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gsaponaro/171117_yarprobotinterface_iCubLisboa01.txt

Created November 17, 2017 18:28
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171117 yarprobotinterface iCubLisboa01
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171117_yarprobotinterface_iCubLisboa01.txt
||| configuring
||| default config file specified as yarprobotinterface.ini
||| checking [/home/icub/yarprobotinterface.ini] (pwd)
||| checking [/home/icub/.local/share/yarp/robots/iCubLisboa01/yarprobotinterface.ini] (robot)
||| found /home/icub/.local/share/yarp/robots/iCubLisboa01/yarprobotinterface.ini
||| finding file [config]
||| checking [/home/icub/./icub_all.xml] (pwd)
||| checking [/home/icub/.local/share/yarp/robots/iCubLisboa01/./icub_all.xml] (robot)
||| found /home/icub/.local/share/yarp/robots/iCubLisboa01/./icub_all.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./icub_all.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./cartesian/left_arm_cartesian.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./cartesian/right_arm_cartesian.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/motorControl/left_arm_mc_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/motorControl/right_arm_mc_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/motorControl/left_leg_mc_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/motorControl/right_leg_mc_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/motorControl/head_mc_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/motorControl/torso_mc_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/motorControl/icub_left_arm.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/motorControl/icub_left_hand.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/motorControl/icub_right_arm.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/motorControl/icub_right_hand.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/motorControl/icub_left_leg.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/motorControl/icub_right_leg.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/motorControl/icub_head.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/motorControl/icub_torso.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/VFT/left_arm_VFT_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/VFT/left_leg_VFT_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/VFT/right_arm_VFT_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/VFT/right_leg_VFT_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/VFT/torso_VFT_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/VFT/left_arm_virtual_strain.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/VFT/left_leg_virtual_strain.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/VFT/right_arm_virtual_strain.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/VFT/right_leg_virtual_strain.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/VFT/torso_virtual_strain.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/FT/left_arm_FT_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/FT/left_leg_FT_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/FT/right_arm_FT_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/FT/right_leg_FT_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/MAIS/left_hand_mais_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/MAIS/right_hand_mais_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/FT/left_arm_strain.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/FT/left_leg_strain.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/FT/right_arm_strain.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/FT/right_leg_strain.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/MAIS/left_hand_mais.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/MAIS/right_hand_mais.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/skin/left_arm_skin_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/skin/right_arm_skin_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./wrappers/skin/torso_skin_wrapper.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/skin/left_arm.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/skin/left_arm-cfw2_can7-skinSpec.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/skin/right_arm.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/skin/right_arm-cfw2_can8-skinSpec.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/skin/torso.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/skin/torso-cfw2_can9-skinSpec.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./hardware/inertial.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./calibrators/head_calib.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./calibrators/torso_calib.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./calibrators/right_leg_calib.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./calibrators/left_leg_calib.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./calibrators/left_arm_calib.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./calibrators/right_arm_calib.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./calibrators/left_hand_calib.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./calibrators/right_hand_calib.xml
[DEBUG]Reading file /home/icub/.local/share/yarp/robots/iCubLisboa01/./general.xml
||| finding paths [plugins]
||| checking [/home/icub/plugins] (pwd)
||| checking [/home/icub/.local/share/yarp/robots/iCubLisboa01/plugins] (robot)
||| checking [/usr/local/src/robot/icub-contrib-common/build/share/ICUBcontrib/robots/iCubLisboa01/plugins] (robot)
||| checking [/home/icub/.config/yarp/plugins] (YARP_CONFIG_HOME)
||| checking [/home/icub/.local/share/yarp/plugins] (YARP_DATA_HOME)
||| checking [/etc/yarp/plugins] (YARP_CONFIG_DIRS)
||| checking [/usr/local/src/robot/yarp/build-pc104/share/yarp/plugins] (YARP_DATA_DIRS)
||| found /usr/local/src/robot/yarp/build-pc104/share/yarp/plugins
||| checking [/usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins] (YARP_DATA_DIRS)
||| found /usr/local/src/robot/icub-main/build-pc104/share/iCub/plugins
||| checking [/usr/local/src/robot/icub-contrib-common/build/share/ICUBcontrib/plugins] (YARP_DATA_DIRS)
||| found /usr/local/src/robot/icub-contrib-common/build/share/ICUBcontrib/plugins
yarp: Port /icub/yarprobotinterface active at tcp://10.10.1.50:10009/
[INFO]startup phase starting...
||| finding paths [plugins]
[INFO]***** Configuring cartesian controller *****
[INFO]Acquiring options for group GENERAL...
[INFO]Acquiring options for group DRIVER_0...
[INFO]Acquiring options for group DRIVER_1...
[INFO]PLANT_MODEL group detected
[INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type left) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha 90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D 0.10774) (alpha -90.0) (offset 90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D 0.1373) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A 0.015) (D 0.15228) (alpha -90.0) (offset 75.0) (min -37.0) (max 100.0)) (link_6 (A -0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A 0.0233647) (D -0.1433) (alpha -90.0) (offset 105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D -0.016) (alpha 0.0) (offset 0.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0))
yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/in active at tcp://10.10.1.50:10010/
yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/out active at tcp://10.10.1.50:10011/
yarp: Port /icub/cartesianController/left_arm/cartesianSolver/left_arm/rpc active at tcp://10.10.1.50:10012/
yarp: Port /icub/cartesianController/left_arm/command:i active at tcp://10.10.1.50:10013/
yarp: Port /icub/cartesianController/left_arm/state:o active at tcp://10.10.1.50:10014/
yarp: Port /icub/cartesianController/left_arm/events:o active at tcp://10.10.1.50:10015/
yarp: Port /icub/cartesianController/left_arm/rpc:i active at tcp://10.10.1.50:10016/
[INFO]created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation.
[INFO]***** Configuring cartesian controller *****
[INFO]Acquiring options for group GENERAL...
[INFO]Acquiring options for group DRIVER_0...
[INFO]Acquiring options for group DRIVER_1...
[INFO]PLANT_MODEL group detected
[INFO]DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (type right) (numLinks 10) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.8)) (link_3 (A 0.0) (D -0.10774) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_7 (A 0.0) (D -0.1373) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_5 (A -0.015) (D -0.15228) (alpha -90.0) (offset -105.0) (min -37.0) (max 100.0)) (link_6 (A 0.015) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_2 (A -0.0233647) (D -0.1433) (alpha 90.0) (offset -105.0) (min -59.0) (max 59.0) (blocked 0.0)) (link_0 (A 0.032) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.0055) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_9 (A 0.0625) (D 0.016) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0))
yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.10.1.50:10017/
yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.10.1.50:10018/
yarp: Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.10.1.50:10019/
yarp: Port /icub/cartesianController/right_arm/command:i active at tcp://10.10.1.50:10020/
yarp: Port /icub/cartesianController/right_arm/state:o active at tcp://10.10.1.50:10021/
yarp: Port /icub/cartesianController/right_arm/events:o active at tcp://10.10.1.50:10022/
yarp: Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.10.1.50:10023/
[INFO]created device <cartesiancontrollerserver>. See C++ class ServerCartesianController for documentation.
[INFO]/icub/left_arm : no ROS initialization required
[INFO]/icub/left_arm initting YARP initialization
yarp: Port /icub/left_arm/rpc:i active at tcp://10.10.1.50:10024/
yarp: Port /icub/left_arm/command:i active at tcp://10.10.1.50:10025/
yarp: Port /icub/left_arm/state:o active at tcp://10.10.1.50:10026/
yarp: Port /icub/left_arm/stateExt:o active at tcp://10.10.1.50:10027/
[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.
[INFO]/icub/right_arm : no ROS initialization required
[INFO]/icub/right_arm initting YARP initialization
yarp: Port /icub/right_arm/rpc:i active at tcp://10.10.1.50:10028/
yarp: Port /icub/right_arm/command:i active at tcp://10.10.1.50:10029/
yarp: Port /icub/right_arm/state:o active at tcp://10.10.1.50:10030/
yarp: Port /icub/right_arm/stateExt:o active at tcp://10.10.1.50:10031/
[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.
[INFO]/icub/left_leg : no ROS initialization required
[INFO]/icub/left_leg initting YARP initialization
yarp: Port /icub/left_leg/rpc:i active at tcp://10.10.1.50:10032/
yarp: Port /icub/left_leg/command:i active at tcp://10.10.1.50:10033/
yarp: Port /icub/left_leg/state:o active at tcp://10.10.1.50:10034/
yarp: Port /icub/left_leg/stateExt:o active at tcp://10.10.1.50:10035/
[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.
[INFO]/icub/right_leg : no ROS initialization required
[INFO]/icub/right_leg initting YARP initialization
yarp: Port /icub/right_leg/rpc:i active at tcp://10.10.1.50:10036/
yarp: Port /icub/right_leg/command:i active at tcp://10.10.1.50:10037/
yarp: Port /icub/right_leg/state:o active at tcp://10.10.1.50:10038/
yarp: Port /icub/right_leg/stateExt:o active at tcp://10.10.1.50:10039/
[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.
[INFO]/icub/head : no ROS initialization required
[INFO]/icub/head initting YARP initialization
yarp: Port /icub/head/rpc:i active at tcp://10.10.1.50:10040/
yarp: Port /icub/head/command:i active at tcp://10.10.1.50:10041/
yarp: Port /icub/head/state:o active at tcp://10.10.1.50:10042/
yarp: Port /icub/head/stateExt:o active at tcp://10.10.1.50:10043/
[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.
[INFO]/icub/torso : no ROS initialization required
[INFO]/icub/torso initting YARP initialization
yarp: Port /icub/torso/rpc:i active at tcp://10.10.1.50:10044/
yarp: Port /icub/torso/command:i active at tcp://10.10.1.50:10045/
yarp: Port /icub/torso/state:o active at tcp://10.10.1.50:10046/
yarp: Port /icub/torso/stateExt:o active at tcp://10.10.1.50:10047/
[INFO]created wrapper <controlboardwrapper2>. See C++ class yarp::dev::ControlBoardWrapper2 for documentation.
||| finding paths [plugins]
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
||| finding paths [plugins]
||| finding paths [plugins]
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
[WARNING]SharedCanBus [1] using default thread period = 10ms
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
printing destinations and inverted map
0 1
2 2
4 3
6 4
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[INFO]using ICUB_CANMASKS_STRICT_FILTER option
[DEBUG]class 0 set
[DEBUG]class 1 set
[DEBUG]class 2 set
[DEBUG]class 3 set
[DEBUG]Can read/write buffers created, buffer size: 500
[INFO]CanBusResources::initialized correctly
Registering new thread 0 out of 500
[INFO]
[INFO]**********************************
[INFO]iCubInterface CAN protocol: 1.6
[INFO]Firmware report:
[INFO]sharedcan [1] joint: 0 can_address: 1 board type: 4 (BLL) version: 1.50 build: 87 CAN_protocol:1.6
[INFO]sharedcan [1] joint: 1 can_address: 1 board type: 4 (BLL) version: 1.50 build: 87 CAN_protocol:1.6
[INFO]sharedcan [1] joint: 2 can_address: 2 board type: 4 (BLL) version: 1.57 build: 87 CAN_protocol:1.6
[INFO]sharedcan [1] joint: 3 can_address: 2 board type: 4 (BLL) version: 1.57 build: 87 CAN_protocol:1.6
[INFO]sharedcan [1] joint: 4 can_address: 3 board type: 3 (4DC) version: 1.19 build: 87 CAN_protocol:1.6
[INFO]sharedcan [1] joint: 5 can_address: 3 board type: 3 (4DC) version: 1.19 build: 87 CAN_protocol:1.6
[INFO]sharedcan [1] joint: 6 can_address: 4 board type: 3 (4DC) version: 1.19 build: 87 CAN_protocol:1.6
[INFO]sharedcan [1] joint: 7 can_address: 4 board type: 3 (4DC) version: 1.19 build: 87 CAN_protocol:1.6
[INFO]**********************************
[INFO]
[DEBUG]CanBusMotionControl::open returned true
[INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation.
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
[WARNING]SharedCanBus [5] using default thread period = 10ms
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
printing destinations and inverted map
0 5
2 6
4 7
6 8
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[INFO]using ICUB_CANMASKS_STRICT_FILTER option
[DEBUG]class 0 set
[DEBUG]class 1 set
[DEBUG]class 2 set
[DEBUG]class 3 set
[DEBUG]Can read/write buffers created, buffer size: 500
[INFO]CanBusResources::initialized correctly
Registering new thread 0 out of 500
[INFO]
[INFO]**********************************
[INFO]iCubInterface CAN protocol: 1.6
[INFO]Firmware report:
[INFO]sharedcan [5] joint: 0 can_address: 5 board type: 3 (4DC) version: 1.28 build: 87 CAN_protocol:1.6
[INFO]sharedcan [5] joint: 1 can_address: 5 board type: 3 (4DC) version: 1.28 build: 87 CAN_protocol:1.6
[INFO]sharedcan [5] joint: 2 can_address: 6 board type: 3 (4DC) version: 1.28 build: 87 CAN_protocol:1.6
[INFO]sharedcan [5] joint: 3 can_address: 6 board type: 3 (4DC) version: 1.28 build: 87 CAN_protocol:1.6
[INFO]sharedcan [5] joint: 4 can_address: 7 board type: 3 (4DC) version: 1.30 build: 87 CAN_protocol:1.6
[INFO]sharedcan [5] joint: 5 can_address: 7 board type: 3 (4DC) version: 1.30 build: 87 CAN_protocol:1.6
[INFO]sharedcan [5] joint: 6 can_address: 8 board type: 3 (4DC) version: 1.30 build: 87 CAN_protocol:1.6
[INFO]sharedcan [5] joint: 7 can_address: 8 board type: 3 (4DC) version: 1.30 build: 87 CAN_protocol:1.6
[INFO]**********************************
[INFO]
[DEBUG]CanBusMotionControl::open returned true
[INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation.
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
[WARNING]SharedCanBus [2] using default thread period = 10ms
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
printing destinations and inverted map
0 1
2 2
4 3
6 4
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[INFO]using ICUB_CANMASKS_STRICT_FILTER option
[DEBUG]class 0 set
[DEBUG]class 1 set
[DEBUG]class 2 set
[DEBUG]class 3 set
[DEBUG]Can read/write buffers created, buffer size: 500
[INFO]CanBusResources::initialized correctly
[DEBUG]sharedcan [5] msg from board 5: MAIS error 100
[DEBUG]sharedcan [5] msg from board 7: MAIS error 100
Registering new thread 0 out of 500
[INFO]
[INFO]**********************************
[INFO]iCubInterface CAN protocol: 1.6
[INFO]Firmware report:
[INFO]sharedcan [2] joint: 0 can_address: 1 board type: 4 (BLL) version: 1.50 build: 87 CAN_protocol:1.6
[INFO]sharedcan [2] joint: 1 can_address: 1 board type: 4 (BLL) version: 1.50 build: 87 CAN_protocol:1.6
[INFO]sharedcan [2] joint: 2 can_address: 2 board type: 4 (BLL) version: 1.57 build: 87 CAN_protocol:1.6
[INFO]sharedcan [2] joint: 3 can_address: 2 board type: 4 (BLL) version: 1.57 build: 87 CAN_protocol:1.6
[INFO]sharedcan [2] joint: 4 can_address: 3 board type: 3 (4DC) version: 1.19 build: 87 CAN_protocol:1.6
[INFO]sharedcan [2] joint: 5 can_address: 3 board type: 3 (4DC) version: 1.19 build: 87 CAN_protocol:1.6
[INFO]sharedcan [2] joint: 6 can_address: 4 board type: 3 (4DC) version: 1.19 build: 87 CAN_protocol:1.6
[INFO]sharedcan [2] joint: 7 can_address: 4 board type: 3 (4DC) version: 1.19 build: 87 CAN_protocol:1.6
[INFO]**********************************
[INFO]
[DEBUG]CanBusMotionControl::open returned true
[INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation.
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
[WARNING]SharedCanBus [6] using default thread period = 10ms
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
printing destinations and inverted map
0 5
2 6
4 7
6 8
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[INFO]using ICUB_CANMASKS_STRICT_FILTER option
[DEBUG]class 0 set
[DEBUG]class 1 set
[DEBUG]class 2 set
[DEBUG]class 3 set
[DEBUG]Can read/write buffers created, buffer size: 500
[INFO]CanBusResources::initialized correctly
Registering new thread 0 out of 500
[INFO]
[INFO]**********************************
[INFO]iCubInterface CAN protocol: 1.6
[INFO]Firmware report:
[INFO]sharedcan [6] joint: 0 can_address: 5 board type: 3 (4DC) version: 1.28 build: 87 CAN_protocol:1.6
[INFO]sharedcan [6] joint: 1 can_address: 5 board type: 3 (4DC) version: 1.28 build: 87 CAN_protocol:1.6
[INFO]sharedcan [6] joint: 2 can_address: 6 board type: 3 (4DC) version: 1.28 build: 87 CAN_protocol:1.6
[INFO]sharedcan [6] joint: 3 can_address: 6 board type: 3 (4DC) version: 1.28 build: 87 CAN_protocol:1.6
[INFO]sharedcan [6] joint: 4 can_address: 7 board type: 3 (4DC) version: 1.30 build: 87 CAN_protocol:1.6
[INFO]sharedcan [6] joint: 5 can_address: 7 board type: 3 (4DC) version: 1.30 build: 87 CAN_protocol:1.6
[INFO]sharedcan [6] joint: 6 can_address: 8 board type: 3 (4DC) version: 1.30 build: 87 CAN_protocol:1.6
[INFO]sharedcan [6] joint: 7 can_address: 8 board type: 3 (4DC) version: 1.30 build: 87 CAN_protocol:1.6
[INFO]**********************************
[INFO]
[DEBUG]CanBusMotionControl::open returned true
[INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation.
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
[WARNING]SharedCanBus [3] using default thread period = 10ms
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
printing destinations and inverted map
0 5
2 6
4 7
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[INFO]using ICUB_CANMASKS_STRICT_FILTER option
[DEBUG]class 0 set
[DEBUG]class 1 set
[DEBUG]class 2 set
[DEBUG]class 3 set
[DEBUG]Can read/write buffers created, buffer size: 500
[INFO]CanBusResources::initialized correctly
Registering new thread 0 out of 500
[INFO]
[INFO]**********************************
[INFO]iCubInterface CAN protocol: 1.6
[INFO]Firmware report:
[INFO]sharedcan [3] joint: 0 can_address: 5 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]sharedcan [3] joint: 1 can_address: 5 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]sharedcan [3] joint: 2 can_address: 6 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]sharedcan [3] joint: 3 can_address: 6 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]sharedcan [3] joint: 4 can_address: 7 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]sharedcan [3] joint: 5 can_address: 7 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]**********************************
[INFO]
[DEBUG]CanBusMotionControl::open returned true
[INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation.
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
[WARNING]SharedCanBus [4] using default thread period = 10ms
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
printing destinations and inverted map
0 8
2 9
4 10
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[INFO]using ICUB_CANMASKS_STRICT_FILTER option
[DEBUG]class 0 set
[DEBUG]class 1 set
[DEBUG]class 2 set
[DEBUG]class 3 set
[DEBUG]Can read/write buffers created, buffer size: 500
[INFO]CanBusResources::initialized correctly
Registering new thread 0 out of 500
[INFO]
[INFO]**********************************
[INFO]iCubInterface CAN protocol: 1.6
[INFO]Firmware report:
[INFO]sharedcan [4] joint: 0 can_address: 8 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]sharedcan [4] joint: 1 can_address: 8 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]sharedcan [4] joint: 2 can_address: 9 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]sharedcan [4] joint: 3 can_address: 9 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]sharedcan [4] joint: 4 can_address: 10 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]sharedcan [4] joint: 5 can_address: 10 board type: 4 (BLL) version: 1.51 build: 87 CAN_protocol:1.6
[INFO]**********************************
[INFO]
[DEBUG]CanBusMotionControl::open returned true
[INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation.
[DEBUG]sharedcan [6] msg from board 5: MAIS error 100
[DEBUG]sharedcan [6] msg from board 7: MAIS error 100
[DEBUG]sharedcan [5] msg from board 5: MAIS error 100
[DEBUG]sharedcan [5] msg from board 7: MAIS error 100
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
[WARNING]SharedCanBus [0] using default thread period = 10ms
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
printing destinations and inverted map
0 1
2 2
4 3
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[INFO]using ICUB_CANMASKS_STRICT_FILTER option
[DEBUG]class 0 set
[DEBUG]class 1 set
[DEBUG]class 2 set
[DEBUG]class 3 set
[DEBUG]Can read/write buffers created, buffer size: 500
[INFO]CanBusResources::initialized correctly
Registering new thread 0 out of 500
[INFO]
[INFO]**********************************
[INFO]iCubInterface CAN protocol: 1.6
[INFO]Firmware report:
[INFO]sharedcan [0] joint: 0 can_address: 1 board type: 4 (BLL) version: 1.62 build: 87 CAN_protocol:1.6
[INFO]sharedcan [0] joint: 1 can_address: 1 board type: 4 (BLL) version: 1.62 build: 87 CAN_protocol:1.6
[INFO]sharedcan [0] joint: 2 can_address: 2 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6
[INFO]sharedcan [0] joint: 3 can_address: 2 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6
[INFO]sharedcan [0] joint: 4 can_address: 3 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6
[INFO]sharedcan [0] joint: 5 can_address: 3 board type: 3 (4DC) version: 2.15 build: 87 CAN_protocol:1.6
[INFO]**********************************
[INFO]
[DEBUG]CanBusMotionControl::open returned true
[INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation.
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]Position Pids section found, new format
[INFO]Position Pids successfully loaded
[INFO]TRQ_PIDS: Torque Pids section found, new format
[DEBUG]DEBUG parameters section NOT found, skipping...
[DEBUG]IMPEDANCE parameters section NOT found, skipping...
[WARNING]jntVelMax: Using default jntVelMax=100 deg/s
[WARNING]maxPosStep: Using default MaxPosStep=10 degs
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
printing destinations and inverted map
0 5
2 6
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[INFO]using ICUB_CANMASKS_STRICT_FILTER option
[DEBUG]class 0 set
[DEBUG]class 1 set
[DEBUG]class 2 set
[DEBUG]class 3 set
[DEBUG]Can read/write buffers created, buffer size: 500
[INFO]CanBusResources::initialized correctly
[DEBUG]sharedcan [0] msg from board 5: INVALID MAX CURRENT PARAM J1
Registering new thread 0 out of 500
[INFO]
[INFO]**********************************
[INFO]iCubInterface CAN protocol: 1.6
[INFO]Firmware report:
[INFO]sharedcan [0] joint: 0 can_address: 5 board type: 4 (BLL) version: 1.54 build: 87 CAN_protocol:1.6
[INFO]sharedcan [0] joint: 1 can_address: 5 board type: 4 (BLL) version: 1.54 build: 87 CAN_protocol:1.6
[INFO]sharedcan [0] joint: 2 can_address: 6 board type: 4 (BLL) version: 1.52 build: 87 CAN_protocol:1.6
[INFO]sharedcan [0] joint: 3 can_address: 6 board type: 4 (BLL) version: 1.52 build: 87 CAN_protocol:1.6
[INFO]**********************************
[INFO]
[DEBUG]CanBusMotionControl::open returned true
[INFO]created device <canmotioncontrol>. See C++ class yarp::dev::CanBusMotionControl for documentation.
[DEBUG](period 10) (networks (net_VFT_LA)) (net_VFT_LA 0 5 0 5) (robotName icub) (name "/icub/joint_vsens/left_arm:i") (device virtualAnalogServer)
[DEBUG]Using VirtualAnalogServer
yarp: Port /icub/joint_vsens/left_arm:i active at tcp://10.10.1.50:10051/
[INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation.
[DEBUG](period 10) (networks (net_VFT_LL)) (net_VFT_LL 0 5 0 5) (robotName icub) (name "/icub/joint_vsens/left_leg:i") (device virtualAnalogServer)
[DEBUG]Using VirtualAnalogServer
yarp: Port /icub/joint_vsens/left_leg:i active at tcp://10.10.1.50:10052/
[INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation.
[DEBUG](period 10) (networks (net_VFT_RA)) (net_VFT_RA 0 5 0 5) (robotName icub) (name "/icub/joint_vsens/right_arm:i") (device virtualAnalogServer)
[DEBUG]Using VirtualAnalogServer
yarp: Port /icub/joint_vsens/right_arm:i active at tcp://10.10.1.50:10053/
[INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation.
[DEBUG](period 10) (networks (net_VFT_RL)) (channels 6) (net_VFT_RL 0 5 0 5) (robotName icub) (name "/icub/joint_vsens/right_leg:i") (device virtualAnalogServer)
[DEBUG]Using VirtualAnalogServer
yarp: Port /icub/joint_vsens/right_leg:i active at tcp://10.10.1.50:10054/
[INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation.
[DEBUG](period 10) (networks (net_VFT_TO)) (robotName icub) (name "/icub/joint_vsens/torso:i") (device virtualAnalogServer) (net_VFT_TO 0 5 0 5)
[DEBUG]Using VirtualAnalogServer
yarp: Port /icub/joint_vsens/torso:i active at tcp://10.10.1.50:10055/
[INFO]created wrapper <virtualAnalogServer>. See C++ class yarp::dev::VirtualAnalogWrapper for documentation.
||| finding paths [plugins]
(period 1) (canbusDevice sharedcan) (channels 6) (robotName icub) (format 16) (canDeviceNum 1) (canAddress 12) (device canBusVirtualAnalogSensor) (physDevice cfw2can) (fullScale 8 8 8 8 8 8) (useCalibration 1)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
--> Initializing analog device
[INFO]created device <canBusVirtualAnalogSensor>. See C++ class CanBusVirtualAnalogSensor for documentation.
(period 1) (canbusDevice sharedcan) (channels 6) (robotName icub) (format 16) (canDeviceNum 3) (canAddress 12) (device canBusVirtualAnalogSensor) (physDevice cfw2can) (fullScale 12 12 12 12 12 12) (useCalibration 1)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
--> Initializing analog device
[INFO]created device <canBusVirtualAnalogSensor>. See C++ class CanBusVirtualAnalogSensor for documentation.
(period 1) (canbusDevice sharedcan) (channels 6) (robotName icub) (format 16) (canDeviceNum 2) (canAddress 12) (device canBusVirtualAnalogSensor) (physDevice cfw2can) (fullScale 8 8 8 8 8 8) (useCalibration 1)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
--> Initializing analog device
[INFO]created device <canBusVirtualAnalogSensor>. See C++ class CanBusVirtualAnalogSensor for documentation.
(period 1) (canbusDevice sharedcan) (channels 6) (robotName icub) (format 16) (canDeviceNum 4) (canAddress 11) (device canBusVirtualAnalogSensor) (physDevice cfw2can) (fullScale 12 12 12 12 12 12) (useCalibration 1)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
--> Initializing analog device
[INFO]created device <canBusVirtualAnalogSensor>. See C++ class CanBusVirtualAnalogSensor for documentation.
(period 1) (canbusDevice sharedcan) (channels 6) (robotName icub) (format 16) (canDeviceNum 0) (canAddress 12) (device canBusVirtualAnalogSensor) (physDevice cfw2can) (fullScale 12 12 12 12 12 12) (useCalibration 1)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
--> Initializing analog device
[INFO]created device <canBusVirtualAnalogSensor>. See C++ class CanBusVirtualAnalogSensor for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization.
yarp: Port /icub/left_arm/analog:o/rpc:i active at tcp://10.10.1.50:10056/
[INFO]AnalogServer : no ROS initialization required
[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization.
yarp: Port /icub/left_leg/analog:o/rpc:i active at tcp://10.10.1.50:10057/
[INFO]AnalogServer : no ROS initialization required
[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization.
yarp: Port /icub/right_arm/analog:o/rpc:i active at tcp://10.10.1.50:10058/
[INFO]AnalogServer : no ROS initialization required
[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization.
yarp: Port /icub/right_leg/analog:o/rpc:i active at tcp://10.10.1.50:10059/
[INFO]AnalogServer : no ROS initialization required
[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization.
yarp: Port /icub/left_hand/analog:o/rpc:i active at tcp://10.10.1.50:10060/
[INFO]AnalogServer : no ROS initialization required
[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization.
yarp: Port /icub/right_hand/analog:o/rpc:i active at tcp://10.10.1.50:10061/
[INFO]AnalogServer : no ROS initialization required
[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.
||| finding paths [plugins]
[DEBUG]sharedcan [5] msg from board 5: MAIS error 100
[DEBUG]sharedcan [5] msg from board 7: MAIS error 100
[DEBUG]sharedcan [6] msg from board 5: MAIS error 100
[DEBUG]sharedcan [6] msg from board 7: MAIS error 100
(period 1) (canbusDevice sharedcan) (channels 6) (robotName icub) (format 16) (canDeviceNum 1) (canAddress 13) (device canBusAnalogSensor) (physDevice cfw2can) (useCalibration 1)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[DEBUG]using broadcast period 1 on device
[DEBUG]Using internal calibration on device
Sensor Fullscale Id 0XD: 1804.000000 1974.000000 2222.000000 38.000000 42.000000 25.000000
[INFO]created device <canBusAnalogSensor>. See C++ class CanBusAnalogSensor for documentation.
(period 1) (canbusDevice sharedcan) (channels 6) (robotName icub) (format 16) (canDeviceNum 3) (canAddress 13) (device canBusAnalogSensor) (physDevice cfw2can) (useCalibration 1)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[DEBUG]using broadcast period 1 on device
[DEBUG]Using internal calibration on device
Sensor Fullscale Id 0XD: 1299.000000 1528.000000 1803.000000 30.000000 31.000000 20.000000
[INFO]created device <canBusAnalogSensor>. See C++ class CanBusAnalogSensor for documentation.
(period 1) (canbusDevice sharedcan) (channels 6) (robotName icub) (format 16) (canDeviceNum 2) (canAddress 13) (device canBusAnalogSensor) (physDevice cfw2can) (useCalibration 1)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[DEBUG]using broadcast period 1 on device
[DEBUG]Using internal calibration on device
Sensor Fullscale Id 0XD: 1662.000000 1779.000000 2113.000000 35.000000 38.000000 24.000000
[INFO]created device <canBusAnalogSensor>. See C++ class CanBusAnalogSensor for documentation.
(period 1) (canbusDevice sharedcan) (channels 6) (robotName icub) (format 16) (canDeviceNum 4) (canAddress 14) (device canBusAnalogSensor) (physDevice cfw2can) (useCalibration 1)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[DEBUG]using broadcast period 1 on device
[DEBUG]Using internal calibration on device
Sensor Fullscale Id 0XE: 1749.000000 2017.000000 2167.000000 37.000000 41.000000 25.000000
[INFO]created device <canBusAnalogSensor>. See C++ class CanBusAnalogSensor for documentation.
(period 10) (canbusDevice sharedcan) (channels 16) (robotName icub) (format 8) (canDeviceNum 5) (canAddress 14) (device canBusAnalogSensor) (physDevice cfw2can)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[DEBUG]using broadcast period 10 on device
[INFO]created device <canBusAnalogSensor>. See C++ class CanBusAnalogSensor for documentation.
(period 10) (canbusDevice sharedcan) (channels 16) (robotName icub) (format 8) (canDeviceNum 6) (canAddress 14) (device canBusAnalogSensor) (physDevice cfw2can)
[INFO]created device <sharedcan>. See C++ class yarp::dev::CanBusAccessPoint for documentation.
[WARNING]Set baud rate not allowed from CanBusAccessPoint implementation
[DEBUG]using broadcast period 10 on device
[INFO]created device <canBusAnalogSensor>. See C++ class CanBusAnalogSensor for documentation.
||| finding paths [plugins]
[INFO]No ROS group found in config file ... skipping ROS initialization.
[DEBUG]--> 0 191 0 191
[DEBUG]opening port left_hand
[DEBUG]--> 192 575 0 383
[DEBUG]opening port left_forearm
[DEBUG]--> 576 1343 0 767
[DEBUG]opening port left_arm
yarp: Port /icub/skin/left_hand/rpc:i active at tcp://10.10.1.50:10062/
yarp: Port /icub/skin/left_forearm/rpc:i active at tcp://10.10.1.50:10063/
yarp: Port /icub/skin/left_arm/rpc:i active at tcp://10.10.1.50:10064/
[INFO]AnalogServer : no ROS initialization required
[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.
[INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization.
[DEBUG]--> 0 191 0 191
[DEBUG]opening port right_hand
[DEBUG]--> 192 575 0 383
[DEBUG]opening port right_forearm
[DEBUG]--> 576 1343 0 767
[DEBUG]opening port right_arm
yarp: Port /icub/skin/right_hand/rpc:i active at tcp://10.10.1.50:10065/
yarp: Port /icub/skin/right_forearm/rpc:i active at tcp://10.10.1.50:10066/
yarp: Port /icub/skin/right_arm/rpc:i active at tcp://10.10.1.50:10067/
[INFO]AnalogServer : no ROS initialization required
[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.
[INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization.
[DEBUG]--> 0 767 0 767
[DEBUG]opening port torso
yarp: Port /icub/skin/torso/rpc:i active at tcp://10.10.1.50:10068/
[INFO]AnalogServer : no ROS initialization required
[INFO]created wrapper <analogServer>. See C++ class yarp::dev::AnalogWrapper for documentation.
[INFO]created device <skinWrapper>. See C++ class skinWrapper for documentation.
||| finding paths [plugins]
[WARNING]CanBusSkin id list contains more than one entry -> devices will be merged.
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
[INFO]Skin on can bus 7 uses NEW configuration version!!!
||| finding paths [plugins]
yarp: Port /diagnostics/skin/errors:o active at tcp://10.10.1.50:10069/
[INFO]created device <canBusSkin>. See C++ class CanBusSkin for documentation.
[WARNING]CanBusSkin id list contains more than one entry -> devices will be merged.
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
[INFO]Skin on can bus 8 uses NEW configuration version!!!
yarp: Port /diagnostics/skin/errors:o failed to activate at tcp://10.10.1.50:10069/ (address conflict)
[INFO]created device <canBusSkin>. See C++ class CanBusSkin for documentation.
[WARNING]CanBusSkin id list contains more than one entry -> devices will be merged.
[INFO]created device <cfw2can>. See C++ class yarp::dev::Cfw2Can for documentation.
[INFO]Skin on can bus 9 uses NEW configuration version!!!
yarp: Port /diagnostics/skin/errors:o failed to activate at tcp://10.10.1.50:10069/ (address conflict)
[INFO]created device <canBusSkin>. See C++ class CanBusSkin for documentation.
||| finding paths [plugins]
XSensMtX init check: device ok.
[INFO]created device <xsensmtx>. See C++ class yarp::dev::XSensMTx for documentation.
[INFO]No ROS group found in config file ... skipping ROS initialization.
yarp: Port /icub/inertial active at tcp://10.10.1.50:10070/
[INFO]Server Inertial : no ROS initialization required
[INFO]Starting server Inertial thread
[INFO]created wrapper <inertial>. See C++ class yarp::dev::ServerInertial for documentation.
[DEBUG]Writing an Inertial measurement.
||| finding paths [plugins]
[INFO]created device <parametricCalibrator>. See C++ class yarp::dev::parametricCalibrator for documentation.
[INFO]created device <parametricCalibrator>. See C++ class yarp::dev::parametricCalibrator for documentation.
[INFO]created device <parametricCalibrator>. See C++ class yarp::dev::parametricCalibrator for documentation.
[INFO]created device <parametricCalibrator>. See C++ class yarp::dev::parametricCalibrator for documentation.
[INFO]created device <parametricCalibrator>. See C++ class yarp::dev::parametricCalibrator for documentation.
[INFO]created device <parametricCalibrator>. See C++ class yarp::dev::parametricCalibrator for documentation.
[INFO]created device <parametricCalibrator>. See C++ class yarp::dev::parametricCalibrator for documentation.
[INFO]created device <parametricCalibrator>. See C++ class yarp::dev::parametricCalibrator for documentation.
[INFO]Entering action level 5 of phase startup
yarp: Port /icub/left_arm/analog:o active at tcp://10.10.1.50:10071/
yarp: Port /icub/left_leg/analog:o active at tcp://10.10.1.50:10072/
yarp: Port /icub/right_arm/analog:o active at tcp://10.10.1.50:10073/
yarp: Port /icub/right_leg/analog:o active at tcp://10.10.1.50:10074/
yarp: Port /icub/left_hand/analog:o active at tcp://10.10.1.50:10075/
yarp: Port /icub/right_hand/analog:o active at tcp://10.10.1.50:10076/
yarp: Port /icub/skin/left_hand active at tcp://10.10.1.50:10077/
yarp: Port /icub/skin/left_forearm active at tcp://10.10.1.50:10078/
yarp: Port /icub/skin/left_arm active at tcp://10.10.1.50:10079/
yarp: Port /icub/skin/right_hand active at tcp://10.10.1.50:10080/
yarp: Port /icub/skin/right_forearm active at tcp://10.10.1.50:10081/
yarp: Port /icub/skin/right_arm active at tcp://10.10.1.50:10082/
yarp: Port /icub/skin/torso active at tcp://10.10.1.50:10083/
[INFO]All actions for action level 5 of startup phase started. Waiting for unfinished actions.
[INFO]All actions for action level 5 of startup phase finished.
[INFO]Entering action level 10 of phase startup
[DEBUG]head_calibrator starting calibration of device head_mc_wrapper
[INFO]Head_Calibrator : starting calibration
[DEBUG]torso_calibrator starting calibration of device torso_mc_wrapper
[INFO]Torso_Calibrator : starting calibration
[DEBUG]Head_Calibrator : Joints calibration order: CALIB_ORDER (0 1 2 3) (4) (5)
[WARNING[WARNING]Torso_Calibrator lit is 0
[DEBUG]right_leg_calibrator starting calibration of device right_leg_mc_wrapper
[INFO]Right_Leg_Calibrator : starting calibration
Head_Calibrator lit is 0
[DEBUG]Right_Leg_Calibr[[[01;32[[INFO]Left_Leg_Calibrator : starting calibration
WARNING[DEBUG]Left_Leg_Calibrator : Joints calibration order: CALIB_ORDER (0 1 2 3 4 5)
]Device left_arm_mc is not implementing a yarp::dev::IRemoteCalibrator, therefore it cannot attach to a Calibrator device.
Please verify that the target of calibrate action is a controlBoardWrapper2 device. This doesn't prevent the yarprobotinterface to correctly operate, but no remote calibration and homing will be available
[WARNING]Left_Leg_Calibrator lit is 0
Registering new thread 1 out of 500
WARNING[[DEBUG]left_arm_calibrator starting calibration of device left_arm_mc
Right_Leg_Calibrator lit is 0 [INFOWARNING]]Device right_arm_mc is not implementing a yarp::dev::IRemoteCalibrator, therefore it cannot attach to a Calibrator device.
Please verify that the target of calibrate action is a controlBoardWrapper2 device. This doesn't prevent the yarprobotinterface to correctly operate, but no remote calibration and homing will be available Registering new thread 1 out of 500
[DEBUG]right_arm_calibrator starting calibration of device right_arm_mc
[INFO]Right_Arm_Calibrator : starting calibration
WARNING]Device left_hand_mc is not implementing a yarp::dev::IRemoteCalibrator, therefore it cannot attach to a Calibrator device.
Please verify that the target of calibrate action is a controlBoardWrapper2 device. This doesn't prevent the yarprobotinterface to correctly operate, but no remote calibration and homing will be available [DEBUG]Right_Arm_Calibrator : Joints calibration order: CALIB_ORDER (0 1 2 3) (4 6 7) (5)
[WARNING][DEBUG]Left_Arm_Calibrator : Joints calibration order: CALIB_ORDER (0 1 2 3) (4 6 7) (5)
[Registering new thread 1 out of 500
[DEBUG]left_hand_calibrator starting calibration of device left_hand_mc
[INFO]L][DEBUG]Left_Hand_Calibrator : Joints calibration order: CALIB_ORDER (0 1 3 5) (2 4 6 7)
[WARNING]Left_Hand_Calibrator lit is 0
Registering new thread 1 out of 500
WARNING]Device right_hand_mc is not implementing a yarp::dev::IRemoteCalibrator, therefore it cannot attach to a Calibrator device.
Please verify that the target of calibrate action is a controlBoardWrapper2 device. This doesn't prevent the yarprobotinterface to correctly operate, but no remote calibration and homing will be available
Registering new thread 1 out of 500
[DEBUG]right_hand_calibrator starting calibration of device right_hand_mc
[INFO]All actions for action level 10 of startup phase started. Waiting for unfinished actions.
[INFO]Right_Hand_Calibrator : starting calibration
[DEBUG]Right_Hand_Calibrator : Joints calibration order: CALIB_ORDER (0 1 3 5) (2 4 6 7)
[WARNING]Right_Hand_Calibrator lit is 0
Registering new thread 1 out of 500
[WARNING]Torso_Calibrator lit is 1
[WARNING]Head_Calibrator lit is 1
[WARNING]Left_Leg_Calibrator lit is 1
[WARNING]Right_Leg_Calibrator lit is 1
[DEBUG]Left_Hand_Calibrator : skipping maxPwm=0 of joint 0
[WARNING]Left_Hand_Calibrator lit is 1
[WARNING]Torso_Calibrator lit is 2
[WARNING]Left_Arm_Calibrator lit is 1
[WARNING]Head_Calibrator lit is 2
[WARNING]Left_Leg_Calibrator lit is 2
[WARNING]Right_Arm_Calibrator lit is 1
[DEBUG]Right_Hand_Calibrator : skipping maxPwm=0 of joint 0
[WARNING]Right_Hand_Calibrator lit is 1
[WARNING]Right_Leg_Calibrator lit is 2
[DEBUG]Left_Hand_Calibrator : skipping maxPwm=0 of joint 1
[WARNING]Left_Hand_Calibrator lit is 3
[WARNING]Left_Arm_Calibrator lit is 2
[WARNING]Right_Arm_Calibrator lit is 2
[[WARNING]Head_Calibrator lit is 3
WARNING]Left_Leg_Calibrator lit is 3
[DEBUG]Right_Hand_Calibrator : skipping maxPwm=0 of joint 1
[WARNING]Right_Hand_Calibrator lit is 3
[WARNING]Right_Leg_Calibrator lit is 3
[DEBUG]Left_Hand_Calibrator : skipping maxPwm=0 of joint 3
[WARNING]Left_Hand_Calibrator lit is 5
[WARNING[DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 3
[WARNING]Left_Leg_Calibrator lit is 4
[WARNING]Right_Arm_Calibrator lit is 3 ]Left_Arm_Calibrator lit is 3
[DEBUG]Right_Hand_Calibrator : skipping maxPwm=0 of joint 3
[WARNING]Right_Hand_Calibrator lit is 5
[WARNING]Right_Leg_Calibrator lit is 4
[DEBUG]Left_Hand_Calibrator : skipping maxPwm=0 of joint 5
[DEBUG]In calibration Left_Hand_Calibrator : enabling joint 1 to test hardware limit
[WARNING]Left_Leg_Calibrator lit is 5
[DEBUG]Right_Hand_Calibrator : skipping maxPwm=0 of joint 5
[DEBUG]In calibration Right_Hand_Calibrator : enabling joint 1 to test hardware limit
[WARNING]Right_Leg_Calibrator lit is 5
[DEBUG]sharedcan [5] msg from board 5: CMODE SET:1
[DEBUG]sharedcan [5] msg from board 5: PWM ENA:1
[DEBUG]sharedcan [6] msg from board 5: CMODE SET:1
[DEBUG]sharedcan [6] msg from board 5: PWM ENA:1
[WARNING]setControlModeRaw delay ( j:1), current mode: idl, requested: pos
[DEBUG]In calibration Left_Hand_Calibrator : enabling joint 3 to test hardware limit
[WARNING]setControlModeRaw delay ( j:1), current mode: idl, requested: pos
[DEBUG]In calibration Right_Hand_Calibrator : enabling joint 3 to test hardware limit
[DEBUG]sharedcan [5] msg from board 5: CMODE SET:1
[DEBUG]sharedcan [5] msg from board 5: PWM ENA:3
[DEBUG]sharedcan [6] msg from board 5: CMODE SET:1
[DEBUG]sharedcan [6] msg from board 5: PWM ENA:3
[WARNING]setControlModeRaw delay ( j:3), current mode: idl, requested: pos
[DEBUG]In calibration Left_Hand_Calibrator : enabling joint 5 to test hardware limit
[WARNING]setControlModeRaw delay ( j:3), current mode: idl, requested: pos
[DEBUG]In calibration Right_Hand_Calibrator : enabling joint 5 to test hardware limit
[DEBUG]sharedcan [5] msg from board 7: CMODE SET:1
[DEBUG]sharedcan [5] msg from board 7: PWM ENA:1
[DEBUG]sharedcan [6] msg from board 7: CMODE SET:1
[DEBUG]sharedcan [6] msg from board 7: PWM ENA:1
[WARNING]setControlModeRaw delay ( j:5), current mode: idl, requested: pos
[WARNING]setControlModeRaw delay ( j:5), current mode: idl, requested: pos
[INFO]Torso_Calibrator : Calling calibrateJoint on joint 0 with params: 3 2047.5 10 179.725
[INFO]Torso_Calibrator : Calling calibrateJoint on joint 1 with params: 3 2047.5 10 2275
[INFO]Torso_Calibrator : Calling calibrateJoint on joint 2 with params: 3 2047.5 10 3219.12
[DEBUG]sharedcan [1] thread ran 596 times, req.dT:10[ms], av.dT:10.07[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [1] printing boards infos:
None
[WARNING]sharedcan [1] have not heard from board 1 (channel 0) since 6.19 seconds
[WARNING]sharedcan [1] have not heard from board 1 (channel 1) since 6.19 seconds
[WARNING]sharedcan [1] have not heard from board 2 (channel 0) since 6.19 seconds
[WARNING]sharedcan [1] have not heard from board 2 (channel 1) since 6.19 seconds
[WARNING]sharedcan [1] have not heard from board 3 (channel 0) since 6.19 seconds
[WARNING]sharedcan [1] have not heard from board 3 (channel 1) since 6.19 seconds
[WARNING]sharedcan [1] have not heard from board 4 (channel 0) since 6.19 seconds
[WARNING]sharedcan [1] have not heard from board 4 (channel 1) since 6.19 seconds
[DEBUG]sharedcan [0] msg from board 5: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 5: PWM ENA:0
[DEBUG]sharedcan [0] msg from board 5: calib failed 0
[DEBUG]sharedcan [0] msg from board 6: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 6: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 6: PWM ENA COUPLED:0 & 1
[INFO]Head_Calibrator : Calling calibrateJoint on joint 0 with params: 3 2047.5 10 3257.8
[INFO]Head_Calibrator : Calling calibrateJoint on joint 1 with params: 3 2047.5 10 2393.3
[INFO]Head_Calibrator : Calling calibrateJoint on joint 2 with params: 3 2047.5 10 377.65
[INFO]Head_Calibrator : Calling calibrateJoint on joint 3 with params: 3 2047.5 10 3571.75
[INFO]Right_Arm_Calibrator : Calling calibrateJoint on joint 0 with params: 3 1706.25 10 425.5
[INFO]Right_Arm_Calibrator : Calling calibrateJoint on joint 1 with params: 3 853.13 10 513.13
[INFO]Right_Arm_Calibrator : Calling calibrateJoint on joint 2 with params: 3 2795.32 10 2023.13
[INFO]Right_Arm_Calibrator : Calling calibrateJoint on joint 3 with params: 3 2559.38 10 578.99
[DEBUG]sharedcan [0] msg from board 2: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 1: PWM ENA CH0
[DEBUG]sharedcan [0] msg from board 1: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 1: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 1: PWM ENA COUPLED:0 & 1
[DEBUG]sharedcan [0] msg from board 1: PWM ENA CH1
[DEBUG]sharedcan [0] msg from board 2: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 2: PWM ENA:1
[DEBUG]sharedcan [0] msg from board 2: PWM ENA:0
[INFO]Left_Arm_Calibrator : Calling calibrateJoint on joint 0 with params: 3 2388.75 10 1610.5
[INFO]Left_Arm_Calibrator : Calling calibrateJoint on joint 1 with params: 3 3241.88 10 411.875
[INFO]Left_Arm_Calibrator : Calling calibrateJoint on joint 2 with params: 3 -275.933 10 2700.75
[INFO]Left_Arm_Calibrator : Calling calibrateJoint on joint 3 with params: 3 1535.62 10 809.9
[INFO]Left_Leg_Calibrator : Calling calibrateJoint on joint 0 with params: 3 2047.5 10 2898.5
[INFO]Left_Leg_Calibrator : Calling calibrateJoint on joint 1 with params: 3 2047.5 10 2104.5
[INFO]Left_Leg_Calibrator : Calling calibrateJoint on joint 2 with params: 3 2047.5 10 788.5
[INFO]Left_Leg_Calibrator : Calling calibrateJoint on joint 3 with params: 3 2047.5 10 3365.5
[INFO]Left_Leg_Calibrator : Calling calibrateJoint on joint 4 with params: 3 2047.5 10 1238.5
[DEBUG]sharedcan [2] msg from board 1: CMODE SET:1
[DEBUG]sharedcan [2] msg from board 1: PWM ENA:0
[DEBUG]sharedcan [2] msg from board 1: calib failed 1
[DEBUG]sharedcan [2] msg from board 1: PWM ENA:1
[DEBUG]sharedcan [2] msg from board 1: CMODE SET:1d 0
[INFO]Left_Leg_Calibrator : Calling calibrateJoint on joint 5 with params: 3 2047.5 10 1976.5
[INFO]Right_Leg_Calibrator : Calling calibrateJoint on joint 0 with params: 3 2047.5 10 1451.5
[INFO]Right_Leg_Calibrator : Calling calibrateJoint on joint 1 with params: 3 2047.5 10 1068.5
[INFO]Right_Leg_Calibrator : Calling calibrateJoint on joint 2 with params: 3 2047.5 10 871.5
[INFO]Right_Leg_Calibrator : Calling calibrateJoint on joint 3 with params: 3 2047.5 10 520.5
[INFO]Right_Leg_Calibrator : Calling calibrateJoint on joint 4 with params: 3 2047.5 10 2413.5
[INFO]Right_Leg_Calibrator : Calling calibrateJoint on joint 5 with params: 3 2047.5 10 3859.5
[DEBUG]sharedcan [1] msg from board 1: CMODE SET:1
[DEBUG]sharedcan [1] msg from board 1: PWM ENA:0
[DEBUG]sharedcan [3] msg from board 5: PWM ENA:0
[DEBUG]sharedcan [3] msg from board 5: CMODE SET:1
[DEBUG]sharedcan [3] msg from board 5: PWM ENA:1
[DEBUG]sharedcan [3] msg from board 5: calib failed 1
[DEBUG]sharedcan [3] msg from board 5: CMODE SET:1d 0
[DEBUG]sharedcan [3] msg from board 6: calib failed 0
[DEBUG]sharedcan [3] msg from board 7: calib failed 0
[DEBUG]sharedcan [4] msg from board 8: PWM ENA:0
[DEBUG]sharedcan [4] msg from board 8: CMODE SET:1
[DEBUG]sharedcan [4] msg from board 8: PWM ENA:1
[DEBUG]sharedcan [4] msg from board 8: calib failed 1
[DEBUG]sharedcan [4] msg from board 8: CMODE SET:1d 0
[DEBUG]sharedcan [4] msg from board 9: calib failed 0
[DEBUG]sharedcan [1] msg from board 1: calib failed 0
[DEBUG]sharedcan [1] msg from board 1: CMODE SET:1
[DEBUG]sharedcan [1] msg from board 1: PWM ENA:1
[DEBUG]sharedcan [1] msg from board 1: calib failed 1
[INFO]Left_Hand_Calibrator : Calling calibrateJoint on joint 0 with params: 3 1970 10 0
[INFO]Left_Hand_Calibrator : Calling calibrateJoint on joint 1 with params: 4 235 10 6000
[INFO]Left_Hand_Calibrator : Calling calibrateJoint on joint 3 with params: 4 230 10 6000
[INFO]Left_Hand_Calibrator : Calling calibrateJoint on joint 5 with params: 4 240 10 6000
[INFO]Right_Hand_Calibrator : Calling calibrateJoint on joint 0 with params: 3 2166.67 10 0
[INFO]Right_Hand_Calibrator : Calling calibrateJoint on joint 1 with params: 4 238 10 6000
[INFO]Right_Hand_Calibrator : Calling calibrateJoint on joint 3 with params: 4 238 10 6000
[INFO]Right_Hand_Calibrator : Calling calibrateJoint on joint 5 with params: 4 242 10 6000
[DEBUG]sharedcan [5] msg from board 5: CMODE SET:1
[DEBUG]sharedcan [5] msg from board 5: PWM ENA:0
[DEBUG]sharedcan [5] msg from board 5: CMODE SET:65
[DEBUG]sharedcan [5] msg from board 5: PWM ENA:1
[DEBUG]sharedcan [5] msg from board 5: CMODE SET:65
[DEBUG]sharedcan [5] msg from board 5: PWM ENA:3
[DEBUG]sharedcan [5] msg from board 7: CMODE SET:65
[DEBUG]sharedcan [6] msg from board 5: CMODE SET:1
[DEBUG]sharedcan [6] msg from board 5: PWM ENA:0
[DEBUG]sharedcan [6] msg from board 5: CMODE SET:65
[DEBUG]sharedcan [5] msg from board 7: PWM ENA:1
[DEBUG]Torso_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 0.307692
[DEBUG]Torso_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 0.428571
[DEBUG]Torso_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: -25.044
[DEBUG]sharedcan [6] msg from board 5: PWM ENA:1
[DEBUG]sharedcan [6] msg from board 5: CMODE SET:65
[DEBUG]sharedcan [6] msg from board 5: PWM ENA:3
[DEBUG]sharedcan [6] msg from board 7: CMODE SET:65
[DEBUG]sharedcan [6] msg from board 7: PWM ENA:1
[DEBUG]Head_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -30.044
[DEBUG]Head_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -0.021978
[DEBUG]Head_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 0.10989
[DEBUG]Head_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 0.373626
[DEBUG]Right_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -29.033
[DEBUG]Right_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 28.6044
[DEBUG]Right_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 2.30176
[DEBUG]Right_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 44.5714
[DEBUG]Left_Arm_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -29.8736
[DEBUG]Left_Arm_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 29.8571
[DEBUG]Left_Arm_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 0.241758
[DEBUG]Left_Arm_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 44.9011
[DEBUG]Left_Leg_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 0.043956
[DEBUG]Left_Leg_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 0.043956
[DEBUG]Left_Leg_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: 0.043956
[DEBUG]Left_Leg_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 0.043956
[DEBUG]Left_Leg_Calibrator : set 1 j 4 : Calibrating... enc values AFTER calib: 0.043956
[DEBUG]Left_Leg_Calibrator : set 1 j 5 : Calibrating... enc values AFTER calib: 0.043956
[DEBUG]Right_Leg_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -0.043956
[DEBUG]Right_Leg_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: -0.043956
[DEBUG]Right_Leg_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib: -0.043956
[DEBUG]Right_Leg_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: -0.043956
[DEBUG]Right_Leg_Calibrator : set 1 j 4 : Calibrating... enc values AFTER calib: -0.043956
[DEBUG]Right_Leg_Calibrator : set 1 j 5 : Calibrating... enc values AFTER calib: -0.043956
[DEBUG]Left_Hand_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: 90.1836
[DEBUG]Left_Hand_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 5.23419
[DEBUG]Left_Hand_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 6.72451
[DEBUG]Left_Hand_Calibrator : set 1 j 5 : Calibrating... enc values AFTER calib: 0.639016
[DEBUG]Right_Hand_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib: -13.4013
[DEBUG]Right_Hand_Calibrator : set 1 j 1 : Calibrating... enc values AFTER calib: 8.17736
[DEBUG]Right_Hand_Calibrator : set 1 j 3 : Calibrating... enc values AFTER calib: 5.01719
[DEBUG]Right_Hand_Calibrator : set 1 j 5 : Calibrating... enc values AFTER calib: 2.29921
[DEBUG]sharedcan [5] thread ran 597 times, req.dT:10[ms], av.dT:10.07[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [5] board 5 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [5] printing boards infos:
[WARNING]sharedcan [5] have not heard from board 8 (channel 0) since 6.19 seconds
[WARNING]sharedcan [5] have not heard from board 8 (channel 1) since 6.19 seconds
[DEBUG]sharedcan [2] thread ran 597 times, req.dT:10[ms], av.dT:10.07[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [2] board 1 MAIN LOOP TIME EXCEDEED 1 TIMES!
[WARNING]sharedcan [2] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [2] printing boards infos:
[WARNING]sharedcan [2] have not heard from board 3 (channel 0) since 6.19 seconds
[WARNING]sharedcan [2] have not heard from board 3 (channel 1) since 6.19 seconds
[WARNING]sharedcan [2] have not heard from board 4 (channel 0) since 6.19 seconds
[WARNING]sharedcan [2] have not heard from board 4 (channel 1) since 6.19 seconds
[DEBUG]sharedcan [6] thread ran 597 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [6] board 5 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [6] printing boards infos:
[WARNING]sharedcan [6] have not heard from board 8 (channel 0) since 6.19 seconds
[WARNING]sharedcan [6] have not heard from board 8 (channel 1) since 6.19 seconds
[DEBUG]Torso_Calibrator : calib joint ended
[DEBUG]Torso_Calibrator : set 1 : Calibration ended, going to zero!
[DEBUG]Head_Calibrator : calib joint ended
[DEBUG]Head_Calibrator : set 1 : Calibration ended, going to zero!
[DEBUG]Right_Arm_Calibrator : calib joint ended
[DEBUG]Right_Arm_Calibrator : set 1 : Calibration ended, going to zero!
[DEBUG]sharedcan [2] msg from board 2: CMODE SET:1
[DEBUG]sharedcan [2] msg from board 2: PWM ENA:0
[DEBUG]Left_Leg_Calibrator : calib joint ended
[DEBUG]Left_Leg_Calibrator : set 1 : Calibration ended, going to zero!
[[DEBUG]Left_Arm_Calibrator : calib joint ended
[DEBUG]Left_Arm_Calibrator : set 1 : Calibration ended, going to zero!
]setControlModeRaw delay ( j:2), current mode: idl, requested: pos
[DEBUG]Right_Leg_Calibrator : calib joint ended
[DEBUG]Right_Leg_Calibrator : set 1 : Calibration ended, going to zero!
[DEBUG]sharedcan [3] thread ran 597 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING[DEBUG]sharedcan [2] msg from board 2: CMODE SET:1
[DEBUG]sharedcan [2] msg from board 2: PWM ENA:1
[WARNING]sharedcan [3] board 6 MAIN LOOP TIME EXCEDEED 1 TIMES!
[WARNING]sharedcan [3] board 7 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [3] printing boards infos:
[DEBUG]sharedcan [1] msg from board 2: CMODE SET:1
[DEBUG]sharedcan [1] msg from board 2: PWM ENA:0
[WARNING]setControlModeRaw delay ( j:2), current mode: idl, requested: pos
[WARNING]setControlModeRaw delay ( j:3), current mode: idl, requested: pos
[DEBUG]Left_Hand_Calibrator : calib joint ended
[DEBUG]Left_Hand_Calibrator : set 1 : Calibration ended, going to zero!
[DEBUG]sharedcan [1] msg from board 2: CMODE SET:1
[DEBUG]sharedcan [1] msg from board 2: PWM ENA:1
[DEBUG]Right_Hand_Calibrator : calib joint ended
[DEBUG]Right_Hand_Calibrator : set 1 : Calibration ended, going to zero!
[WARNING]setControlModeRaw delay ( j:3), current mode: idl, requested: pos
[DEBUG]sharedcan [4] thread ran 597 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [4] board 8 MAIN LOOP TIME EXCEDEED 1 TIMES!
[WARNING]sharedcan [4] board 9 MAIN LOOP TIME EXCEDEED 1 TIMES!
[WARNING]sharedcan [4] board 10 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [4] printing boards infos:
[DEBUG]Torso_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 )
[DEBUG]Torso_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 )
[DEBUG]Torso_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 )
[DEBUG]Head_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 )
[DEBUG]Head_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 )
[DEBUG]Head_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 )
[DEBUG]Head_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 10 )
[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 )
[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 )
[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 )
[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 10 )
[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 10 )
[DEBUG]Left_Leg_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 10 )
[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 0 (desired pos: 0 desired speed: 10 )
[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 1 (desired pos: 0 desired speed: 10 )
[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 )
[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 10 )
[DEBUG]sharedcan [0] thread ran 597 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface[DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 10 )
[WARNING][DEBUG]Right_Leg_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 10 )
[DEBUG]sharedcan [0] printing boards infos:
[WARNING]sharedcan [0] have not heard from board 3 (channel 0) since 6.16 seconds
[WARNING]sharedcan [0] have not heard from board 3 (channel 1) since 6.16 seconds
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 0 (desired pos: -30 desired speed: 10 )
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 1 (desired pos: 30 desired speed: 10 )
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 )
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 3 (desired pos: 45 desired speed: 10 )
[DEBUG]Left_Hand_Calibrator : Sending positionMove to joint 0 (desired pos: 30 desired speed: 100 )
[DEBUG]Left_Hand_Calibrator : Sending positionMove to joint 1 (desired pos: 3 desired speed: 100 )
[DEBUG]Left_Hand_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 100 )
[DEBUG]Left_Hand_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 100 )
[DEBUG]Right_Hand_Calibrator : Sending positionMove to joint 0 (desired pos: 30 desired speed: 100 )
[DEBUG]Right_Hand_Calibrator : Sending positionMove to joint 1 (desired pos: 3 desired speed: 100 )
[DEBUG]Right_Hand_Calibrator : Sending positionMove to joint 3 (desired pos: 0 desired speed: 100 )
[DEBUG]Right_Hand_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 100 )
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 0 (desired pos: -30 desired speed: 10 )
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 1 (desired pos: 30 desired speed: 10 )
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 10 )
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 3 (desired pos: 45 desired speed: 10 )
[DEBUG]sharedcan [0] thread ran 597 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.01[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [0] board 5 MAIN LOOP TIME EXCEDEED 1 TIMES!
[WARNING]sharedcan [0] board 6 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [0] printing boards infos:
[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.044 over: 2.000
[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.011 des: 0.000 -> delta: 0.011 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.011 over: 2.000
[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 1.505 des: 0.000 -> delta: 1.505 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 1.505 over: 2.000
[DEBUG]Torso_Calibrator : set 1 : Reached zero position!
[DEBUG]torso_calibrator finished calibration of device torso_mc_wrapper
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -25.824 des: 0.000 -> delta: 25.824 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.044 over: 2.000
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.044 over: 2.000
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.044 over: 2.000
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.044 over: 2.000
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.044 over: 2.000
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -30.352 des: -30.000 -> delta: 0.352 threshold: 2.000 output: 1.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.352 over: 2.000
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.044 over: 2.000
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 24.911 des: 30.000 -> delta: 5.089 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 5.089 over: 90.000
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.044 over: 2.000
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 32.385 des: 30.000 -> delta: 2.385 threshold: 2.000 output: -34.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -13.401 des: 30.000 -> delta: 43.401 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 43.401 over: 90.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -29.786 des: -30.000 -> delta: 0.214 threshold: 2.000 output: 11.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.214 over: 2.000
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.044 over: 2.000
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 6.156 des: 3.000 -> delta: 3.156 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 3.156 over: 90.000
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 8.591 des: 3.000 -> delta: 5.591 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 5.591 over: 90.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 30.824 des: 30.000 -> delta: 0.824 threshold: 2.000 output: 23.000 mode: pos
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: -0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.044 over: 2.000
[DEBUG]Right_Leg_Calibrator : set 1 : Reached zero position!
[DEBUG]right_leg_calibrator finished calibration of device right_leg_mc_wrapper
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 6.725 des: 0.000 -> delta: 6.725 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 6.725 over: 90.000
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.044 over: 2.000
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 5.017 des: 0.000 -> delta: 5.017 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 5.017 over: 90.000
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 1.049 des: 0.000 -> delta: 1.049 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 1.049 over: 90.000
[DEBUG]Left_Hand_Calibrator : set 1 : Reached zero position!
[WARNING]Left_Hand_Calibrator lit is 2
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 2.696 des: 0.000 -> delta: 2.696 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 2.696 over: 90.000
[DEBUG]Right_Hand_Calibrator : set 1 : Reached zero position!
[WARNING]Right_Hand_Calibrator lit is 2
[DEBUG]Left_Hand_Calibrator : skipping maxPwm=0 of joint 2
[WARNING]Left_Hand_Calibrator lit is 4
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.044 over: 2.000
[DEBUG]Right_Hand_Calibrator : skipping maxPwm=0 of joint 2
[WARNING]Right_Hand_Calibrator lit is 4
[DEBUG]Left_Hand_Calibrator : skipping maxPwm=0 of joint 4
[WARNING]Left_Hand_Calibrator lit is 6
[DEBUG]Right_Hand_Calibrator : skipping maxPwm=0 of joint 4
[WARNING]Right_Hand_Calibrator lit is 6
[DEBUG]Left_Hand_Calibrator : skipping maxPwm=0 of joint 6
[WARNING]Left_Hand_Calibrator lit is 7
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.044 des: 0.000 -> delta: 0.044 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.044 over: 2.000
[DEBUG]Left_Leg_Calibrator : set 1 : Reached zero position!
[DEBUG]left_leg_calibrator finished calibration of device left_leg_mc_wrapper
[DEBUG]Right_Hand_Calibrator : skipping maxPwm=0 of joint 6
[WARNING]Right_Hand_Calibrator lit is 7
[DEBUG]Left_Hand_Calibrator : skipping maxPwm=0 of joint 7
[DEBUG]In calibration Left_Hand_Calibrator : enabling joint 2 to test hardware limit
[DEBUG]Right_Hand_Calibrator : skipping maxPwm=0 of joint 7
[DEBUG]In calibration Right_Hand_Calibrator : enabling joint 2 to test hardware limit
[DEBUG]sharedcan [5] msg from board 5: CMODE SET:1
[DEBUG]sharedcan [5] msg from board 5: PWM ENA:2
[DEBUG]In calibration Left_Hand_Calibrator : enabling joint 4 to test hardware limit
[DEBUG]sharedcan [6] msg from board 5: CMODE SET:1
[DEBUG]sharedcan [6] msg from board 5: PWM ENA:2
[DEBUG]sharedcan [5] msg from board 7: CMODE SET:1
[DEBUG]sharedcan [5] msg from board 7: PWM ENA:0
[DEBUG]In calibration Left_Hand_Calibrator : enabling joint 6 to test hardware limit
[WARNING]setControlModeRaw delay ( j:2), current mode: idl, requested: pos
[DEBUG]In calibration Right_Hand_Calibrator : enabling joint 4 to test hardware limit
[DEBUG]sharedcan [5] msg from board 7: CMODE SET:1
[DEBUG]sharedcan [5] msg from board 7: PWM ENA:2
[DEBUG]In calibration Left_Hand_Calibrator : enabling joint 7 to test hardware limit
[DEBUG]sharedcan [6] msg from board 7: CMODE SET:1
[DEBUG]sharedcan [6] msg from board 7: PWM ENA:0
[DEBUG]sharedcan [5] msg from board 7: CMODE SET:1
[DEBUG]sharedcan [5] msg from board 7: PWM ENA:3
[WARNING]setControlModeRaw delay ( j:4), current mode: idl, requested: pos
[DEBUG]In calibration Right_Hand_Calibrator : enabling joint 6 to test hardware limit
[DEBUG]sharedcan [6] msg from board 7: CMODE SET:1
[DEBUG]sharedcan [6] msg from board 7: PWM ENA:2
[WARNING]setControlModeRaw delay ( j:6), current mode: idl, requested: pos
[DEBUG]In calibration Right_Hand_Calibrator : enabling joint 7 to test hardware limit
[DEBUG]sharedcan [6] msg from board 7: CMODE SET:1
[DEBUG]sharedcan [6] msg from board 7: PWM ENA:3
[WARNING]setControlModeRaw delay ( j:7), current mode: idl, requested: pos
[INFO]Left_Hand_Calibrator : Calling calibrateJoint on joint 2 with params: 4 55 30 6600
[INFO]Left_Hand_Calibrator : Calling calibrateJoint on joint 4 with params: 4 10 10 7400
[INFO]Left_Hand_Calibrator : Calling calibrateJoint on joint 6 with params: 4 20 10 -7400
[INFO]Left_Hand_Calibrator : Calling calibrateJoint on joint 7 with params: 4 710 10 14000
[DEBUG]sharedcan [5] msg from board 5: CMODE SET:65
[DEBUG]sharedcan [5] msg from board 5: PWM ENA:2
[DEBUG]sharedcan [5] msg from board 7: CMODE SET:65
[DEBUG]sharedcan [5] msg from board 7: PWM ENA:0
[DEBUG]sharedcan [5] msg from board 7: CMODE SET:65
[DEBUG]sharedcan [5] msg from board 7: PWM ENA:2
[DEBUG]sharedcan [5] msg from board 7: CMODE SET:65
[DEBUG]sharedcan [5] msg from board 7: PWM ENA:3
[INFO]Right_Hand_Calibrator : Calling calibrateJoint on joint 2 with params: 4 60 30 8000
[INFO]Right_Hand_Calibrator : Calling calibrateJoint on joint 4 with params: 4 105 10 -7400
[INFO]Right_Hand_Calibrator : Calling calibrateJoint on joint 6 with params: 4 20 10 7400
[INFO]Right_Hand_Calibrator : Calling calibrateJoint on joint 7 with params: 4 705 10 14000
[DEBUG]sharedcan [6] msg from board 5: CMODE SET:65
[DEBUG]sharedcan [6] msg from board 5: PWM ENA:2
[DEBUG]sharedcan [6] msg from board 7: CMODE SET:65
[DEBUG]sharedcan [6] msg from board 7: CMODE SET:65
[DEBUG]sharedcan [6] msg from board 7: CMODE SET:65
[DEBUG]sharedcan [6] msg from board 7: PWM ENA:3
[DEBUG]sharedcan [6] msg from board 7: PWM ENA:2
[DEBUG]sharedcan [6] msg from board 7: PWM ENA:0
[DEBUG]Left_Hand_Calibrator : set 2 j 2 : Calibrating... enc values AFTER calib: 7.95102
[DEBUG]Left_Hand_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 1.74656
[DEBUG]Left_Hand_Calibrator : set 2 j 6 : Calibrating... enc values AFTER calib: 2.59594
[DEBUG]Left_Hand_Calibrator : set 2 j 7 : Calibrating... enc values AFTER calib: 3.63909
[DEBUG]Right_Hand_Calibrator : set 2 j 2 : Calibrating... enc values AFTER calib: 4.41678
[DEBUG]Right_Hand_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: -2.77308
[DEBUG]Right_Hand_Calibrator : set 2 j 6 : Calibrating... enc values AFTER calib: -1.16975
[DEBUG]Right_Hand_Calibrator : set 2 j 7 : Calibrating... enc values AFTER calib: 2.60696
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -17.033 des: 0.000 -> delta: 17.033 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 29.747 des: 30.000 -> delta: 0.253 threshold: 2.000 output: -1.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.253 over: 2.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 29.857 des: 30.000 -> delta: 0.143 threshold: 2.000 output: -4.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.143 over: 2.000
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -1.303 des: 0.000 -> delta: 1.303 threshold: 2.000 output: -11.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 1.303 over: 2.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 1.824 des: 0.000 -> delta: 1.824 threshold: 2.000 output: -36.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 1.824 over: 2.000
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 44.835 des: 45.000 -> delta: 0.165 threshold: 2.000 output: 38.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.165 over: 2.000
[DEBUG]Right_Arm_Calibrator : set 1 : Reached zero position!
[[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 44.901 des: 45.000 -> delta: 0.099 threshold: 2.000 output: -14.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.099 over: 2.000
[DEBUG]Left_Arm_Calibrator : set 1 : Reached zero position!
[WARNING]Left_Arm_Calibrator lit is 4
]Right_Arm_Calibrator lit is 4
[DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 4
[WARNING]Right_Arm_Calibrator lit is 6
[DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 4
[WARNING]Left_Arm_Calibrator lit is 6
[DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 6
[WARNING]Right_Arm_Calibrator lit is 7
[DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 6
[WARNING]Left_Arm_Calibrator lit is 7
[DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 7
[DEBUG]In calibration Right_Arm_Calibrator : enabling joint 4 to test hardware limit
[DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 7
[DEBUG]In calibration Left_Arm_Calibrator : enabling joint 4 to test hardware limit
[DEBUG]sharedcan [2] msg from board 3: CMODE SET:1
[DEBUG]sharedcan [2] msg from board 3: PWM ENA:0
[DEBUG]sharedcan [1] msg from board 3: CMODE SET:1
[DEBUG]sharedcan [1] msg from board 3: PWM ENA:0
[DEBUG]In calibration Left_Arm_Calibrator : enabling joint 6 to test hardware limit
[WARNING[DEBUG]sharedcan [1] msg from board 3: CMODE SET:1
[DEBUG]sharedcan [1] msg from board 3: CMODE SET:1
[DEBUG]sharedcan [1] msg from board 3: PWM ENA COUPLED:1 & 2
setControlModeRaw delay ( j:4), current mode: idl, requested: pos
[DEBUG]In calibration Right_Arm_Calibrator : enabling joint 6 to test hardware limit
[DEBUG]sharedcan [2] msg from board 3: CMODE SET:1
[DEBUG]sharedcan [2] msg from board 3: CMODE SET:1
[DEBUG]sharedcan [2] msg from board 3: PWM ENA COUPLED:1 & 2
[WARNING]setControlModeRaw delay ( j:6), current mode: idl, requested: pos
[INFO]Left_Arm_Calibrator : Calling calibrateJoint on joint 4 with params: 0 800 20 0
[INFO]Left_Arm_Calibrator : Calling calibrateJoint on joint 6 with params: 2 750 -10 0
[INFO]Left_Arm_Calibrator : Calling calibrateJoint on joint 7 with params: 3 1930 100 0
[DEBUG]sharedcan [1] msg from board 3: CMODE SET:32
[DEBUG]sharedcan [1] msg from board 3: PWM ENA:0
[DEBUG]sharedcan [1] msg from board 3: CMODE SET:32
[DEBUG]sharedcan [1] msg from board 3: CMODE SET:1
[DEBUG]sharedcan [1] msg from board 3: PWM ENA:3
[DEBUG]sharedcan [1] msg from board 3: PWM ENA COUPLED:1 & 2
[INFO]Right_Arm_Calibrator : Calling calibrateJoint on joint 4 with params: 0 800 -20 0
[INFO]Right_Arm_Calibrator : Calling calibrateJoint on joint 6 with params: 2 750 10 0
[INFO]Right_Arm_Calibrator : Calling calibrateJoint on joint 7 with params: 3 1490 100 0
[DEBUG]sharedcan [2] msg from board 3: CMODE SET:32
[DEBUG]sharedcan [2] msg from board 3: CMODE SET:32
[DEBUG]sharedcan [2] msg from board 3: CMODE SET:1
[DEBUG]sharedcan [2] msg from board 3: PWM ENA:3
[DEBUG]sharedcan [2] msg from board 3: PWM ENA COUPLED:1 & 2
[DEBUG]sharedcan [2] msg from board 3: PWM ENA:0
[DEBUG]Left_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: -92.2528
[DEBUG]Left_Arm_Calibrator : set 2 j 6 : Calibrating... enc values AFTER calib: 52.8605
[DEBUG]Left_Arm_Calibrator : set 2 j 7 : Calibrating... enc values AFTER calib: 12.8182
[DEBUG]Right_Arm_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: -94.2113
[DEBUG]Right_Arm_Calibrator : set 2 j 6 : Calibrating... enc values AFTER calib: 53.3286
[DEBUG]Right_Arm_Calibrator : set 2 j 7 : Calibrating... enc values AFTER calib: -0.299955
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -7.714 des: 0.000 -> delta: 7.714 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -1.648 des: 0.000 -> delta: 1.648 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.110 des: 0.000 -> delta: 0.110 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.198 des: 0.000 -> delta: 0.198 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 0 completed with delta: 0.198 over: 2.000
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 1 completed with delta: 0.022 over: 2.000
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.110 des: 0.000 -> delta: 0.110 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 0.110 over: 2.000
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.022 des: 0.000 -> delta: 0.022 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 3 completed with delta: 0.022 over: 2.000
[DEBUG]Head_Calibrator : set 1 : Reached zero position!
[WARNING]Head_Calibrator lit is 4
[DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 4
[DEBUG]In calibration Head_Calibrator : enabling joint 4 to test hardware limit
[DEBUG]sharedcan [0] msg from board 2: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 2: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 2: PWM ENA COUPLED:2 & 3
[INFO]Head_Calibrator : Calling calibrateJoint on joint 4 with params: 0 900 20 0
[DEBUG]sharedcan [0] msg from board 2: CMODE SET:32
[DEBUG]sharedcan [0] msg from board 2: CMODE SET:32
[DEBUG]sharedcan [0] msg from board 2: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 2: PWM ENA COUPLED:2 & 3
[DEBUG]Head_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib: 51.9567
[DEBUG]sharedcan [1] thread ran 596 times, req.dT:10[ms], av.dT:10.07[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [1] board 1 MAIN LOOP TIME EXCEDEED 1 TIMES!
[WARNING]sharedcan [1] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES!
[WARNING]sharedcan [1] board 3 MAIN LOOP TIME EXCEDEED 2 TIMES!
[DEBUG]sharedcan [1] printing boards infos:
[DEBUG]sharedcan [5] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [5] board 7 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [5] printing boards infos:
[WARNING]sharedcan [5] have not heard from board 5 (channel 0) since 6.14 seconds
[WARNING]sharedcan [5] have not heard from board 5 (channel 1) since 6.14 seconds
[DEBUG]Right_Arm_Calibrator : calib joint ended
[DEBUG]Right_Arm_Calibrator : set 2 : Calibration ended, going to zero!
[DEBUG]sharedcan [2] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [2] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES!
[WARNING]sharedcan [2] board 3 MAIN LOOP TIME EXCEDEED 2 TIMES!
[DEBUG]sharedcan [2] printing boards infos:
[WARNING]sharedcan [2] have not heard from board 1 (channel 0) since 6.60 seconds
[WARNING]sharedcan [2] have not heard from board 1 (channel 1) since 6.60 seconds
[DEBUG]sharedcan [6] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [6] board 7 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [6] printing boards infos:
[WARNING]sharedcan [6] have not heard from board 5 (channel 0) since 6.64 seconds
[WARNING]sharedcan [6] have not heard from board 5 (channel 1) since 6.64 seconds
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 )
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 )
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 15 desired speed: 100 )
[DEBUG]sharedcan [3] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [3] printing boards infos:
None
[WARNING]sharedcan [3] have not heard from board 5 (channel 0) since 7.16 seconds
[WARNING]sharedcan [3] have not heard from board 5 (channel 1) since 7.16 seconds
[WARNING]sharedcan [3] have not heard from board 6 (channel 0) since 7.16 seconds
[WARNING]sharedcan [3] have not heard from board 6 (channel 1) since 7.16 seconds
[WARNING]sharedcan [3] have not heard from board 7 (channel 0) since 7.16 seconds
[WARNING]sharedcan [3] have not heard from board 7 (channel 1) since 7.16 seconds
[DEBUG]sharedcan [4] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [4] printing boards infos:
None
[WARNING]sharedcan [4] have not heard from board 8 (channel 0) since 7.41 seconds
[WARNING]sharedcan [4] have not heard from board 8 (channel 1) since 7.41 seconds
[WARNING]sharedcan [4] have not heard from board 9 (channel 0) since 7.41 seconds
[WARNING]sharedcan [4] have not heard from board 9 (channel 1) since 7.41 seconds
[WARNING]sharedcan [4] have not heard from board 10 (channel 0) since 7.41 seconds
[WARNING]sharedcan [4] have not heard from board 10 (channel 1) since 7.41 seconds
[DEBUG]Head_Calibrator : calib joint ended
[DEBUG]Head_Calibrator : set 2 : Calibration ended, going to zero!
[DEBUG]Left_Arm_Calibrator : calib joint ended
[DEBUG]Left_Arm_Calibrator : set 2 : Calibration ended, going to zero!
[DEBUG]sharedcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [0] board 2 MAIN LOOP TIME EXCEDEED 2 TIMES!
[DEBUG]sharedcan [0] printing boards infos:
[WARNING]sharedcan [0] have not heard from board 1 (channel 0) since 7.68 seconds
[WARNING]sharedcan [0] have not heard from board 1 (channel 1) since 7.68 seconds
[DEBUG]sharedcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.01[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [0] printing boards infos:
None
[WARNING]sharedcan [0] have not heard from board 5 (channel 0) since 7.88 seconds
[WARNING]sharedcan [0] have not heard from board 5 (channel 1) since 7.88 seconds
[WARNING]sharedcan [0] have not heard from board 6 (channel 0) since 7.88 seconds
[WARNING]sharedcan [0] have not heard from board 6 (channel 1) since 7.88 seconds
[DEBUG]Head_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 10 )
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 30 )
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 30 )
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 7 (desired pos: 15 desired speed: 100 )
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -71.720 des: 0.000 -> delta: 71.720 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator : calib joint ended
[DEBUG]Left_Hand_Calibrator : set 2 : Calibration ended, going to zero!
[DEBUG]Right_Hand_Calibrator : calib joint ended
[DEBUG]Right_Hand_Calibrator : set 2 : Calibration ended, going to zero!
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -45.462 des: 0.000 -> delta: 45.462 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 100 )
[DEBUG]Left_Hand_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 100 )
[DEBUG]Left_Hand_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 100 )
[DEBUG]Left_Hand_Calibrator : Sending positionMove to joint 7 (desired pos: 0 desired speed: 100 )
[DEBUG]Right_Hand_Calibrator : Sending positionMove to joint 2 (desired pos: 0 desired speed: 100 )
[DEBUG]Right_Hand_Calibrator : Sending positionMove to joint 4 (desired pos: 0 desired speed: 100 )
[DEBUG]Right_Hand_Calibrator : Sending positionMove to joint 6 (desired pos: 0 desired speed: 100 )
[DEBUG]Right_Hand_Calibrator : Sending positionMove to joint 7 (desired pos: 0 desired speed: 100 )
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 46.077 des: 0.000 -> delta: 46.077 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -71.462 des: 0.000 -> delta: 71.462 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -18.575 des: 0.000 -> delta: 18.575 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 40.682 des: 0.000 -> delta: 40.682 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -45.405 des: 0.000 -> delta: 45.405 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -2.896 des: 0.000 -> delta: 2.896 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 127.019 des: 0.000 -> delta: 127.019 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 108.136 des: 0.000 -> delta: 108.136 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 32.580 des: 0.000 -> delta: 32.580 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -18.977 des: 0.000 -> delta: 18.977 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 0.008 des: 0.000 -> delta: 0.008 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.008 over: 2.000
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 0.001 des: 0.000 -> delta: 0.001 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 0.001 over: 90.000
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 15.000 des: 15.000 -> delta: 0.000 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 0.000 over: 90.000
[DEBUG]Right_Arm_Calibrator : set 2 : Reached zero position!
[WARNING]Right_Arm_Calibrator lit is 5
[DEBUG]Right_Arm_Calibrator : skipping maxPwm=0 of joint 5
[DEBUG]In calibration Right_Arm_Calibrator : enabling joint 5 to test hardware limit
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 38.459 des: 0.000 -> delta: 38.459 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 23.838 des: 0.000 -> delta: 23.838 threshold: 90.000 output: 0.000 mode: pos
[INFO]Right_Arm_Calibrator : Calling calibrateJoint on joint 5 with params: 2 750 10 0
[DEBUG]sharedcan [2] msg from board 3: CMODE SET:32
[DEBUG]sharedcan [2] msg from board 3: PWM ENA COUPLED:1 & 2
[DEBUG]Right_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: 21.2509
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 23.107 des: 0.000 -> delta: 23.107 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -3.131 des: 0.000 -> delta: 3.131 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 8.798 des: 0.000 -> delta: 8.798 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 8.798 over: 90.000
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 1.747 des: 0.000 -> delta: 1.747 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 1.747 over: 90.000
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: 3.014 des: 0.000 -> delta: 3.014 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 3.014 over: 90.000
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: -0.906 des: 0.000 -> delta: 0.906 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Left_Hand_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 0.906 over: 90.000
[DEBUG]Left_Hand_Calibrator : set 2 : Reached zero position!
[DEBUG]left_hand_calibrator finished calibration of device left_hand_mc
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 4.417 des: 0.000 -> delta: 4.417 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 2 completed with delta: 4.417 over: 90.000
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -3.735 des: 0.000 -> delta: 3.735 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 3.735 over: 90.000
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: -0.333 des: 0.000 -> delta: 0.333 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 0.333 over: 90.000
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: -0.002 des: 0.000 -> delta: 0.002 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Right_Hand_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 0.002 over: 90.000
[DEBUG]Right_Hand_Calibrator : set 2 : Reached zero position!
[DEBUG]right_hand_calibrator finished calibration of device right_hand_mc
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 14.014 des: 0.000 -> delta: 14.014 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 0.007 des: 0.000 -> delta: 0.007 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.007 over: 2.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 curr: -0.001 des: 0.000 -> delta: 0.001 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 0.001 over: 90.000
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 curr: 15.545 des: 15.000 -> delta: 0.545 threshold: 90.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 7 completed with delta: 0.545 over: 90.000
[DEBUG]Left_Arm_Calibrator : set 2 : Reached zero position!
[WARNING]Left_Arm_Calibrator lit is 5
[DEBUG]Left_Arm_Calibrator : skipping maxPwm=0 of joint 5
[DEBUG]In calibration Left_Arm_Calibrator : enabling joint 5 to test hardware limit
[INFO]Left_Arm_Calibrator : Calling calibrateJoint on joint 5 with params: 2 750 -10 0
[DEBUG]sharedcan [1] msg from board 3: CMODE SET:32
[DEBUG]sharedcan [1] msg from board 3: PWM ENA COUPLED:1 & 2
[DEBUG]Left_Arm_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: 20.8646
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 6.536 des: 0.000 -> delta: 6.536 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]sharedcan [1] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [1] board 3 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [1] printing boards infos:
[WARNING]sharedcan [1] have not heard from board 1 (channel 0) since 11.97 seconds
[WARNING]sharedcan [1] have not heard from board 1 (channel 1) since 11.97 seconds
[WARNING]sharedcan [1] have not heard from board 2 (channel 0) since 10.79 seconds
[WARNING]sharedcan [1] have not heard from board 2 (channel 1) since 10.79 seconds
[WARNING]sharedcan [1] have not heard from board 4 (channel 0) since 7.79 seconds
[WARNING]sharedcan [1] have not heard from board 4 (channel 1) since 7.79 seconds
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 1.837 des: 0.000 -> delta: 1.837 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]sharedcan [5] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [5] printing boards infos:
None
[WARNING]sharedcan [5] have not heard from board 5 (channel 0) since 12.15 seconds
[WARNING]sharedcan [5] have not heard from board 5 (channel 1) since 12.15 seconds
[WARNING]sharedcan [5] have not heard from board 6 (channel 0) since 8.04 seconds
[WARNING]sharedcan [5] have not heard from board 6 (channel 1) since 8.04 seconds
[DEBUG]Right_Arm_Calibrator : calib joint ended
[DEBUG]Right_Arm_Calibrator : set 3 : Calibration ended, going to zero!
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 0.136 des: 0.000 -> delta: 0.136 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]sharedcan [2] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [2] board 3 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [2] printing boards infos:
[WARNING]sharedcan [2] have not heard from board 1 (channel 0) since 12.61 seconds
[WARNING]sharedcan [2] have not heard from board 1 (channel 1) since 12.61 seconds
[WARNING]sharedcan [2] have not heard from board 2 (channel 0) since 11.44 seconds
[WARNING]sharedcan [2] have not heard from board 2 (channel 1) since 11.44 seconds
[WARNING]sharedcan [2] have not heard from board 4 (channel 0) since 8.22 seconds
[WARNING]sharedcan [2] have not heard from board 4 (channel 1) since 8.22 seconds
[DEBUG]Right_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 )
[DEBUG]sharedcan [6] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [6] printing boards infos:
None
[WARNING]sharedcan [6] have not heard from board 5 (channel 0) since 12.65 seconds
[WARNING]sharedcan [6] have not heard from board 5 (channel 1) since 12.65 seconds
[WARNING]sharedcan [6] have not heard from board 6 (channel 0) since 8.53 seconds
[WARNING]sharedcan [6] have not heard from board 6 (channel 1) since 8.53 seconds
[WARNING]sharedcan [6] have not heard from board 7 (channel 0) since 6.14 seconds
[WARNING]sharedcan [6] have not heard from board 7 (channel 1) since 6.14 seconds
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.002 des: 0.000 -> delta: 0.002 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.002 over: 2.000
[DEBUG]Head_Calibrator : set 2 : Reached zero position!
[WARNING]Head_Calibrator lit is 5
[DEBUG]Head_Calibrator : skipping maxPwm=0 of joint 5
[DEBUG]In calibration Head_Calibrator : enabling joint 5 to test hardware limit
[INFO]Head_Calibrator : Calling calibrateJoint on joint 5 with params: 0 900 20 0
[DEBUG]sharedcan [3] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [3] printing boards infos:
None
[WARNING]sharedcan [3] have not heard from board 5 (channel 0) since 13.17 seconds
[WARNING]sharedcan [3] have not heard from board 5 (channel 1) since 13.17 seconds
[WARNING]sharedcan [3] have not heard from board 6 (channel 0) since 13.17 seconds
[WARNING]sharedcan [3] have not heard from board 6 (channel 1) since 13.17 seconds
[WARNING]sharedcan [3] have not heard from board 7 (channel 0) since 13.17 seconds
[WARNING]sharedcan [3] have not heard from board 7 (channel 1) since 13.17 seconds
[DEBUG]sharedcan [0] msg from board 2: CMODE SET:32
[DEBUG]sharedcan [0] msg from board 2: CMODE SET:32
[DEBUG]sharedcan [0] msg from board 2: CMODE SET:1
[DEBUG]sharedcan [0] msg from board 2: PWM ENA COUPLED:2 & 3
[DEBUG]Head_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib: -22.9539
[DEBUG]Left_Arm_Calibrator : calib joint ended
[DEBUG]Left_Arm_Calibrator : set 3 : Calibration ended, going to zero!
[DEBUG]sharedcan [4] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [4] printing boards infos:
None
[WARNING]sharedcan [4] have not heard from board 8 (channel 0) since 13.41 seconds
[WARNING]sharedcan [4] have not heard from board 8 (channel 1) since 13.41 seconds
[WARNING]sharedcan [4] have not heard from board 9 (channel 0) since 13.41 seconds
[WARNING]sharedcan [4] have not heard from board 9 (channel 1) since 13.41 seconds
[WARNING]sharedcan [4] have not heard from board 10 (channel 0) since 13.41 seconds
[WARNING]sharedcan [4] have not heard from board 10 (channel 1) since 13.41 seconds
[DEBUG]sharedcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[WARNING]sharedcan [0] board 2 MAIN LOOP TIME EXCEDEED 1 TIMES!
[DEBUG]sharedcan [0] printing boards infos:
[WARNING]sharedcan [0] have not heard from board 1 (channel 0) since 13.68 seconds
[WARNING]sharedcan [0] have not heard from board 1 (channel 1) since 13.68 seconds
[DEBUG]Left_Arm_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 30 )
[DEBUG]sharedcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.01[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [0] printing boards infos:
None
[WARNING]sharedcan [0] have not heard from board 5 (channel 0) since 13.89 seconds
[WARNING]sharedcan [0] have not heard from board 5 (channel 1) since 13.89 seconds
[WARNING]sharedcan [0] have not heard from board 6 (channel 0) since 13.89 seconds
[WARNING]sharedcan [0] have not heard from board 6 (channel 1) since 13.89 seconds
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 2.019 des: 0.000 -> delta: 2.019 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.744 des: 0.000 -> delta: 0.744 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.744 over: 2.000
[DEBUG]Right_Arm_Calibrator : set 3 : Reached zero position!
[DEBUG]right_arm_calibrator finished calibration of device right_arm_mc
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: -0.012 des: 0.000 -> delta: 0.012 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.012 over: 2.000
[DEBUG]Left_Arm_Calibrator : set 3 : Reached zero position!
[DEBUG]left_arm_calibrator finished calibration of device left_arm_mc
[DEBUG]Head_Calibrator : calib joint ended
[DEBUG]Head_Calibrator : set 3 : Calibration ended, going to zero!
[DEBUG]Head_Calibrator : Sending positionMove to joint 5 (desired pos: 0 desired speed: 10 )
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 2.000 output: 0.000 mode: pos
[DEBUG]Head_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.000 over: 2.000
[DEBUG]Head_Calibrator : set 3 : Reached zero position!
[DEBUG]head_calibrator finished calibration of device head_mc_wrapper
[INFO]All actions for action level 10 of startup phase finished.
[INFO]Entering action level 15 of phase startup
[INFO]***** Attaching drivers to cartesian controller icub/cartesianController/left_arm *****
[INFO]Received list of 2 driver(s)
[INFO]Acquiring info on driver torso...
[INFO]driver torso successfully open
[INFO]Acquiring info on driver left_arm...
[INFO]driver left_arm successfully open
[INFO]icub/cartesianController/left_arm: IControlMode2 available
[INFO]icub/cartesianController/left_arm: IEncodersTimed interface will be used
[INFO]icub/cartesianController/left_arm: IPidControl available
[INFO]icub/cartesianController/left_arm: IPositionDirect available
[INFO]icub/cartesianController/left_arm: IVelocityControl2 available
[INFO]icub/cartesianController/left_arm: IPositionDirect interface will be used
[INFO]icub/cartesianController/left_arm: multiple joints control will be used
[INFO]icub/cartesianController/left_arm: aligning joints bounds ...
[INFO]part #0: torso
[INFO]joint #0: [-21.967, 69.989] deg
[INFO]joint #1: [-29.989, 29.967] deg
[INFO]joint #2: [-49.978, 49.978] deg
[INFO]part #1: left_arm
[INFO]joint #3: [-95.544, 10.0385] deg
[INFO]joint #4: [-0.032967, 160.758] deg
[INFO]joint #5: [-30, 74.967] deg
[INFO]joint #6: [15.011, 106] deg
[INFO]joint #7: [-90, 90.0006] deg
[INFO]joint #8: [-80, 15.0003] deg
[INFO]joint #9: [-19.9999, 25.0004] deg
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[INFO]Starting icub/cartesianController/left_arm at 10 ms
[INFO]icub/cartesianController/left_arm started successfully
[INFO]***** Attaching drivers to cartesian controller icub/cartesianController/right_arm *****
[INFO]Received list of 2 driver(s)
[INFO]Acquiring info on driver torso...
[INFO]driver torso successfully open
[INFO]Acquiring info on driver right_arm...
[INFO]driver right_arm successfully open
[INFO]icub/cartesianController/right_arm: IControlMode2 available
[INFO]icub/cartesianController/right_arm: IEncodersTimed interface will be used
[INFO]icub/cartesianController/right_arm: IPidControl available
[INFO]icub/cartesianController/right_arm: IPositionDirect available
[INFO]icub/cartesianController/right_arm: IVelocityControl2 available
[INFO]icub/cartesianController/right_arm: IPositionDirect interface will be used
[INFO]icub/cartesianController/right_arm: multiple joints control will be used
[INFO]icub/cartesianController/right_arm: aligning joints bounds ...
[INFO]part #0: torso
[INFO]joint #0: [-21.967, 69.989] deg
[INFO]joint #1: [-29.989, 29.967] deg
[INFO]joint #2: [-49.978, 49.978] deg
[INFO]part #1: right_arm
[INFO]joint #3: [-95.4945, 10] deg
[INFO]joint #4: [0.032967, 161] deg
[INFO]joint #5: [-29.962, 75.0051] deg
[INFO]joint #6: [15.033, 106.022] deg
[INFO]joint #7: [-90, 90.0006] deg
[INFO]joint #8: [-80, 15.0003] deg
[INFO]joint #9: [-19.9999, 25.0004] deg
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[INFO]Starting icub/cartesianController/right_arm at 10 ms
[INFO]icub/cartesianController/right_arm started successfully
[INFO]All actions for action level 15 of startup phase started. Waiting for unfinished actions.
[INFO]All actions for action level 15 of startup phase finished.
[INFO]startup phase finished.
[INFO]run phase starting...
[DEBUG]yarprobotinterface running happily
[DEBUG]sharedcan [1] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [1] printing boards infos:
None
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[INFO][try 1 of 3] Trying to shut down.
[WARNING]Interrupt # 1 # received.
[INFO]Interrupt received. Stopping all running threads.
[INFO]RFModule closing.
[INFO]interrupt1 phase starting...
[INFO]Entering action level 1 of phase interrupt1
[DEBUG]head_calibrator starting park device head_mc_wrapper
[DEBUG]torso_calibrator starting park device torso_mc_wrapper
[DEBUG]right_leg_calibrator starting park device right_leg_mc_wrapper
[DEBUG]left_leg_calibrator starting park device left_leg_mc_wrapper
[DEBUG]left_arm_calibrator starting park device left_arm_mc
[DEBUG]right_arm_calibrator starting park device right_arm_mc
[DEBUG]left_hand_calibrator starting park device left_hand_mc
[DEBUG]right_hand_calibrator starting park device right_hand_mc
[INFO]All actions for action level 1 of interrupt1 phase started. Waiting for unfinished actions.
[DEBUG]Head_Calibrator : Moving to park position, joint: 0
Registering new thread 2 out of 500
[DEBUG]Torso_Calibrator : Moving to park position, joint: 0
Registering new thread 2 out of 500
[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 0
Registering new thread 2 out of 500
[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 0
Registering new thread 2 out of 500
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 0
Registering new thread 2 out of 500
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 0
Registering new thread 2 out of 500
[DEBUG]Left_Hand_Calibrator : Moving to park position, joint: 0
Registering new thread 2 out of 500
[DEBUG]Right_Hand_Calibrator : Moving to park position, joint: 0
Registering new thread 2 out of 500
[DEBUG]Torso_Calibrator : Moving to park position, joint: 1
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 1
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 1
[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 1
[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 1
[DEBUG]Torso_Calibrator : Moving to park position, joint: 2
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 2
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 2
[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 2
[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 2
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 3
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 3
[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 3
[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 3
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 4
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 4
[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 4
[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 4
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 6
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 6
[DEBUG]Left_Leg_Calibrator : Moving to park position, joint: 5
[DEBUG]Right_Leg_Calibrator : Moving to park position, joint: 5
[DEBUG]Left_Leg_Calibrator : Park completed
[DEBUG]Right_Leg_Calibrator : Park completed
[DEBUG]sharedcan [3] msg from board 6: PWM DIS:0
[DEBUG]sharedcan [4] msg from board 9: PWM DIS:0
[DEBUG]sharedcan [3] msg from board 6: PWM DIS:1
[DEBUG]sharedcan [4] msg from board 9: PWM DIS:1
[DEBUG]sharedcan [3] msg from board 5: PWM DIS:0
[DEBUG]sharedcan [4] msg from board 8: PWM DIS:0
[DEBUG]sharedcan [3] msg from board 5: PWM DIS:1
[DEBUG]sharedcan [4] msg from board 8: PWM DIS:1
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[DEBUG]sharedcan [3] msg from board 7: PWM DIS:0
[DEBUG]sharedcan [4] msg from board 10: PWM DIS:0
[DEBUG]sharedcan [3] msg from board 7: PWM DIS:1
[DEBUG]left_leg_calibrator finished park device left_leg_mc_wrapper
[DEBUG]sharedcan [4] msg from board 10: PWM DIS:1
[DEBUG]right_leg_calibrator finished park device right_leg_mc_wrapper
[DEBUG]sharedcan [5] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [5] printing boards infos:
None
[DEBUG]sharedcan [2] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [2] printing boards infos:
None
[DEBUG]sharedcan [6] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [6] printing boards infos:
None
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 7
[DEBUG]sharedcan [3] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [3] printing boards infos:
None
[DEBUG]Left_Arm_Calibrator : Moving to park position, joint: 5
[DEBUG]Left_Arm_Calibrator : Park completed
[DEBUG]sharedcan [1] msg from board 1: PWM DIS:0
[DEBUG]sharedcan [1] msg from board 1: PWM DIS:1
[DEBUG]sharedcan [1] msg from board 2: PWM DIS:0
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[DEBUG]sharedcan [1] msg from board 2: PWM DIS:1
[DEBUG]sharedcan [1] msg from board 3: PWM DIS:0
[DEBUG]sharedcan [1] msg from board 3: PWM DIS COUPLED:2
[DEBUG]sharedcan [1] msg from board 3: PWM DIS COUPLED:1
[DEBUG]sharedcan [1] msg from board 3: PWM DIS:3
[DEBUG]left_arm_calibrator finished park device left_arm_mc
[DEBUG]sharedcan [4] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [4] printing boards infos:
None
[DEBUG]sharedcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [0] printing boards infos:
None
[DEBUG]sharedcan [0] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [0] printing boards infos:
None
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[DEBUG]Torso_Calibrator : Park completed
[DEBUG]sharedcan [0] msg from board 5: PWM DIS:0
[DEBUG]sharedcan [0] msg from board 6: PWM DIS COUPLED:1
[DEBUG]sharedcan [0] msg from board 6: PWM DIS COUPLED:0
[DEBUG]torso_calibrator finished park device torso_mc_wrapper
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 7
[DEBUG]Right_Arm_Calibrator : Moving to park position, joint: 5
[DEBUG]Right_Arm_Calibrator : Park completed
[DEBUG]sharedcan [2] msg from board 1: PWM DIS:0
[DEBUG]sharedcan [2] msg from board 1: PWM DIS:1
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[DEBUG]sharedcan [2] msg from board 2: PWM DIS:0
[DEBUG]sharedcan [2] msg from board 2: PWM DIS:1
[DEBUG]sharedcan [2] msg from board 3: PWM DIS:0
[WARNING]setControlModeRaw delay ( j:4), current mode: pos, requested: idl
[DEBUG]sharedcan [2] msg from board 3: PWM DIS COUPLED:2
[DEBUG]sharedcan [2] msg from board 3: PWM DIS COUPLED:1
[WARNING]setControlModeRaw delay ( j:6), current mode: pos, requested: idl
[DEBUG]sharedcan [2] msg from board 3: PWM DIS:3
[WARNING]setControlModeRaw delay ( j:7), current mode: pos, requested: idl
[DEBUG]right_arm_calibrator finished park device right_arm_mc
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[DEBUG]Head_Calibrator : Moving to park position, joint: 1
[DEBUG]Head_Calibrator : Moving to park position, joint: 2
[DEBUG]Head_Calibrator : Moving to park position, joint: 3
[DEBUG]Head_Calibrator : Moving to park position, joint: 4
[DEBUG]Head_Calibrator : Moving to park position, joint: 5
[DEBUG]Head_Calibrator : Park completed
[DEBUG]sharedcan [0] msg from board 1: PWM DIS CH1
[DEBUG]sharedcan [0] msg from board 1: PWM DIS CH0
[DEBUG]sharedcan [0] msg from board 1: PWM DIS COUPLED:1
[DEBUG]sharedcan [0] msg from board 1: PWM DIS COUPLED:0
[DEBUG]sharedcan [0] msg from board 2: PWM DIS:0
[DEBUG]sharedcan [0] msg from board 2: PWM DIS:1
[DEBUG]sharedcan [0] msg from board 2: PWM DIS COUPLED:3
[DEBUG]sharedcan [0] msg from board 2: PWM DIS COUPLED:2
[DEBUG]head_calibrator finished park device head_mc_wrapper
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[DEBUG]sharedcan [1] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [1] printing boards infos:
None
[INFO]icub/cartesianController/left_arm: Checking if cartesian solver cartesianSolver/left_arm is alive... not yet
[DEBUG]Left_Hand_Calibrator : Moving to park position, joint: 1
[DEBUG]Left_Hand_Calibrator : Moving to park position, joint: 3
[DEBUG]Left_Hand_Calibrator : Moving to park position, joint: 5
[DEBUG]Left_Hand_Calibrator : Moving to park position, joint: 2
[DEBUG]Left_Hand_Calibrator : Moving to park position, joint: 4
[DEBUG]Left_Hand_Calibrator : Moving to park position, joint: 6
[DEBUG]Left_Hand_Calibrator : Moving to park position, joint: 7
[DEBUG]Right_Hand_Calibrator : Moving to park position, joint: 1
[DEBUG]Left_Hand_Calibrator : Park completed
[DEBUG]Right_Hand_Calibrator : Moving to park position, joint: 3
[DEBUG]sharedcan [5] msg from board 5: PWM DIS:0
[DEBUG]Right_Hand_Calibrator : Moving to park position, joint: 5
[DEBUG]sharedcan [5] msg from board 5: PWM DIS:1
[DEBUG]Right_Hand_Calibrator : Moving to park position, joint: 2
[DEBUG]sharedcan [5] msg from board 5: PWM DIS:3
[DEBUG]Right_Hand_Calibrator : Moving to park position, joint: 4
[WARNING]setControlModeRaw delay ( j:3), current mode: pos, requested: idl
[DEBUG]Right_Hand_Calibrator : Moving to park position, joint: 6
[DEBUG]sharedcan [5] msg from board 7: PWM DIS:1
[DEBUG]Right_Hand_Calibrator : Moving to park position, joint: 7
[DEBUG]sharedcan [5] msg from board 5: PWM DIS:2
[DEBUG]Right_Hand_Calibrator : Park completed
[DEBUG]sharedcan [5] msg from board 7: PWM DIS:0
[DEBUG]sharedcan [5] msg from board 7: PWM DIS:2
[INFO]icub/cartesianController/right_arm: Checking if cartesian solver cartesianSolver/right_arm is alive... not yet
[DEBUG]sharedcan [6] msg from board 5: PWM DIS:0
[WARNING]setControlModeRaw delay ( j:0), current mode: pos, requested: idl
[DEBUG]sharedcan [5] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.02[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [5] printing boards infos:
None
[DEBUG]sharedcan [5] msg from board 7: PWM DIS:3
[DEBUG]left_hand_calibrator finished park device left_hand_mc
[DEBUG]sharedcan [6] msg from board 5: PWM DIS:1
[WARNING]setControlModeRaw delay ( j:1), current mode: pos, requested: idl
[DEBUG]sharedcan [6] msg from board 5: PWM DIS:3
[WARNING]setControlModeRaw delay ( j:3), current mode: pos, requested: idl
[DEBUG]sharedcan [6] msg from board 7: PWM DIS:1
[WARNING]setControlModeRaw delay ( j:5), current mode: pos, requested: idl
[DEBUG]sharedcan [6] msg from board 5: PWM DIS:2
[WARNING]setControlModeRaw delay ( j:2), current mode: pos, requested: idl
[DEBUG]sharedcan [6] msg from board 7: PWM DIS:0
[WARNING]setControlModeRaw delay ( j:4), current mode: pos, requested: idl
[DEBUG]sharedcan [6] msg from board 7: PWM DIS:2
[WARNING]setControlModeRaw delay ( j:6), current mode: pos, requested: idl
[DEBUG]sharedcan [6] msg from board 7: PWM DIS:3
[WARNING]setControlModeRaw delay ( j:7), current mode: pos, requested: idl
[DEBUG]right_hand_calibrator finished park device right_hand_mc
[INFO]All actions for action level 1 of interrupt1 phase finished.
[INFO]interrupt1 phase finished.
[INFO]shutdown phase starting...
[INFO]Entering action level 2 of phase shutdown
[INFO]Stopping icub/cartesianController/left_arm
[INFO]Stopping icub/cartesianController/right_arm
[INFO]All actions for action level 2 of shutdown phase started. Waiting for unfinished actions.
[INFO]All actions for action level 2 of shutdown phase finished.
[INFO]Entering action level 5 of phase shutdown
[INFO]All actions for action level 5 of shutdown phase started. Waiting for unfinished actions.
[INFO]All actions for action level 5 of shutdown phase finished.
[INFO]Closing Server Inertial...
[INFO]Server Intertial thread finished
[DEBUG]sharedcan [2] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [2] printing boards infos:
None
[DEBUG]sharedcan [6] thread ran 596 times, req.dT:10[ms], av.dT:10.06[ms] av.loopT :0.03[ms]
[DEBUG] Device has no ICanBusErr interface
[DEBUG]sharedcan [6] printing boards infos:
None
[INFO]shutdown phase finished.
[INFO]RFModule finished.
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