00340796 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb8-j0_3 with IP 10.0.1.8
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb8-j0_3 with IP 10.0.1.8 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb8-j0_3 with IP 10.0.1.8 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_leg-eb8-j0_3 @ IP 10.0.1.8 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8600s 279m 458u : CFG: EOtheEncoderReader can be correctly configured
[INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8600s 279m 574u :  CFG: CANdiscovery started the search for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8600s 280m 931u : CFG: CANdiscovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8600s 281m 490u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|right_leg-eb8-j0_3-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device right_leg-eb9-j4_5-mc with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.9) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb9-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "r_ankle_pitch" "r_ankle_roll") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.00 -100.00) (Gearbox_E2J 1.00 1.00) (MotorType "BLL_MOOG" "BLL_MOOG") (useMotorSpeedFbk 1 1) (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 30 20) (hardwareJntPosMin -30 -20) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("2FOC" [group] = "(HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type eomc_enc_aea aea) (port CONN:P6 CONN:P7) (position eomc_pos_atjoint atjoint) (resolution 4096 -4096) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution -14400 -14400) (tolerance 0 0))))"), ("LIMITS" [group] = "(jntPosMax 30 20) (jntPosMin -30 -20) (motorNominalCurrents 5000 5000) (motorPeakCurrents 10000 10000) (motorOverloadCurrents 15000 15000) (jntVelMax 1000 1000) (motorPwmLimit 10000 10000)"), ("TIMEOUTS" [group] = "(velocity 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0 0) (damping 0 0)"), ("CONTROLS" [group] = "(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)"), ("POS_PID_DEFAULT" [group] = "(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -2105.00 -2310.00) (kd 0.00 0.00) (ki -0.09 -0.09) (maxOutput 8000 8000) (maxInt 750 750) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200 -200) (kd 0 0) (ki 0 0) (maxOutput 8000 8000) (maxInt 500 500) (ko 0 0) (stictionUp -1.4 -1.5) (stictionDown 2.4 1.6) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -231 -180)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-eb9-j4_5-mc| Parameters are ("2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 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) (matrixM2J 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) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.9") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb9-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName r_ankle_pitch r_ankle_roll) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0) (Gearbox_E2J 1.0 1.0) (MotorType BLL_MOOG BLL_MOOG) (useMotorSpeedFbk 1 1) (Verbose 0)) (IMPEDANCE (stiffness 0 0) (damping 0 0)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 30 20) (hardwareJntPosMin -30 -20) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 30 20) (jntPosMin -30 -20) (motorNominalCurrents 5000 5000) (motorPeakCurrents 10000 10000) (motorOverloadCurrents 15000 15000) (jntVelMax 1000 1000) (motorPwmLimit 10000 10000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -2105.0 -2310.0) (kd 0.0 0.0) (ki -0.0899999999999999966693 -0.0899999999999999966693) (maxOutput 8000 8000) (maxInt 750 750) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc) (port "CAN1:1:0" "CAN1:2:0")) (ENCODER1 (type eomc_enc_aea aea) (port "CONN:P6" "CONN:P7") (position eomc_pos_atjoint atjoint) (resolution 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port "CAN1:1:0" "CAN1:2:0") (position atmotor atmotor) (resolution -14400 -14400) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200 -200) (kd 0 0) (ki 0 0) (maxOutput 8000 8000) (maxInt 500 500) (ko 0 0) (stictionUp -1.39999999999999991118 -1.5) (stictionDown 2.39999999999999991118 1.60000000000000008882) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -231 -180)) (device embObjMotionControl) (id right_leg-eb9-j4_5-mc) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD right_leg-eb9-j4_5
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.9
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_leg-eb9-j4_5
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.9 (right_leg-eb9-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.9
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] Private varibales NOT DEFINED for class TemperatureSensorNONE
[INFO] embObjMC  BOARD right_leg-eb9-j4_5 (IP 10.0.1.9)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] embObjMC  BOARD right_leg-eb9-j4_5 (IP 10.0.1.9)  joint  1  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
[INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8601s 651m 576u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 34
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_leg-eb9-j4_5 with IP 10.0.1.9 after 0.00545835 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb9-j4_5 with IP 10.0.1.9
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb9-j4_5 with IP 10.0.1.9 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb9-j4_5 with IP 10.0.1.9 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_leg-eb9-j4_5 @ IP 10.0.1.9 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[DEBUG] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8601s 708m 371u : CFG: EOtheEncoderReader can be correctly configured
[INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8601s 708m 487u :  CFG: CANdiscovery started the search for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.3.
[DEBUG] embObjMotionControl:serviceVerifyActivate OK!
[INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8601s 709m 241u : CFG: CANdiscovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.3. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8601s 709m 717u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
[INFO] |yarp.dev.PolyDriver|right_leg-eb9-j4_5-mc| Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
[INFO] Opening device head-imuFilter_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("name" = "/imuFilter")]
[DEBUG] |yarp.dev.PolyDriver|head-imuFilter_wrapper| Parameters are (device multipleanalogsensorsserver) (id head-imuFilter_wrapper) (name "/imuFilter") (period 20) (robotName icub)
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|head-imuFilter_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device head-imuFilter with parameters [("robotName" = "icub"), ("period" = "20"), ("name" = "/imuFilter")]
[DEBUG] |yarp.dev.PolyDriver|head-imuFilter| Parameters are (device imuFilter) (id head-imuFilter) (name "/imuFilter") (period 20) (robotName icub)
[INFO] Finish PassThroughInertial::open
[INFO] |yarp.os.Port|/imuFilter/bias:o| Port /imuFilter/bias:o active at tcp://10.0.0.2:10048/
[INFO] |yarp.dev.PolyDriver|head-imuFilter| Created device <imuFilter>. See C++ class yarp::dev::ImuFilter for documentation.
[INFO] Opening device head-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/head/inertials")]
[DEBUG] |yarp.dev.PolyDriver|head-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id head-inertials_wrapper) (name "/icub/head/inertials") (period 10) (robotName icub)
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|head-inertials_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device head-inertial with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.21) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "head-eb21-j2_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type rfe) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status) (sensorName head_imu_0 head_imu_0 head_imu_0 head_imu_0) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status) (boardType rfe rfe rfe rfe) (location CAN1:1 CAN1:1 CAN1:1 CAN1:1))) (SETTINGS (acquisitionRate 10) (enabledSensors rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status))")]
[DEBUG] |yarp.dev.PolyDriver|head-inertial| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.21") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name head-eb21-j2_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type rfe) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status) (sensorName head_imu_0 head_imu_0 head_imu_0 head_imu_0) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status) (boardType rfe rfe rfe rfe) (location "CAN1:1" "CAN1:1" "CAN1:1" "CAN1:1"))) (SETTINGS (acquisitionRate 10) (enabledSensors rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status))) (device embObjIMU) (id head-inertial) (robotName icub)
[INFO] from BOARD 10.0.1.21 (head-eb21-j2_5) time=8602s 268m 987u :  CFG: CANdiscovery started the search for 1 eobrd_rfe boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 2.0 and application ver 0.0.0.
[INFO] from BOARD 10.0.1.21 (head-eb21-j2_5) time=8602s 269m 953u : CFG: CANdiscovery has detected  eobrd_rfe board in CAN1 addr 1 with can protocol ver 2.0 and application ver 1.2.2 Search time was 0 ms
[INFO] from BOARD 10.0.1.21 (head-eb21-j2_5) time=8602s 270m 64u : CFG: CANdiscovery is OK for 1 eobrd_rfe boards with target can protocol ver 2.0 and application ver 0.0.0. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.21 (head-eb21-j2_5) time=8602s 270m 196u : CFG: EOtheInertial3 can be correctly configured
[INFO] |yarp.dev.PolyDriver|head-inertial| Created device <embObjIMU>. See C++ class yarp::dev::embObjIMU for documentation.
[INFO] Opening device waist-inertials_remapper with parameters [("robotName" = "icub"), ("period" = "10"), ("ThreeAxisGyroscopesNames" = "(waist_ems_gyro_eb5)")]
[DEBUG] |yarp.dev.PolyDriver|waist-inertials_remapper| Parameters are (ThreeAxisGyroscopesNames (waist_ems_gyro_eb5)) (device multipleanalogsensorsremapper) (id waist-inertials_remapper) (period 10) (robotName icub)
[INFO] |yarp.dev.PolyDriver|waist-inertials_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device waist-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/waist/inertials")]
[DEBUG] |yarp.dev.PolyDriver|waist-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id waist-inertials_wrapper) (name "/icub/waist/inertials") (period 10) (robotName icub)
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|waist-inertials_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device xsensmt-inertial with parameters [("robotName" = "icub"), ("serial" = "/dev/ttyXsens")]
[DEBUG] |yarp.dev.PolyDriver|xsensmt-inertial| Parameters are (device xsensmt) (id xsensmt-inertial) (robotName icub) (serial "/dev/ttyXsens")
[INFO] xsensmt: Opening serial port /dev/ttyXsens with baud rate 115200. The following frequencies are considered. Accelerometer 100.0000 Hz, gyro 100.0000 Hz, magnetometer 100.0000 Hz, euler angle 100.0000 Hz, position 100.0000 Hz, linearVelocity 100.0000 Hz
[INFO] Device: MTi-300-2A8G4, with ID: 0378267D opened.
[INFO] xsensmt: Putting device into configuration mode.
[INFO] xsensmt: Configuring the device MTi-300-2A8G4.
[INFO] xsensmt: Putting device into measurement mode.
[INFO] |yarp.dev.PolyDriver|xsensmt-inertial| Created device <xsensmt>. See C++ class yarp::dev::XsensMT for documentation.
[INFO] Opening device waist-xsensmt-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/waist/xsens_inertials")]
[DEBUG] |yarp.dev.PolyDriver|waist-xsensmt-inertials_wrapper| Parameters are (device multipleanalogsensorsserver) (id waist-xsensmt-inertials_wrapper) (name "/icub/waist/xsens_inertials") (period 10) (robotName icub)
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|waist-xsensmt-inertials_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device waist-eb5-inertials with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.5) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "torso-eb5-j0_2") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_mtb) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id waist_ems_gyro_eb5) (type eoas_gyros_st_l3g4200d) (boardType ems4) (location ETH:1))) (SETTINGS (acquisitionRate 50) (enabledSensors waist_ems_gyro_eb5))")]
[DEBUG] |yarp.dev.PolyDriver|waist-eb5-inertials| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.5") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name torso-eb5-j0_2) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_mtb) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id waist_ems_gyro_eb5) (type eoas_gyros_st_l3g4200d) (boardType ems4) (location "ETH:1"))) (SETTINGS (acquisitionRate 50) (enabledSensors waist_ems_gyro_eb5))) (device embObjIMU) (id waist-eb5-inertials) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD torso-eb5-j0_2
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.5
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  torso-eb5-j0_2
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.5 (torso-eb5-j0_2) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.5
[INFO] from BOARD 10.0.1.5 (torso-eb5-j0_2) time=8602s 186m 120u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 10
[DEBUG] EthResource::verifyBoardPresence() found BOARD torso-eb5-j0_2 with IP 10.0.1.5 after 0.00210881 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD torso-eb5-j0_2 with IP 10.0.1.5
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD torso-eb5-j0_2 with IP 10.0.1.5 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD torso-eb5-j0_2 with IP 10.0.1.5 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD torso-eb5-j0_2 @ IP 10.0.1.5 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[INFO] |yarp.dev.PolyDriver|waist-eb5-inertials| Created device <embObjIMU>. See C++ class yarp::dev::embObjIMU for documentation.
[INFO] Opening device left_arm-mais_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/left_hand/MAIS")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-mais_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_arm-mais_wrapper) (name "/icub/left_hand/MAIS") (period 10) (robotName icub)
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|left_arm-mais_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device right_arm-mais_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/right_hand/MAIS")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-mais_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_arm-mais_wrapper) (name "/icub/right_hand/MAIS") (period 10) (robotName icub)
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|right_arm-mais_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device left_arm-eb26-j12_15-mais with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.26) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb26-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location CAN1:14))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-eb26-j12_15-mais| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.26") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb26-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location "CAN1:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))) (device embObjMais) (id left_arm-eb26-j12_15-mais) (robotName icub)
[INFO] The embObjMais device using BOARD left_arm-eb26-j12_15 w/ IP 10.0.1.26 has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - MAIS named id_x_hand_mais @ [C, A, N, 1, :, 1, 4, 
[INFO] |yarp.dev.PolyDriver|left_arm-eb26-j12_15-mais| Created device <embObjMais>. See C++ class yarp::dev::embObjMais for documentation.
[INFO] Opening device right_arm-eb29-j12_15-mais with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.29) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb29-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location CAN1:14))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-eb29-j12_15-mais| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.29") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb29-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location "CAN1:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))) (device embObjMais) (id right_arm-eb29-j12_15-mais) (robotName icub)
[INFO] The embObjMais device using BOARD right_arm-eb29-j12_15 w/ IP 10.0.1.29 has the following service config:
[INFO] - acquisitionrate = 10
[INFO] - MAIS named id_x_hand_mais @ [C, A, N, 1, :, 1, 4, 
[INFO] |yarp.dev.PolyDriver|right_arm-eb29-j12_15-mais| Created device <embObjMais>. See C++ class yarp::dev::embObjMais for documentation.
[INFO] Opening device left_arm-skin_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("total_taxels" = "1344"), ("device" = "skinWrapper"), ("ports" = "(left_hand left_forearm left_arm)"), ("left_hand" = "0 191 0 191"), ("left_forearm" = "192 575 0 383"), ("left_arm" = "576 1343 0 767")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-skin_wrapper| Parameters are (device skinWrapper) (id left_arm-skin_wrapper) (left_arm 576 1343 0 767) (left_forearm 192 575 0 383) (left_hand 0 191 0 191) (period 20) (ports (left_hand left_forearm left_arm)) (robotName icub) (total_taxels 1344)
[DEBUG] |yarp.dev.PolyDriver|left_arm-skin_wrapper| Parameters are (channels 1344) (device analogServer) (id left_arm-skin_wrapper) (left_arm 576 1343 0 767) (left_forearm 192 575 0 383) (left_hand 0 191 0 191) (name "/icub/skin") (period 20) (ports (left_hand left_forearm left_arm)) (robotName icub)
[DEBUG] |yarp.devices.AnalogWrapper| -->  0   191   0   191
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_hand
[DEBUG] |yarp.devices.AnalogWrapper| -->  192   575   0   383
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_forearm
[DEBUG] |yarp.devices.AnalogWrapper| -->  576   1343   0   767
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_arm
[INFO] |yarp.os.Port|/icub/skin/left_hand/rpc:i| Port /icub/skin/left_hand/rpc:i active at tcp://10.0.0.2:10049/
[INFO] |yarp.os.Port|/icub/skin/left_forearm/rpc:i| Port /icub/skin/left_forearm/rpc:i active at tcp://10.0.0.2:10050/
[INFO] |yarp.os.Port|/icub/skin/left_arm/rpc:i| Port /icub/skin/left_arm/rpc:i active at tcp://10.0.0.2:10051/
[INFO] |yarp.dev.PolyDriver|left_arm-skin_wrapper| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver|left_arm-skin_wrapper| Created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO] Opening device left_arm-eb24-j4_7-skin with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.24) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb24-j4_7") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("patches" [group] = "(skinCanAddrsPatch1 14 13 12 11 10 9 8)"), ("defaultCfgBoard" [group] = "(period 50) (skinType 8) (noLoad 0xf0) (diagnostic false)"), ("specialCfgBoards" [group] = "(numOfSets 1) (boardSetCfg1 1 14 14 50 1 0xf0)"), ("defaultCfgTriangle" [group] = "(enabled false) (shift 2) (cdcOffset 0x2200)"), ("specialCfgTriangles" [group] = "(numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 0x2000) (triangleSetCfg2 1 14 8 11 1 2 0x2200) (triangleSetCfg3 1 13 0 15 1 2 0x2200) (triangleSetCfg4 1 12 0 1 1 2 0x2200) (triangleSetCfg5 1 12 3 3 1 2 0x2200) (triangleSetCfg6 1 12 6 6 1 2 0x2200) (triangleSetCfg7 1 12 8 9 1 2 0x2200) (triangleSetCfg8 1 12 12 13 1 2 0x2200) (triangleSetCfg9 1 11 1 4 1 2 0x2200) (triangleSetCfg10 1 11 8 13 1 2 0x2200) (triangleSetCfg11 1 10 0 1 1 2 0x2200) (triangleSetCfg12 1 10 6 6 1 2 0x2200) (triangleSetCfg13 1 10 8 15 1 2 0x2200) (triangleSetCfg14 1 9 0 8 1 2 0x2200) (triangleSetCfg15 1 9 12 13 1 2 0x2200) (triangleSetCfg16 1 8 0 0 1 2 0x2200) (triangleSetCfg17 1 8 8 9 1 2 0x2200) (triangleSetCfg18 1 8 10 11 1 2 0x2200) (triangleSetCfg19 1 8 13 13 1 2 0x2200) (triangleSetCfg20 1 8 15 15 1 2 0x2200)")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-eb24-j4_7-skin| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.24") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb24-j4_7) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (defaultCfgBoard (period 50) (skinType 8) (noLoad 240) (diagnostic false)) (defaultCfgTriangle (enabled false) (shift 2) (cdcOffset 8704)) (device embObjSkin) (id left_arm-eb24-j4_7-skin) (patches (skinCanAddrsPatch1 14 13 12 11 10 9 8)) (robotName icub) (specialCfgBoards (numOfSets 1) (boardSetCfg1 1 14 14 50 1 240)) (specialCfgTriangles (numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 8192) (triangleSetCfg2 1 14 8 11 1 2 8704) (triangleSetCfg3 1 13 0 15 1 2 8704) (triangleSetCfg4 1 12 0 1 1 2 8704) (triangleSetCfg5 1 12 3 3 1 2 8704) (triangleSetCfg6 1 12 6 6 1 2 8704) (triangleSetCfg7 1 12 8 9 1 2 8704) (triangleSetCfg8 1 12 12 13 1 2 8704) (triangleSetCfg9 1 11 1 4 1 2 8704) (triangleSetCfg10 1 11 8 13 1 2 8704) (triangleSetCfg11 1 10 0 1 1 2 8704) (triangleSetCfg12 1 10 6 6 1 2 8704) (triangleSetCfg13 1 10 8 15 1 2 8704) (triangleSetCfg14 1 9 0 8 1 2 8704) (triangleSetCfg15 1 9 12 13 1 2 8704) (triangleSetCfg16 1 8 0 0 1 2 8704) (triangleSetCfg17 1 8 8 9 1 2 8704) (triangleSetCfg18 1 8 10 11 1 2 8704) (triangleSetCfg19 1 8 13 13 1 2 8704) (triangleSetCfg20 1 8 15 15 1 2 8704))
[INFO] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=8602s 922m 703u :  CFG: CANdiscovery started the search for 7 eobrd_mtb boards on (can1map, can2map) = (0x7f00, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0.
[DEBUG] from BOARD 10.0.1.24 (left_arm-eb24-j4_7) time=8602s 922m 967u : CFG: EOtheSKIN can be correctly configured on 1 skin patches for boards on (can1map, can2map) = (0x7f00, 0x0000) with target can protocol ver 0.0 and application ver 0.0
[INFO] |yarp.dev.PolyDriver|left_arm-eb24-j4_7-skin| Created device <embObjSkin>. See C++ class EmbObjSkin for documentation.
[INFO] Opening device right_arm-skin_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("total_taxels" = "1344"), ("device" = "skinWrapper"), ("ports" = "(right_hand right_forearm right_arm)"), ("right_hand" = "0 191 0 191"), ("right_forearm" = "192 575 0 383"), ("right_arm" = "576 1343 0 767")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-skin_wrapper| Parameters are (device skinWrapper) (id right_arm-skin_wrapper) (period 20) (ports (right_hand right_forearm right_arm)) (right_arm 576 1343 0 767) (right_forearm 192 575 0 383) (right_hand 0 191 0 191) (robotName icub) (total_taxels 1344)
[DEBUG] |yarp.dev.PolyDriver|right_arm-skin_wrapper| Parameters are (channels 1344) (device analogServer) (id right_arm-skin_wrapper) (name "/icub/skin") (period 20) (ports (right_hand right_forearm right_arm)) (right_arm 576 1343 0 767) (right_forearm 192 575 0 383) (right_hand 0 191 0 191) (robotName icub)
[DEBUG] |yarp.devices.AnalogWrapper| -->  0   191   0   191
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_hand
[DEBUG] |yarp.devices.AnalogWrapper| -->  192   575   0   383
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_forearm
[DEBUG] |yarp.devices.AnalogWrapper| -->  576   1343   0   767
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_arm
[INFO] |yarp.os.Port|/icub/skin/right_hand/rpc:i| Port /icub/skin/right_hand/rpc:i active at tcp://10.0.0.2:10052/
[INFO] |yarp.os.Port|/icub/skin/right_forearm/rpc:i| Port /icub/skin/right_forearm/rpc:i active at tcp://10.0.0.2:10053/
[INFO] |yarp.os.Port|/icub/skin/right_arm/rpc:i| Port /icub/skin/right_arm/rpc:i active at tcp://10.0.0.2:10054/
[INFO] |yarp.dev.PolyDriver|right_arm-skin_wrapper| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver|right_arm-skin_wrapper| Created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO] Opening device right_arm-eb27-j4_7-skin with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.27) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb27-j4_7") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("patches" [group] = "(skinCanAddrsPatch1 14 13 12 11 10 9 8)"), ("defaultCfgBoard" [group] = "(period 50) (skinType 8) (noLoad 0xf0) (diagnostic false)"), ("specialCfgBoards" [group] = "(numOfSets 1) (boardSetCfg1 1 14 14 50 1 0xf0)"), ("defaultCfgTriangle" [group] = "(enabled false) (shift 2) (cdcOffset 0x2200)"), ("specialCfgTriangles" [group] = "(numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 0x2000) (triangleSetCfg2 1 14 8 11 1 2 0x2200) (triangleSetCfg3 1 13 0 15 1 2 0x2200) (triangleSetCfg4 1 12 0 1 1 2 0x2200) (triangleSetCfg5 1 12 3 3 1 2 0x2200) (triangleSetCfg6 1 12 6 6 1 2 0x2200) (triangleSetCfg7 1 12 8 9 1 2 0x2200) (triangleSetCfg8 1 12 12 13 1 2 0x2200) (triangleSetCfg9 1 11 1 4 1 2 0x2200) (triangleSetCfg10 1 11 8 13 1 2 0x2200) (triangleSetCfg11 1 9 0 1 1 2 0x2200) (triangleSetCfg12 1 9 6 6 1 2 0x2200) (triangleSetCfg13 1 9 8 15 1 2 0x2200) (triangleSetCfg14 1 10 0 8 1 2 0x2200) (triangleSetCfg15 1 10 12 13 1 2 0x2200) (triangleSetCfg16 1 8 0 0 1 2 0x2200) (triangleSetCfg17 1 8 8 9 1 2 0x2200) (triangleSetCfg18 1 8 10 11 1 2 0x2200) (triangleSetCfg19 1 8 13 13 1 2 0x2200) (triangleSetCfg20 1 8 15 15 1 2 0x2200)")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-eb27-j4_7-skin| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.27") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb27-j4_7) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (defaultCfgBoard (period 50) (skinType 8) (noLoad 240) (diagnostic false)) (defaultCfgTriangle (enabled false) (shift 2) (cdcOffset 8704)) (device embObjSkin) (id right_arm-eb27-j4_7-skin) (patches (skinCanAddrsPatch1 14 13 12 11 10 9 8)) (robotName icub) (specialCfgBoards (numOfSets 1) (boardSetCfg1 1 14 14 50 1 240)) (specialCfgTriangles (numOfSets 20) (triangleSetCfg1 1 14 0 6 1 0 8192) (triangleSetCfg2 1 14 8 11 1 2 8704) (triangleSetCfg3 1 13 0 15 1 2 8704) (triangleSetCfg4 1 12 0 1 1 2 8704) (triangleSetCfg5 1 12 3 3 1 2 8704) (triangleSetCfg6 1 12 6 6 1 2 8704) (triangleSetCfg7 1 12 8 9 1 2 8704) (triangleSetCfg8 1 12 12 13 1 2 8704) (triangleSetCfg9 1 11 1 4 1 2 8704) (triangleSetCfg10 1 11 8 13 1 2 8704) (triangleSetCfg11 1 9 0 1 1 2 8704) (triangleSetCfg12 1 9 6 6 1 2 8704) (triangleSetCfg13 1 9 8 15 1 2 8704) (triangleSetCfg14 1 10 0 8 1 2 8704) (triangleSetCfg15 1 10 12 13 1 2 8704) (triangleSetCfg16 1 8 0 0 1 2 8704) (triangleSetCfg17 1 8 8 9 1 2 8704) (triangleSetCfg18 1 8 10 11 1 2 8704) (triangleSetCfg19 1 8 13 13 1 2 8704) (triangleSetCfg20 1 8 15 15 1 2 8704))
[INFO] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=8603s 742m 373u :  CFG: CANdiscovery started the search for 7 eobrd_mtb boards on (can1map, can2map) = (0x7f00, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0.
[DEBUG] from BOARD 10.0.1.27 (right_arm-eb27-j4_7) time=8603s 742m 637u : CFG: EOtheSKIN can be correctly configured on 1 skin patches for boards on (can1map, can2map) = (0x7f00, 0x0000) with target can protocol ver 0.0 and application ver 0.0
[INFO] |yarp.dev.PolyDriver|right_arm-eb27-j4_7-skin| Created device <embObjSkin>. See C++ class EmbObjSkin for documentation.
[INFO] Opening device left_leg-skin_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("total_taxels" = "2496"), ("device" = "skinWrapper"), ("ports" = "(left_leg_upper left_leg_lower left_foot)"), ("left_leg_upper" = "1152 2495 0 1343"), ("left_leg_lower" = "384 1151 0 767"), ("left_foot" = "0 383 0 383")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-skin_wrapper| Parameters are (device skinWrapper) (id left_leg-skin_wrapper) (left_foot 0 383 0 383) (left_leg_lower 384 1151 0 767) (left_leg_upper 1152 2495 0 1343) (period 20) (ports (left_leg_upper left_leg_lower left_foot)) (robotName icub) (total_taxels 2496)
[DEBUG] |yarp.dev.PolyDriver|left_leg-skin_wrapper| Parameters are (channels 2496) (device analogServer) (id left_leg-skin_wrapper) (left_foot 0 383 0 383) (left_leg_lower 384 1151 0 767) (left_leg_upper 1152 2495 0 1343) (name "/icub/skin") (period 20) (ports (left_leg_upper left_leg_lower left_foot)) (robotName icub)
[DEBUG] |yarp.devices.AnalogWrapper| -->  1152   2495   0   1343
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_leg_upper
[DEBUG] |yarp.devices.AnalogWrapper| -->  384   1151   0   767
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_leg_lower
[DEBUG] |yarp.devices.AnalogWrapper| -->  0   383   0   383
[DEBUG] |yarp.devices.AnalogWrapper| opening port  left_foot
[INFO] |yarp.os.Port|/icub/skin/left_leg_upper/rpc:i| Port /icub/skin/left_leg_upper/rpc:i active at tcp://10.0.0.2:10055/
[INFO] |yarp.os.Port|/icub/skin/left_leg_lower/rpc:i| Port /icub/skin/left_leg_lower/rpc:i active at tcp://10.0.0.2:10056/
[INFO] |yarp.os.Port|/icub/skin/left_foot/rpc:i| Port /icub/skin/left_foot/rpc:i active at tcp://10.0.0.2:10057/
[INFO] |yarp.dev.PolyDriver|left_leg-skin_wrapper| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver|left_leg-skin_wrapper| Created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO] Opening device right_leg-skin_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("total_taxels" = "2496"), ("device" = "skinWrapper"), ("ports" = "(right_leg_upper right_leg_lower right_foot)"), ("right_leg_upper" = "1152 2495 0 1343"), ("right_leg_lower" = "384 1151 0 767"), ("right_foot" = "0 383 0 383")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-skin_wrapper| Parameters are (device skinWrapper) (id right_leg-skin_wrapper) (period 20) (ports (right_leg_upper right_leg_lower right_foot)) (right_foot 0 383 0 383) (right_leg_lower 384 1151 0 767) (right_leg_upper 1152 2495 0 1343) (robotName icub) (total_taxels 2496)
[DEBUG] |yarp.dev.PolyDriver|right_leg-skin_wrapper| Parameters are (channels 2496) (device analogServer) (id right_leg-skin_wrapper) (name "/icub/skin") (period 20) (ports (right_leg_upper right_leg_lower right_foot)) (right_foot 0 383 0 383) (right_leg_lower 384 1151 0 767) (right_leg_upper 1152 2495 0 1343) (robotName icub)
[DEBUG] |yarp.devices.AnalogWrapper| -->  1152   2495   0   1343
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_leg_upper
[DEBUG] |yarp.devices.AnalogWrapper| -->  384   1151   0   767
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_leg_lower
[DEBUG] |yarp.devices.AnalogWrapper| -->  0   383   0   383
[DEBUG] |yarp.devices.AnalogWrapper| opening port  right_foot
[INFO] |yarp.os.Port|/icub/skin/right_leg_upper/rpc:i| Port /icub/skin/right_leg_upper/rpc:i active at tcp://10.0.0.2:10058/
[INFO] |yarp.os.Port|/icub/skin/right_leg_lower/rpc:i| Port /icub/skin/right_leg_lower/rpc:i active at tcp://10.0.0.2:10059/
[INFO] |yarp.os.Port|/icub/skin/right_foot/rpc:i| Port /icub/skin/right_foot/rpc:i active at tcp://10.0.0.2:10060/
[INFO] |yarp.dev.PolyDriver|right_leg-skin_wrapper| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver|right_leg-skin_wrapper| Created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO] Opening device left_leg-eb10-skin with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.10) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb10-skin") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("patches" [group] = "(skinCanAddrsPatch1 1 2 3 4 5 6 7) (skinCanAddrsPatch2 13 12 8 9 10 11)"), ("defaultCfgBoard" [group] = "(period 50) (skinType 8) (noLoad 0xf0) (diagnostic false)"), ("defaultCfgTriangle" [group] = "(enabled true) (shift 2) (cdcOffset 0x2200)")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-eb10-skin| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.10") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb10-skin) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (defaultCfgBoard (period 50) (skinType 8) (noLoad 240) (diagnostic false)) (defaultCfgTriangle (enabled true) (shift 2) (cdcOffset 8704)) (device embObjSkin) (id left_leg-eb10-skin) (patches (skinCanAddrsPatch1 1 2 3 4 5 6 7) (skinCanAddrsPatch2 13 12 8 9 10 11)) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD left_leg-eb10-skin
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.10
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_leg-eb10-skin
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 3
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.10 (left_leg-eb10-skin) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.10
[INFO] from BOARD 10.0.1.10 (left_leg-eb10-skin) time=8604s 297m 957u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 13
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_leg-eb10-skin with IP 10.0.1.10 after 0.00199962 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb10-skin with IP 10.0.1.10
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb10-skin with IP 10.0.1.10 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb10-skin with IP 10.0.1.10 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_leg-eb10-skin @ IP 10.0.1.10 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[INFO] from BOARD 10.0.1.10 (left_leg-eb10-skin) time=8604s 331m 257u :  CFG: CANdiscovery started the search for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0.
[DEBUG] from BOARD 10.0.1.10 (left_leg-eb10-skin) time=8604s 331m 534u : CFG: EOtheSKIN can be correctly configured on 2 skin patches for boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0
[INFO] |yarp.dev.PolyDriver|left_leg-eb10-skin| Created device <embObjSkin>. See C++ class EmbObjSkin for documentation.
[INFO] Opening device right_leg-eb11-skin with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.11) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb11-skin") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("patches" [group] = "(skinCanAddrsPatch1 1 2 3 4 5 6 7) (skinCanAddrsPatch2 13 12 8 9 10 11)"), ("defaultCfgBoard" [group] = "(period 50) (skinType 8) (noLoad 0xf0) (diagnostic false)"), ("defaultCfgTriangle" [group] = "(enabled true) (shift 2) (cdcOffset 0x2200)")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-eb11-skin| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.11") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb11-skin) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (defaultCfgBoard (period 50) (skinType 8) (noLoad 240) (diagnostic false)) (defaultCfgTriangle (enabled true) (shift 2) (cdcOffset 8704)) (device embObjSkin) (id right_leg-eb11-skin) (patches (skinCanAddrsPatch1 1 2 3 4 5 6 7) (skinCanAddrsPatch2 13 12 8 9 10 11)) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD right_leg-eb11-skin
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.11
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_leg-eb11-skin
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 3
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.11 (right_leg-eb11-skin) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.11
[INFO] from BOARD 10.0.1.11 (right_leg-eb11-skin) time=8604s 840m 83u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 13
[DEBUG] EthResource::verifyBoardPresence() found BOARD right_leg-eb11-skin with IP 10.0.1.11 after 0.00526834 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_leg-eb11-skin with IP 10.0.1.11
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb11-skin with IP 10.0.1.11 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb11-skin with IP 10.0.1.11 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3  every cycle
[INFO] EthResource::askBoardVersion() found BOARD right_leg-eb11-skin @ IP 10.0.1.11 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[INFO] from BOARD 10.0.1.11 (right_leg-eb11-skin) time=8604s 876m 684u :  CFG: CANdiscovery started the search for 13 eobrd_mtb boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0.0.
[DEBUG] from BOARD 10.0.1.11 (right_leg-eb11-skin) time=8604s 876m 962u : CFG: EOtheSKIN can be correctly configured on 2 skin patches for boards on (can1map, can2map) = (0x00fe, 0x3f00) with target can protocol ver 0.0 and application ver 0.0
[INFO] |yarp.dev.PolyDriver|right_leg-eb11-skin| Created device <embObjSkin>. See C++ class EmbObjSkin for documentation.
[INFO] Opening device torso-skin_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("total_taxels" = "768"), ("device" = "skinWrapper"), ("ports" = "(torso)"), ("torso" = "0 767 0 767")]
[DEBUG] |yarp.dev.PolyDriver|torso-skin_wrapper| Parameters are (device skinWrapper) (id torso-skin_wrapper) (period 20) (ports (torso)) (robotName icub) (torso 0 767 0 767) (total_taxels 768)
[DEBUG] |yarp.dev.PolyDriver|torso-skin_wrapper| Parameters are (channels 768) (device analogServer) (id torso-skin_wrapper) (name "/icub/skin") (period 20) (ports (torso)) (robotName icub) (torso 0 767 0 767)
[DEBUG] |yarp.devices.AnalogWrapper| -->  0   767   0   767
[DEBUG] |yarp.devices.AnalogWrapper| opening port  torso
[INFO] |yarp.os.Port|/icub/skin/torso/rpc:i| Port /icub/skin/torso/rpc:i active at tcp://10.0.0.2:10061/
[INFO] |yarp.dev.PolyDriver|torso-skin_wrapper| Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
[INFO] |yarp.dev.PolyDriver|torso-skin_wrapper| Created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO] Opening device torso-eb22-skin with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.22) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "face-eb22-j0") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("patches" [group] = "(skinCanAddrsPatch1 7 8 9 10)"), ("defaultCfgBoard" [group] = "(period 50) (skinType 8) (noLoad 0xf0) (diagnostic false)"), ("defaultCfgTriangle" [group] = "(enabled true) (shift 2) (cdcOffset 0x2200)")]
[DEBUG] |yarp.dev.PolyDriver|torso-eb22-skin| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.22") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name face-eb22-j0) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 3))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (defaultCfgBoard (period 50) (skinType 8) (noLoad 240) (diagnostic false)) (defaultCfgTriangle (enabled true) (shift 2) (cdcOffset 8704)) (device embObjSkin) (id torso-eb22-skin) (patches (skinCanAddrsPatch1 7 8 9 10)) (robotName icub)
[INFO] from BOARD 10.0.1.22 (face-eb22-j0) time=8605s 925m 297u :  CFG: CANdiscovery started the search for 4 eobrd_mtb boards on (can1map, can2map) = (0x0780, 0x0000) with target can protocol ver 0.0 and application ver 0.0.0.
[DEBUG] from BOARD 10.0.1.22 (face-eb22-j0) time=8605s 925m 552u : CFG: EOtheSKIN can be correctly configured on 1 skin patches for boards on (can1map, can2map) = (0x0780, 0x0000) with target can protocol ver 0.0 and application ver 0.0
[INFO] |yarp.dev.PolyDriver|torso-eb22-skin| Created device <embObjSkin>. See C++ class EmbObjSkin for documentation.
[INFO] Opening device left_arm-FT_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/left_arm/FT")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_arm-FT_wrapper) (name "/icub/left_arm/FT") (period 10) (robotName icub)
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|left_arm-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device right_arm-FT_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/right_arm/FT")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_arm-FT_wrapper) (name "/icub/right_arm/FT") (period 10) (robotName icub)
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|right_arm-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device right_leg-FT_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/right_leg/FT")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id right_leg-FT_wrapper) (name "/icub/right_leg/FT") (period 10) (robotName icub)
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|right_leg-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device left_leg-FT_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/left_leg/FT")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-FT_wrapper| Parameters are (device multipleanalogsensorsserver) (id left_leg-FT_wrapper) (name "/icub/left_leg/FT") (period 10) (robotName icub)
[DEBUG] |yarp.device.multipleanalogsensorsserver| Open complete
[INFO] |yarp.dev.PolyDriver|left_leg-FT_wrapper| Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
[INFO] Opening device right_leg-FT_remapper with parameters [("robotName" = "icub"), ("SixAxisForceTorqueSensorsNames" = "(r_leg_ft r_foot_ft)"), ("TemperatureSensorsNames" = "(r_leg_ft r_foot_ft)")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-FT_remapper| Parameters are (SixAxisForceTorqueSensorsNames (r_leg_ft r_foot_ft)) (TemperatureSensorsNames (r_leg_ft r_foot_ft)) (device multipleanalogsensorsremapper) (id right_leg-FT_remapper) (robotName icub)
[INFO] |yarp.dev.PolyDriver|right_leg-FT_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device left_leg-FT_remapper with parameters [("robotName" = "icub"), ("SixAxisForceTorqueSensorsNames" = "(l_leg_ft l_foot_ft)"), ("TemperatureSensorsNames" = "(l_leg_ft l_foot_ft)")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-FT_remapper| Parameters are (SixAxisForceTorqueSensorsNames (l_leg_ft l_foot_ft)) (TemperatureSensorsNames (l_leg_ft l_foot_ft)) (device multipleanalogsensorsremapper) (id left_leg-FT_remapper) (robotName icub)
[INFO] |yarp.dev.PolyDriver|left_leg-FT_remapper| Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
[INFO] Opening device left_arm-eb1-j0_3-strain with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb1-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_arm_ft) (framename l_arm_ft) (type eoas_strain) (location CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors l_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-eb1-j0_3-strain| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb1-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_arm_ft) (framename l_arm_ft) (type eoas_strain) (location "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors l_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))) (device embObjFTsensor) (id left_arm-eb1-j0_3-strain) (robotName icub)
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1131s 51m 320u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1131s 52m 440u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 1 ms
[DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1131s 52m 567u : CFG: EOtheSTRAIN can be correctly configured for board at addr:13 and port:1 with can protocol ver 2.0 and application ver 2.0. Strain number is:0
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1131s 56m 321u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1131s 57m 439u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 1 ms
[DEBUG] from BOARD 10.0.1.1 (left_arm-eb1-j0_3) time=1131s 57m 574u : CFG: EOtheTemperatures can be correctly configured
[INFO] |yarp.dev.PolyDriver|left_arm-eb1-j0_3-strain| Created device <embObjFTsensor>. See C++ class yarp::dev::embObjFTsensor for documentation.
[INFO] Opening device right_arm-eb3-j0_3-strain with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.3) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb3-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_arm_ft) (framename r_arm_ft) (type eoas_strain) (location CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors r_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-eb3-j0_3-strain| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.3") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb3-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_arm_ft) (framename r_arm_ft) (type eoas_strain) (location "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors r_arm_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))) (device embObjFTsensor) (id right_arm-eb3-j0_3-strain) (robotName icub)
[INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8607s 152m 245u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8607s 153m 366u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 1 ms
[DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8607s 153m 494u : CFG: EOtheSTRAIN can be correctly configured for board at addr:13 and port:1 with can protocol ver 2.0 and application ver 2.0. Strain number is:0
[INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8607s 157m 247u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8607s 158m 366u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 1 ms
[DEBUG] from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=8607s 158m 501u : CFG: EOtheTemperatures can be correctly configured
[INFO] |yarp.dev.PolyDriver|right_arm-eb3-j0_3-strain| Created device <embObjFTsensor>. See C++ class yarp::dev::embObjFTsensor for documentation.
[INFO] Opening device left_leg-eb6-j0_3-strain with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.6) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb6-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_leg_ft) (framename l_leg_ft) (type eoas_strain) (location CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors l_leg_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-eb6-j0_3-strain| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.6") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb6-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_leg_ft) (framename l_leg_ft) (type eoas_strain) (location "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors l_leg_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))) (device embObjFTsensor) (id left_leg-eb6-j0_3-strain) (robotName icub)
[DEBUG] eth::parser::print(boardData) for BOARD left_leg-eb6-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES:
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.6
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
[DEBUG] ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS:
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_leg-eb6-j0_3
[DEBUG] ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 5
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
[DEBUG] ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
[DEBUG] eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.6 (left_leg-eb6-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
[DEBUG] TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP =  10.0.1.6
[INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8608s 203m 108u :  SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. Expected number is 10
[DEBUG] EthResource::verifyBoardPresence() found BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 after 0.0042963 seconds
[DEBUG] EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_leg-eb6-j0_3 with IP 10.0.1.6
[DEBUG] EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 : config mode + cleared all its regulars
[DEBUG] EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5  every cycle
[INFO] EthResource::askBoardVersion() found BOARD left_leg-eb6-j0_3 @ IP 10.0.1.6 of type ems4 with FW = ver 3.84 built on 2024 Feb 23 13:0
[INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8608s 238m 418u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8608s 238m 931u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8608s 239m 54u : CFG: EOtheSTRAIN can be correctly configured for board at addr:13 and port:1 with can protocol ver 2.0 and application ver 2.0. Strain number is:0
[INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8608s 242m 813u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8608s 243m 326u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.6 (left_leg-eb6-j0_3) time=8608s 243m 454u : CFG: EOtheTemperatures can be correctly configured
[INFO] |yarp.dev.PolyDriver|left_leg-eb6-j0_3-strain| Created device <embObjFTsensor>. See C++ class yarp::dev::embObjFTsensor for documentation.
[INFO] Opening device left_leg-eb7-j4_5-strain with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.7) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb7-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_foot_ft) (framename l_foot_ft) (type eoas_strain) (location CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors l_foot_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-eb7-j4_5-strain| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.7") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb7-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id l_foot_ft) (framename l_foot_ft) (type eoas_strain) (location "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors l_foot_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))) (device embObjFTsensor) (id left_leg-eb7-j4_5-strain) (robotName icub)
[INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8609s 333m 442u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8609s 334m 548u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8609s 334m 670u : CFG: EOtheSTRAIN can be correctly configured for board at addr:13 and port:1 with can protocol ver 2.0 and application ver 2.0. Strain number is:0
[INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8609s 338m 445u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8609s 339m 547u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.7 (left_leg-eb7-j4_5) time=8609s 339m 683u : CFG: EOtheTemperatures can be correctly configured
[INFO] |yarp.dev.PolyDriver|left_leg-eb7-j4_5-strain| Created device <embObjFTsensor>. See C++ class yarp::dev::embObjFTsensor for documentation.
[INFO] Opening device right_leg-eb8-j0_3-strain with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.8) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb8-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_leg_ft) (framename r_leg_ft) (type eoas_strain) (location CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors r_leg_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-eb8-j0_3-strain| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.8") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb8-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_leg_ft) (framename r_leg_ft) (type eoas_strain) (location "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors r_leg_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))) (device embObjFTsensor) (id right_leg-eb8-j0_3-strain) (robotName icub)
[INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8610s 405m 891u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8610s 407m 10u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8610s 407m 137u : CFG: EOtheSTRAIN can be correctly configured for board at addr:13 and port:1 with can protocol ver 2.0 and application ver 2.0. Strain number is:0
[INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8610s 410m 895u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8610s 412m 17u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 1 ms
[DEBUG] from BOARD 10.0.1.8 (right_leg-eb8-j0_3) time=8610s 412m 153u : CFG: EOtheTemperatures can be correctly configured
[INFO] |yarp.dev.PolyDriver|right_leg-eb8-j0_3-strain| Created device <embObjFTsensor>. See C++ class yarp::dev::embObjFTsensor for documentation.
[INFO] Opening device right_leg-eb9-j4_5-strain with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.9) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb9-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_foot_ft) (framename r_foot_ft) (type eoas_strain) (location CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors r_foot_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-eb9-j4_5-strain| Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.9") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb9-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_strain) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 0) (build 9))) (SENSORS (id r_foot_ft) (framename r_foot_ft) (type eoas_strain) (location "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors r_foot_ft) (temperature-acquisitionRate 1000)) (STRAIN_SETTINGS (useCalibration true))) (device embObjFTsensor) (id right_leg-eb9-j4_5-strain) (robotName icub)
[INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8611s 474m 471u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8611s 475m 576u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8611s 475m 698u : CFG: EOtheSTRAIN can be correctly configured for board at addr:13 and port:1 with can protocol ver 2.0 and application ver 2.0. Strain number is:0
[INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8611s 479m 475u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.0.9.
[INFO] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8611s 480m 577u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.0.9. Search time was 0 ms
[DEBUG] from BOARD 10.0.1.9 (right_leg-eb9-j4_5) time=8611s 480m 713u : CFG: EOtheTemperatures can be correctly configured
[INFO] |yarp.dev.PolyDriver|right_leg-eb9-j4_5-strain| Created device <embObjFTsensor>. See C++ class yarp::dev::embObjFTsensor for documentation.
[INFO] Opening device left_arm-VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "( 0 3 0 3 )"), ("SecondSetOfJoints" = "( 4 6 0 2 )"), ("channels" = "7"), ("name" = "/icub/joint_vsens/left_arm:i")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-VFTserver| Parameters are (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id left_arm-VFTserver) (name "/icub/joint_vsens/left_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id left_arm-VFTserver) (name "/icub/joint_vsens/left_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer
[INFO] |yarp.os.Port|/icub/joint_vsens/left_arm:i| Port /icub/joint_vsens/left_arm:i active at tcp://10.0.0.2:10062/
[INFO] |yarp.dev.PolyDriver|left_arm-VFTserver| Created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[INFO] Opening device right_leg-VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "( 0 3 0 3 )"), ("SecondSetOfJoints" = "( 4 5 0 1 )"), ("channels" = "6"), ("name" = "/icub/joint_vsens/right_leg:i")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-VFTserver| Parameters are (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 5 0 1)) (channels 6) (device virtualAnalogServer) (id right_leg-VFTserver) (name "/icub/joint_vsens/right_leg:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 5 0 1)) (channels 6) (device virtualAnalogServer) (id right_leg-VFTserver) (name "/icub/joint_vsens/right_leg:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer
[INFO] |yarp.os.Port|/icub/joint_vsens/right_leg:i| Port /icub/joint_vsens/right_leg:i active at tcp://10.0.0.2:10063/
[INFO] |yarp.dev.PolyDriver|right_leg-VFTserver| Created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[INFO] Opening device left_leg_VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "( 0 3 0 3 )"), ("SecondSetOfJoints" = "( 4 5 0 1 )"), ("channels" = "6"), ("name" = "/icub/joint_vsens/left_leg:i")]
[DEBUG] |yarp.dev.PolyDriver|left_leg_VFTserver| Parameters are (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 5 0 1)) (channels 6) (device virtualAnalogServer) (id left_leg_VFTserver) (name "/icub/joint_vsens/left_leg:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 5 0 1)) (channels 6) (device virtualAnalogServer) (id left_leg_VFTserver) (name "/icub/joint_vsens/left_leg:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer
[INFO] |yarp.os.Port|/icub/joint_vsens/left_leg:i| Port /icub/joint_vsens/left_leg:i active at tcp://10.0.0.2:10064/
[INFO] |yarp.dev.PolyDriver|left_leg_VFTserver| Created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[INFO] Opening device right_arm-VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints SecondSetOfJoints)"), ("FirstSetOfJoints" = "( 0 3 0 3 )"), ("SecondSetOfJoints" = "( 4 6 0 2 )"), ("channels" = "7"), ("name" = "/icub/joint_vsens/right_arm:i")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-VFTserver| Parameters are (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id right_arm-VFTserver) (name "/icub/joint_vsens/right_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| (FirstSetOfJoints (0 3 0 3)) (SecondSetOfJoints (4 6 0 2)) (channels 7) (device virtualAnalogServer) (id right_arm-VFTserver) (name "/icub/joint_vsens/right_arm:i") (networks (FirstSetOfJoints SecondSetOfJoints)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer
[INFO] |yarp.os.Port|/icub/joint_vsens/right_arm:i| Port /icub/joint_vsens/right_arm:i active at tcp://10.0.0.2:10065/
[INFO] |yarp.dev.PolyDriver|right_arm-VFTserver| Created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[INFO] Opening device torso-VFTserver with parameters [("robotName" = "icub"), ("period" = "10"), ("networks" = "(FirstSetOfJoints)"), ("FirstSetOfJoints" = "( 0 2 0 2 )"), ("channels" = "3"), ("name" = "/icub/joint_vsens/torso:i")]
[DEBUG] |yarp.dev.PolyDriver|torso-VFTserver| Parameters are (FirstSetOfJoints (0 2 0 2)) (channels 3) (device virtualAnalogServer) (id torso-VFTserver) (name "/icub/joint_vsens/torso:i") (networks (FirstSetOfJoints)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| (FirstSetOfJoints (0 2 0 2)) (channels 3) (device virtualAnalogServer) (id torso-VFTserver) (name "/icub/joint_vsens/torso:i") (networks (FirstSetOfJoints)) (period 10) (robotName icub)
[DEBUG] |yarp.device.virtualAnalogServer| Using VirtualAnalogServer
[INFO] |yarp.os.Port|/icub/joint_vsens/torso:i| Port /icub/joint_vsens/torso:i active at tcp://10.0.0.2:10066/
[INFO] |yarp.dev.PolyDriver|torso-VFTserver| Created wrapper <virtualAnalogServer>. See C++ class VirtualAnalogWrapper for documentation.
[INFO] Opening device left_arm-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 16) (deviceName Left_Arm_Calibrator)"), ("HOME" [group] = "(positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 10975 25135 32000 16223 -1500 12800 19855 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 2650 1460 220 488 255 500 255 485 762) (calibration5 0 0 0 0 0 0 0 2880 3350 0 15 10 34 11 10 185) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 -7 6 2.5 0 0 0 1 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 35 35 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)"), ("CALIB_ORDER" = "(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)")]
[DEBUG] |yarp.dev.PolyDriver|left_arm-calibrator| Parameters are (CALIBRATION (calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 10975 25135 32000 16223 -1500 12800 19855 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 2650 1460 220 488 255 500 255 485 762) (calibration5 0 0 0 0 0 0 0 2880 3350 0 15 10 34 11 10 185) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 -7 6 2.5 0 0 0 1 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 35 35 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)) (CALIB_ORDER (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (joints 16) (deviceName Left_Arm_Calibrator)) (HOME (positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)) (device parametricCalibratorEth) (id left_arm-calibrator) (robotName icub)
[INFO] |yarp.dev.PolyDriver|left_arm-calibrator| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Opening device right_arm-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 16) (deviceName Right_Arm_Calibrator)"), ("HOME" [group] = "(positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 64447 1311 30000 7071 1500 11379 15000 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 1550 2100 255 450 248 450 255 490 760) (calibration5 0 0 0 0 0 0 0 1900 4776 38 85 0 20 0 10 128) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 3 -6 10 0 0 0 0 1 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 25 35 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)"), ("CALIB_ORDER" = "(0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)")]
[DEBUG] |yarp.dev.PolyDriver|right_arm-calibrator| Parameters are (CALIBRATION (calibrationType 12 12 12 12 5 12 12 7 7 6 6 6 6 6 6 6) (calibration1 64447 1311 30000 7071 1500 11379 15000 0 0 0 0 0 0 0 0 0) (calibration2 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000) (calibration3 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1) (calibration4 0 0 0 0 0 0 0 1550 2100 255 450 248 450 255 490 760) (calibration5 0 0 0 0 0 0 0 1900 4776 38 85 0 20 0 10 128) (calibrationZero 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibrationDelta 3 -6 10 0 0 0 0 1 0 0 0 0 0 0 0 0) (startupPosition -35 30 0 50 0 0 0 25 35 0 0 0 0 0 0 0) (startupVelocity 10 10 10 10 30 30 30 60 100 100 100 100 100 100 100 100) (startupMaxPwm 3000 3000 3000 3000 3000 0 0 0 0 0 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 90 90 90 90 90 90 90 90 90 90 90 90)) (CALIB_ORDER (0 1 2 3) (4) (5 6 7) (8 9 11 13) (10 12 14 15)) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (joints 16) (deviceName Right_Arm_Calibrator)) (HOME (positionHome -30 30 0 45 0 0 0 35 65 0 0 0 0 0 0 0) (velocityHome 10 10 10 10 30 30 30 60 30 30 30 30 30 30 30 30)) (device parametricCalibratorEth) (id right_arm-calibrator) (robotName icub)
[INFO] |yarp.dev.PolyDriver|right_arm-calibrator| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Opening device left_leg-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 6) (deviceName Left_Leg_Calibrator)"), ("HOME" [group] = "(positionHome 0.00 10.00 0.00 0.00 0.00 0.00) (velocityHome 10.00 10.00 10.00 10.00 10.00 10.00)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 12 12) (calibration1 43567 19583 50479 14703 46415 4431) (calibration2 0 0 0 0 0 0) (calibration3 0 0 0 0 0 0) (calibration4 0 0 0 0 0 0) (calibration5 0 0 0 0 0 0) (calibrationZero 0 0 0 0 0 0) (calibrationDelta 0 0.5 1.7 0 0 0) (startupPosition 0 10 0 0 0 0) (startupVelocity 5 5 10 10 10 10) (startupMaxPwm 2500 2500 2500 2500 2500 2500) (startupPosThreshold 2 2 2 2 2 2)"), ("CALIB_ORDER" = "(0 1 2 3 4 5)")]
[DEBUG] |yarp.dev.PolyDriver|left_leg-calibrator| Parameters are (CALIBRATION (calibrationType 12 12 12 12 12 12) (calibration1 43567 19583 50479 14703 46415 4431) (calibration2 0 0 0 0 0 0) (calibration3 0 0 0 0 0 0) (calibration4 0 0 0 0 0 0) (calibration5 0 0 0 0 0 0) (calibrationZero 0 0 0 0 0 0) (calibrationDelta 0 0.5 1.69999999999999995559 0 0 0) (startupPosition 0 10 0 0 0 0) (startupVelocity 5 5 10 10 10 10) (startupMaxPwm 2500 2500 2500 2500 2500 2500) (startupPosThreshold 2 2 2 2 2 2)) (CALIB_ORDER (0 1 2 3 4 5)) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (joints 6) (deviceName Left_Leg_Calibrator)) (HOME (positionHome 0.0 10.0 0.0 0.0 0.0 0.0) (velocityHome 10.0 10.0 10.0 10.0 10.0 10.0)) (device parametricCalibratorEth) (id left_leg-calibrator) (robotName icub)
[INFO] |yarp.dev.PolyDriver|left_leg-calibrator| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Opening device right_leg-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 6) (deviceName Right_Leg_Calibrator)"), ("HOME" [group] = "(positionHome 0.00 10.00 0.00 0.00 0.00 0.00) (velocityHome 10.00 10.00 10.00 10.00 10.00 10.00)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 12 12) (calibration1 20895 41933 31263 47423 22943 31663) (calibration2 0 0 0 0 0 0) (calibration3 0 0 0 0 0 0) (calibration4 0 0 0 0 0 0) (calibration5 0 0 0 0 0 0) (calibrationZero 0 0 0 0 0 0) (calibrationDelta 0 0 2 0 1.7 1) (startupPosition 0 10 0 0 0 0) (startupVelocity 5 5 10 10 10 10) (startupMaxPwm 2500 2500 2500 2500 2500 2500) (startupPosThreshold 2 2 2 2 2 2)"), ("CALIB_ORDER" = "(0 1 2 3 4 5)")]
[DEBUG] |yarp.dev.PolyDriver|right_leg-calibrator| Parameters are (CALIBRATION (calibrationType 12 12 12 12 12 12) (calibration1 20895 41933 31263 47423 22943 31663) (calibration2 0 0 0 0 0 0) (calibration3 0 0 0 0 0 0) (calibration4 0 0 0 0 0 0) (calibration5 0 0 0 0 0 0) (calibrationZero 0 0 0 0 0 0) (calibrationDelta 0 0 2 0 1.69999999999999995559 1) (startupPosition 0 10 0 0 0 0) (startupVelocity 5 5 10 10 10 10) (startupMaxPwm 2500 2500 2500 2500 2500 2500) (startupPosThreshold 2 2 2 2 2 2)) (CALIB_ORDER (0 1 2 3 4 5)) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (joints 6) (deviceName Right_Leg_Calibrator)) (HOME (positionHome 0.0 10.0 0.0 0.0 0.0 0.0) (velocityHome 10.0 10.0 10.0 10.0 10.0 10.0)) (device parametricCalibratorEth) (id right_leg-calibrator) (robotName icub)
[INFO] |yarp.dev.PolyDriver|right_leg-calibrator| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Opening device torso-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 3) (deviceName Torso_Calibrator)"), ("HOME" [group] = "(positionHome 0 0 -20) (velocityHome 10 10 10)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12) (calibration1 31808 63071 45311) (calibration2 0 0 0) (calibration3 0 0 0) (calibration4 0 0 0) (calibration5 0 0 0) (calibrationZero 0 0 0) (calibrationDelta -3 0.5 0) (startupPosition 0 0 0) (startupVelocity 10 10 10) (startupMaxPwm 5500 5500 5500) (startupPosThreshold 2 2 2)"), ("CALIB_ORDER" = "(0 1 2)")]
[DEBUG] |yarp.dev.PolyDriver|torso-calibrator| Parameters are (CALIBRATION (calibrationType 12 12 12) (calibration1 31808 63071 45311) (calibration2 0 0 0) (calibration3 0 0 0) (calibration4 0 0 0) (calibration5 0 0 0) (calibrationZero 0 0 0) (calibrationDelta -3 0.5 0) (startupPosition 0 0 0) (startupVelocity 10 10 10) (startupMaxPwm 5500 5500 5500) (startupPosThreshold 2 2 2)) (CALIB_ORDER (0 1 2)) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (joints 3) (deviceName Torso_Calibrator)) (HOME (positionHome 0 0 -20) (velocityHome 10 10 10)) (device parametricCalibratorEth) (id torso-calibrator) (robotName icub)
[INFO] |yarp.dev.PolyDriver|torso-calibrator| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Opening device head-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 6) (deviceName HeadV3_Calibrator)"), ("HOME" [group] = "(positionHome 0 0 0 0 0 0) (velocityHome 10 10 10 10 10 10)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12 5 5) (calibration1 6175 30959 7215 45071 3000 3000) (calibration2 0 0 0 0 8192 8192) (calibration3 0 0 0 0 0 0) (calibration4 0 0 0 0 0 0) (calibration5 0 0 0 0 0 0) (calibrationZero 0 0 0 0 0 0) (calibrationDelta 0 2 -1.8 0 0 -4) (startupPosition 0 0 0 0 0 0) (startupVelocity 10 10 20 20 20 20) (startupMaxPwm 3000 3000 3000 3000 0 0) (startupPosThreshold 90 90 2 2 2 2)"), ("CALIB_ORDER" = "(0 1 2) (3) (4 5)")]
[DEBUG] |yarp.dev.PolyDriver|head-calibrator| Parameters are (CALIBRATION (calibrationType 12 12 12 12 5 5) (calibration1 6175 30959 7215 45071 3000 3000) (calibration2 0 0 0 0 8192 8192) (calibration3 0 0 0 0 0 0) (calibration4 0 0 0 0 0 0) (calibration5 0 0 0 0 0 0) (calibrationZero 0 0 0 0 0 0) (calibrationDelta 0 2 -1.80000000000000004441 0 0 -4) (startupPosition 0 0 0 0 0 0) (startupVelocity 10 10 20 20 20 20) (startupMaxPwm 3000 3000 3000 3000 0 0) (startupPosThreshold 90 90 2 2 2 2)) (CALIB_ORDER (0 1 2) (3) (4 5)) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (joints 6) (deviceName HeadV3_Calibrator)) (HOME (positionHome 0 0 0 0 0 0) (velocityHome 10 10 10 10 10 10)) (device parametricCalibratorEth) (id head-calibrator) (robotName icub)
[INFO] |yarp.dev.PolyDriver|head-calibrator| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Opening device face-calibrator with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 1) (deviceName FaceV3_Calibrator)"), ("HOME" [group] = "(positionHome 0) (velocityHome 10)"), ("CALIBRATION" [group] = "(calibrationType 12) (calibration1 -23394) (calibration2 0) (calibration3 0) (calibration4 0) (calibration5 0) (calibrationZero 0) (calibrationDelta 0) (startupPosition 0) (startupVelocity 10) (startupMaxPwm 3360) (startupPosThreshold 90)"), ("CALIB_ORDER" = "(0)")]
[DEBUG] |yarp.dev.PolyDriver|face-calibrator| Parameters are (CALIBRATION (calibrationType 12) (calibration1 -23394) (calibration2 0) (calibration3 0) (calibration4 0) (calibration5 0) (calibrationZero 0) (calibrationDelta 0) (startupPosition 0) (startupVelocity 10) (startupMaxPwm 3360) (startupPosThreshold 90)) (CALIB_ORDER (0)) (GENERAL (skipCalibration true) (useRawEncoderData true) (useLimitedPWM false) (verbose false) (joints 1) (deviceName FaceV3_Calibrator)) (HOME (positionHome 0) (velocityHome 10)) (device parametricCalibratorEth) (id face-calibrator) (robotName icub)
[INFO] |yarp.dev.PolyDriver|face-calibrator| Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
[INFO] Closing device face-calibrator
[INFO] Closing device head-calibrator
[INFO] Closing device torso-calibrator
[INFO] Closing device right_leg-calibrator
[INFO] Closing device left_leg-calibrator
[INFO] Closing device right_arm-calibrator
[INFO] Closing device left_arm-calibrator
[INFO] Closing device torso-VFTserver
[INFO] Closing device right_arm-VFTserver
[INFO] Closing device left_leg_VFTserver
[INFO] Closing device right_leg-VFTserver
[INFO] Closing device left_arm-VFTserver
[INFO] Closing device right_leg-eb9-j4_5-strain
[INFO] Closing device right_leg-eb8-j0_3-strain
[INFO] Closing device left_leg-eb7-j4_5-strain
[INFO] Closing device left_leg-eb6-j0_3-strain
[INFO] Closing device right_arm-eb3-j0_3-strain
[INFO] Closing device left_arm-eb1-j0_3-strain
[INFO] Closing device left_leg-FT_remapper
[INFO] Closing device right_leg-FT_remapper
[INFO] Closing device left_leg-FT_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device right_leg-FT_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device right_arm-FT_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device left_arm-FT_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device torso-eb22-skin
[INFO] Closing device torso-skin_wrapper
[INFO] Closing device right_leg-eb11-skin
[INFO] Closing device left_leg-eb10-skin
[INFO] Closing device right_leg-skin_wrapper
[INFO] Closing device left_leg-skin_wrapper
[INFO] Closing device right_arm-eb27-j4_7-skin
[INFO] Closing device right_arm-skin_wrapper
[INFO] Closing device left_arm-eb24-j4_7-skin
[INFO] Closing device left_arm-skin_wrapper
[INFO] Closing device right_arm-eb29-j12_15-mais
[INFO] Closing device left_arm-eb26-j12_15-mais
[INFO] Closing device right_arm-mais_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device left_arm-mais_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device waist-eb5-inertials
[INFO] Closing device waist-xsensmt-inertials_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device xsensmt-inertial
[DEBUG] xsensmt: Closing Xsens port /dev/ttyXsens.
[DEBUG] xsensmt: Freeing Xsens control object.
[INFO] Closing device waist-inertials_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device waist-inertials_remapper
[INFO] Closing device head-inertial
[INFO] Closing device head-inertials_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device head-imuFilter
[INFO] Closing device head-imuFilter_wrapper
[DEBUG] |yarp.device.multipleanalogsensorsserver| Detach complete
[DEBUG] |yarp.device.multipleanalogsensorsserver| Close complete
[INFO] Closing device right_leg-eb9-j4_5-mc
[INFO] Closing device right_leg-eb8-j0_3-mc
[INFO] Closing device left_leg-eb7-j4_5-mc
[INFO] Closing device left_leg-eb6-j0_3-mc
[INFO] Closing device right_arm-eb29-j12_15-mc
[INFO] Closing device right_arm-eb28-j8_11-mc
[INFO] Closing device right_arm-eb27-j4_7-mc
[INFO] Closing device right_arm-eb3-j0_3-mc
[INFO] Closing device left_arm-eb26-j12_15-mc
[INFO] Closing device left_arm-eb25-j8_11-mc
[INFO] Closing device left_arm-eb24-j4_7-mc
[INFO] Closing device left_arm-eb1-j0_3-mc
[INFO] Closing device torso-eb5-j0_2-mc
[INFO] Closing device face-eb22-j0-mc
[INFO] Closing device head-eb21-j2_5-mc
[INFO] Closing device head-eb20-j0_1-mc
[INFO] Closing device right_arm-cartesian
[INFO] Closing device left_arm-cartesian
[INFO] Closing device torso-mc_remapper
[INFO] Closing device face-mc_remapper
[INFO] Closing device head-mc_remapper
[INFO] Closing device right_leg-mc_remapper
[INFO] Closing device left_leg-mc_remapper
[INFO] Closing device right_arm-mc_remapper
[INFO] Closing device left_arm-mc_remapper
[INFO] Closing device torso-mc_nws_yarp
[INFO] Closing device face-mc_nws_yarp
[INFO] Closing device head-mc_nws_yarp
[INFO] Closing device right_leg-mc_nws_yarp
[INFO] Closing device left_leg-mc_nws_yarp
[INFO] Closing device right_arm-mc_nws_yarp
[INFO] Closing device left_arm-mc_nws_yarp
[INFO] Interrupt received. Stopping all running threads.
[INFO] interrupt1 phase starting...
[INFO] Entering action level 1 of phase interrupt1
[INFO] Executing park action, level 1 on device left_arm-calibrator with parameters [("target" = "left_arm-mc_remapper")]
[INFO] Executing park action, level 1 on device right_arm-calibrator with parameters [("target" = "right_arm-mc_remapper")]
[INFO] Executing park action, level 1 on device left_leg-calibrator with parameters [("target" = "left_leg-mc_remapper")]
[INFO] Executing park action, level 1 on device right_leg-calibrator with parameters [("target" = "right_leg-mc_remapper")]
[INFO] Executing park action, level 1 on device torso-calibrator with parameters [("target" = "torso-mc_remapper")]
[INFO] Executing park action, level 1 on device head-calibrator with parameters [("target" = "head-mc_remapper")]
[INFO] Executing park action, level 1 on device face-calibrator with parameters [("target" = "face-mc_remapper")]
[INFO] All actions for action level 1 of interrupt1 phase started. Waiting for unfinished actions.
[INFO] All actions for action level 1 of interrupt1 phase finished.
[INFO] interrupt1 phase finished.
[INFO] shutdown phase starting...
[INFO] Entering action level 2 of phase shutdown
[INFO] Executing detach action, level 2 on device left_arm-cartesian with parameters []
[INFO] Executing detach action, level 2 on device right_arm-cartesian with parameters []
[INFO] All actions for action level 2 of shutdown phase started. Waiting for unfinished actions.
[INFO] All actions for action level 2 of shutdown phase finished.
[INFO] Entering action level 5 of phase shutdown
[INFO] Executing detach action, level 5 on device head-imuFilter with parameters []
[INFO] Executing detach action, level 5 on device head-inertials_wrapper with parameters []
[INFO] Executing detach action, level 5 on device waist-inertials_remapper with parameters []
[INFO] Executing detach action, level 5 on device waist-inertials_wrapper with parameters []
[INFO] Executing detach action, level 5 on device waist-xsensmt-inertials_wrapper with parameters []
[INFO] Executing detach action, level 5 on device left_arm-mais_wrapper with parameters []
[INFO] Executing detach action, level 5 on device right_arm-mais_wrapper with parameters []
[INFO] Executing detach action, level 5 on device left_arm-skin_wrapper with parameters []
[INFO] Executing detach action, level 5 on device right_arm-skin_wrapper with parameters []
[INFO] Executing detach action, level 5 on device left_leg-skin_wrapper with parameters []
[INFO] Executing detach action, level 5 on device right_leg-skin_wrapper with parameters []
[INFO] Executing detach action, level 5 on device torso-skin_wrapper with parameters []
[INFO] Executing detach action, level 5 on device left_arm-FT_wrapper with parameters []
[INFO] Executing detach action, level 5 on device right_arm-FT_wrapper with parameters []
[INFO] Executing detach action, level 5 on device left_arm-VFTserver with parameters []
[INFO] Executing detach action, level 5 on device right_leg-VFTserver with parameters []
[INFO] Executing detach action, level 5 on device left_leg_VFTserver with parameters []
[INFO] Executing detach action, level 5 on device right_arm-VFTserver with parameters []
[INFO] Executing detach action, level 5 on device torso-VFTserver with parameters []
[INFO] All actions for action level 5 of shutdown phase started. Waiting for unfinished actions.
[INFO] All actions for action level 5 of shutdown phase finished.
[INFO] Entering action level 6 of phase shutdown
[INFO] Executing detach action, level 6 on device head-imuFilter_wrapper with parameters []
[INFO] All actions for action level 6 of shutdown phase started. Waiting for unfinished actions.
[INFO] All actions for action level 6 of shutdown phase finished.
[INFO] Entering action level 15 of phase shutdown
[INFO] Executing detach action, level 15 on device left_arm-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device right_arm-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device left_leg-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device right_leg-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device head-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device face-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device torso-mc_nws_yarp with parameters []
[INFO] Executing detach action, level 15 on device right_leg-FT_wrapper with parameters []
[INFO] Executing detach action, level 15 on device left_leg-FT_wrapper with parameters []
[INFO] All actions for action level 15 of shutdown phase started. Waiting for unfinished actions.
[INFO] All actions for action level 15 of shutdown phase finished.
[INFO] Entering action level 20 of phase shutdown
[INFO] Executing detach action, level 20 on device left_arm-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device right_arm-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device left_leg-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device right_leg-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device head-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device face-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device torso-mc_remapper with parameters []
[INFO] Executing detach action, level 20 on device right_leg-FT_remapper with parameters []
[INFO] Executing detach action, level 20 on device left_leg-FT_remapper with parameters []
[INFO] All actions for action level 20 of shutdown phase started. Waiting for unfinished actions.
[INFO] All actions for action level 20 of shutdown phase finished.
[INFO] Closing device face-calibrator
[INFO] Closing device head-calibrator
[INFO] Closing device torso-calibrator
[INFO] Closing device right_leg-calibrator
[INFO] Closing device left_leg-calibrator
[INFO] Closing device right_arm-calibrator
[INFO] Closing device left_arm-calibrator
[INFO] Closing device torso-VFTserver
[INFO] Closing device right_arm-VFTserver
[INFO] Closing device left_leg_VFTserver
[INFO] Closing device right_leg-VFTserver
[INFO] Closing device left_arm-VFTserver
[INFO] Closing device right_leg-eb9-j4_5-strain
[INFO] Closing device right_leg-eb8-j0_3-strain
[INFO] Closing device left_leg-eb7-j4_5-strain
[INFO] Closing device left_leg-eb6-j0_3-strain
[INFO] Closing device right_arm-eb3-j0_3-strain
[INFO] Closing device left_arm-eb1-j0_3-strain
[INFO] Closing device left_leg-FT_remapper
[INFO] Closing device right_leg-FT_remapper
[INFO] Closing device left_leg-FT_wrapper
[INFO] Closing device right_leg-FT_wrapper
[INFO] Closing device right_arm-FT_wrapper
[INFO] Closing device left_arm-FT_wrapper
[INFO] Closing device torso-eb22-skin
[INFO] Closing device torso-skin_wrapper
[INFO] Closing device right_leg-eb11-skin
[INFO] Closing device left_leg-eb10-skin
[INFO] Closing device right_leg-skin_wrapper
[INFO] Closing device left_leg-skin_wrapper
[INFO] Closing device right_arm-eb27-j4_7-skin
[INFO] Closing device right_arm-skin_wrapper
[INFO] Closing device left_arm-eb24-j4_7-skin
[INFO] Closing device left_arm-skin_wrapper
[INFO] Closing device right_arm-eb29-j12_15-mais
[INFO] Closing device left_arm-eb26-j12_15-mais
[INFO] Closing device right_arm-mais_wrapper
[INFO] Closing device left_arm-mais_wrapper
[INFO] Closing device waist-eb5-inertials
[INFO] Closing device waist-xsensmt-inertials_wrapper
[INFO] Closing device xsensmt-inertial
[INFO] Closing device waist-inertials_wrapper
[INFO] Closing device waist-inertials_remapper
[INFO] Closing device head-inertial
[INFO] Closing device head-inertials_wrapper
[INFO] Closing device head-imuFilter
[INFO] Closing device head-imuFilter_wrapper
[INFO] Closing device right_leg-eb9-j4_5-mc
[INFO] Closing device right_leg-eb8-j0_3-mc
[INFO] Closing device left_leg-eb7-j4_5-mc
[INFO] Closing device left_leg-eb6-j0_3-mc
[INFO] Closing device right_arm-eb29-j12_15-mc
[INFO] Closing device right_arm-eb28-j8_11-mc
[INFO] Closing device right_arm-eb27-j4_7-mc
[INFO] Closing device right_arm-eb3-j0_3-mc
[INFO] Closing device left_arm-eb26-j12_15-mc
[INFO] Closing device left_arm-eb25-j8_11-mc
[INFO] Closing device left_arm-eb24-j4_7-mc
[INFO] Closing device left_arm-eb1-j0_3-mc
[INFO] Closing device torso-eb5-j0_2-mc
[INFO] Closing device face-eb22-j0-mc
[INFO] Closing device head-eb21-j2_5-mc
[INFO] Closing device head-eb20-j0_1-mc
[INFO] Closing device right_arm-cartesian
[INFO] Closing device left_arm-cartesian
[INFO] Closing device torso-mc_remapper
[INFO] Closing device face-mc_remapper
[INFO] Closing device head-mc_remapper
[INFO] Closing device right_leg-mc_remapper
[INFO] Closing device left_leg-mc_remapper
[INFO] Closing device right_arm-mc_remapper
[INFO] Closing device left_arm-mc_remapper
[INFO] Closing device torso-mc_nws_yarp
[INFO] Closing device face-mc_nws_yarp
[INFO] Closing device head-mc_nws_yarp
[INFO] Closing device right_leg-mc_nws_yarp
[INFO] Closing device left_leg-mc_nws_yarp
[INFO] Closing device right_arm-mc_nws_yarp
[INFO] Closing device left_arm-mc_nws_yarp
[INFO] shutdown phase finished.
[INFO] |yarp.os.RFModule| RFModule failed to open.