468.603502 Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubShanghai01/icub_all_no_left_arm.xml 468.603993 yarprobotinterface: using xml parser for DTD v3.x 468.604027 Reading file /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/robots/iCubShanghai01/icub_all_no_left_arm.xml 468.604043 Preprocessor complete in: 0.0117929 s 468.604055 ************************************************************************************* * yarprobotinterface 'portprefix' parameter does not follow convention, * * it MUST start with a leading '/' since it is used as the full prefix port name * * name: full port prefix name with leading '/', e.g. /robotName * * A temporary automatic fix will be done for you, but please fix your config file * ************************************************************************************* 468.613483 Port /icub/yarprobotinterface active at tcp://10.0.0.2:10009/ 468.613556 startup phase starting... 468.613574 Opening device right_arm-mc_nws_yarp with parameters [("robotName" = "icub"), ("name" = "/icub/right_arm")] 468.623540 Parameters are (device controlBoard_nws_yarp) (id right_arm-mc_nws_yarp) (name "/icub/right_arm") (robotName icub) 468.623590 'period' parameter missing, using default thread period = 0.02s 468.633597 Port /icub/right_arm/rpc:i active at tcp://10.0.0.2:10014/ 468.633635 Port /icub/right_arm/command:i active at tcp://10.0.0.2:10015/ 468.643664 Port /icub/right_arm/state:o active at tcp://10.0.0.2:10016/ 468.653723 Port /icub/right_arm/stateExt:o active at tcp://10.0.0.2:10017/ 468.653775 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 468.653794 Opening device left_leg-mc_nws_yarp with parameters [("robotName" = "icub"), ("name" = "/icub/left_leg")] 468.653808 Parameters are (device controlBoard_nws_yarp) (id left_leg-mc_nws_yarp) (name "/icub/left_leg") (robotName icub) 468.653826 'period' parameter missing, using default thread period = 0.02s 468.653838 Port /icub/left_leg/rpc:i active at tcp://10.0.0.2:10018/ 468.663779 Port /icub/left_leg/command:i active at tcp://10.0.0.2:10019/ 468.673862 Port /icub/left_leg/state:o active at tcp://10.0.0.2:10020/ 468.683936 Port /icub/left_leg/stateExt:o active at tcp://10.0.0.2:10021/ 468.683985 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 468.684002 Opening device right_leg-mc_nws_yarp with parameters [("robotName" = "icub"), ("name" = "/icub/right_leg")] 468.684014 Parameters are (device controlBoard_nws_yarp) (id right_leg-mc_nws_yarp) (name "/icub/right_leg") (robotName icub) 468.684030 'period' parameter missing, using default thread period = 0.02s 468.693994 Port /icub/right_leg/rpc:i active at tcp://10.0.0.2:10022/ 468.704054 Port /icub/right_leg/command:i active at tcp://10.0.0.2:10023/ 468.704119 Port /icub/right_leg/state:o active at tcp://10.0.0.2:10024/ 468.714138 Port /icub/right_leg/stateExt:o active at tcp://10.0.0.2:10025/ 468.714180 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 468.714198 Opening device head-mc_nws_yarp with parameters [("robotName" = "icub"), ("name" = "/icub/head")] 468.714210 Parameters are (device controlBoard_nws_yarp) (id head-mc_nws_yarp) (name "/icub/head") (robotName icub) 468.714230 'period' parameter missing, using default thread period = 0.02s 468.724191 Port /icub/head/rpc:i active at tcp://10.0.0.2:10026/ 468.734253 Port /icub/head/command:i active at tcp://10.0.0.2:10027/ 468.744314 Port /icub/head/state:o active at tcp://10.0.0.2:10028/ 468.754383 Port /icub/head/stateExt:o active at tcp://10.0.0.2:10029/ 468.754457 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 468.754488 Opening device face-mc_nws_yarp with parameters [("robotName" = "icub"), ("name" = "/icub/face")] 468.754509 Parameters are (device controlBoard_nws_yarp) (id face-mc_nws_yarp) (name "/icub/face") (robotName icub) 468.754537 'period' parameter missing, using default thread period = 0.02s 468.764442 Port /icub/face/rpc:i active at tcp://10.0.0.2:10030/ 468.774535 Port /icub/face/command:i active at tcp://10.0.0.2:10031/ 468.784616 Port /icub/face/state:o active at tcp://10.0.0.2:10032/ 468.784663 Port /icub/face/stateExt:o active at tcp://10.0.0.2:10033/ 468.784680 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 468.784698 Opening device torso-mc_nws_yarp with parameters [("robotName" = "icub"), ("name" = "/icub/torso")] 468.784711 Parameters are (device controlBoard_nws_yarp) (id torso-mc_nws_yarp) (name "/icub/torso") (robotName icub) 468.784727 'period' parameter missing, using default thread period = 0.02s 468.794674 Port /icub/torso/rpc:i active at tcp://10.0.0.2:10034/ 468.804736 Port /icub/torso/command:i active at tcp://10.0.0.2:10035/ 468.814796 Port /icub/torso/state:o active at tcp://10.0.0.2:10036/ 468.824874 Port /icub/torso/stateExt:o active at tcp://10.0.0.2:10037/ 468.824930 Created wrapper . See C++ class ControlBoard_nws_yarp for documentation. 468.824955 Opening device right_arm-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4)"), ("right_arm_joints1" = "( 0 3 0 3 )"), ("right_arm_joints2" = "( 4 7 0 3 )"), ("right_arm_joints3" = "( 8 11 0 3 )"), ("right_arm_joints4" = "( 12 15 0 3 )"), ("joints" = "16")] 468.855102 Parameters are (device controlboardremapper) (id right_arm-mc_remapper) (joints 16) (networks (right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4)) (right_arm_joints1 (0 3 0 3)) (right_arm_joints2 (4 7 0 3)) (right_arm_joints3 (8 11 0 3)) (right_arm_joints4 (12 15 0 3)) (robotName icub) 468.855164 Created device . See C++ class ControlBoardRemapper for documentation. 468.855184 Opening device left_leg-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(left_leg_joints1 left_leg_joints2)"), ("left_leg_joints1" = "( 0 3 0 3 )"), ("left_leg_joints2" = "( 4 5 0 1 )"), ("joints" = "6")] 468.855199 Parameters are (device controlboardremapper) (id left_leg-mc_remapper) (joints 6) (left_leg_joints1 (0 3 0 3)) (left_leg_joints2 (4 5 0 1)) (networks (left_leg_joints1 left_leg_joints2)) (robotName icub) 468.855217 Created device . See C++ class ControlBoardRemapper for documentation. 468.855231 Opening device right_leg-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(right_leg_joints1 right_leg_joints2)"), ("right_leg_joints1" = "( 0 3 0 3 )"), ("right_leg_joints2" = "( 4 5 0 1 )"), ("joints" = "6")] 468.855245 Parameters are (device controlboardremapper) (id right_leg-mc_remapper) (joints 6) (networks (right_leg_joints1 right_leg_joints2)) (right_leg_joints1 (0 3 0 3)) (right_leg_joints2 (4 5 0 1)) (robotName icub) 468.855261 Created device . See C++ class ControlBoardRemapper for documentation. 468.855274 Opening device head-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(head_joints1 head_joints2)"), ("head_joints1" = "( 0 1 0 1 )"), ("head_joints2" = "( 2 5 0 3 )"), ("joints" = "6")] 468.855293 Parameters are (device controlboardremapper) (head_joints1 (0 1 0 1)) (head_joints2 (2 5 0 3)) (id head-mc_remapper) (joints 6) (networks (head_joints1 head_joints2)) (robotName icub) 468.855309 Created device . See C++ class ControlBoardRemapper for documentation. 468.855323 Opening device face-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(face_joints)"), ("face_joints" = "( 0 0 0 0 )"), ("joints" = "1")] 468.855334 Parameters are (device controlboardremapper) (face_joints (0 0 0 0)) (id face-mc_remapper) (joints 1) (networks (face_joints)) (robotName icub) 468.855349 Created device . See C++ class ControlBoardRemapper for documentation. 468.855362 Opening device torso-mc_remapper with parameters [("robotName" = "icub"), ("networks" = "(torso_joints)"), ("torso_joints" = "( 0 2 0 2 )"), ("joints" = "3")] 468.855374 Parameters are (device controlboardremapper) (id torso-mc_remapper) (joints 3) (networks (torso_joints)) (robotName icub) (torso_joints (0 2 0 2)) 468.855388 Created device . See C++ class ControlBoardRemapper for documentation. 468.855401 Opening device right_arm-cartesian with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(ControllerName icub/cartesianController/right_arm) (ControllerPeriod 10) (TaskRefVelPeriodFactor 4) (SolverNameToConnect cartesianSolver/right_arm) (KinematicPart arm) (KinematicType right_v2.7) (PositionControl on) (NumberOfDrivers 2)"), ("DRIVER_0" [group] = "(Key torso) (JointsOrder reversed) (MinAbsVels (0.35 0.35 0.35))"), ("DRIVER_1" [group] = "(Key right_arm) (JointsOrder direct) (MinAbsVels (0.35 0.35 0.35 0.35 0.35 0.35 0.35))"), ("PLANT_MODEL" [group] = "(plant_compensator on) (smith_predictor off) (joint_0 ((Kp 1.022) (Tz 0.405) (Tw 0.248) (Zeta 0.797) (Td 0.000))) (joint_1 ((Kp 1.026) (Tz 0.407) (Tw 0.243) (Zeta 0.822) (Td 0.000))) (joint_2 ((Kp 1.040) (Tz 0.344) (Tw 0.160) (Zeta 1.110) (Td 0.000))) (joint_3 ((Kp 1.035) (Tz 0.410) (Tw 0.178) (Zeta 1.198) (Td 0.000))) (joint_4 ((Kp 1.016) (Tz 0.384) (Tw 0.159) (Zeta 1.222) (Td 0.000))) (joint_5 ((Kp 1.025) (Tz 0.823) (Tw 0.405) (Zeta 1.030) (Td 0.000))) (joint_6 ((Kp 1.022) (Tz 0.300) (Tw 0.120) (Zeta 1.303) (Td 0.000))) (joint_7 ((Kp 1.016) (Tz 0.123) (Tw 0.030) (Zeta 2.204) (Td 0.000))) (joint_8 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000))) (joint_9 ((Kp 1.000) (Tz 0.000) (Tw 0.000) (Zeta 0.000) (Td 0.000)))")] 468.865159 1663 468.865201 ollerserver) (id right_arm-cartesian) (robotName icub)") 468.865207 ***** Configuring cartesian controller ***** 468.865220 Acquiring options for group GENERAL... 468.865229 Acquiring options for group DRIVER_0... 468.865238 Acquiring options for group DRIVER_1... 468.865247 PLANT_MODEL group detected 468.865256 DH Table: (H0 (0.0 -1.0 0.0 0.0 0.0 0.0 -1.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0)) (HN (1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0)) (link_0 (A 0.0320000000000000006661) (D 0.0) (alpha 90.0) (offset 0.0) (min -22.0) (max 84.0) (blocked 0.0)) (link_1 (A 0.0) (D -0.00549999999999999968081) (alpha 90.0) (offset -90.0) (min -39.0) (max 39.0) (blocked 0.0)) (link_2 (A -0.0233646999999999986641) (D -0.143300000000000010703) (alpha 90.0) (offset -105.000000000000014211) (min -59.0000000000000071054) (max 59.0000000000000071054) (blocked 0.0)) (link_3 (A 0.0) (D -0.107740000000000002434) (alpha 90.0) (offset -90.0) (min -95.5) (max 5.0)) (link_4 (A 0.0) (D 0.0) (alpha -90.0) (offset -90.0) (min 0.0) (max 160.800000000000011369)) (link_5 (A -0.0149999999999999994449) (D -0.152279999999999998694) (alpha -90.0) (offset -105.000000000000014211) (min -37.0) (max 100.0)) (link_6 (A 0.0149999999999999994449) (D 0.0) (alpha 90.0) (offset 0.0) (min 5.5) (max 106.0)) (link_7 (A 0.0) (D -0.141300000000000008926) (alpha 90.0) (offset -90.0) (min -50.0) (max 50.0)) (link_8 (A 0.0) (D 0.0) (alpha 90.0) (offset 90.0) (min -65.0) (max 10.0)) (link_9 (A 0.0625) (D 0.0259799999999999996214) (alpha 0.0) (offset 180.0) (min -25.0) (max 25.0)) (numLinks 10) (type right_v2.7) 468.875216 Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/in active at tcp://10.0.0.2:10045/ 468.885370 Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/out active at tcp://10.0.0.2:10046/ 468.905519 Port /icub/cartesianController/right_arm/cartesianSolver/right_arm/rpc active at tcp://10.0.0.2:10047/ 468.905599 Port /icub/cartesianController/right_arm/command:i active at tcp://10.0.0.2:10048/ 468.915594 Port /icub/cartesianController/right_arm/state:o active at tcp://10.0.0.2:10049/ 468.925695 Port /icub/cartesianController/right_arm/events:o active at tcp://10.0.0.2:10050/ 468.935748 Port /icub/cartesianController/right_arm/rpc:i active at tcp://10.0.0.2:10051/ 468.935785 Created device . See C++ class ServerCartesianController for documentation. 468.935802 1679 468.935823 e qenc qenc) (port CONN:P3 CONN:P4) (position atmotor atmotor) (resolution 2048 2048) (tolerance 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMin -30 -20) (jntPosMax +22 +20) (jntVelMax 1000 1000) (motorOverloadCurrents 6000 6000) (motorNominalCurrents 1500 1500) (motorPeakCurrents 4000 4000) (motorPwmLimit 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0) (damping 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none) (currentPid none none) (speedPid none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -300 +300) (kd -10 +10) (ki -100 +100) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)\")]") 468.955902 1681 468.955967 AULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -300 300) (kd -10 10) (ki -100 100) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port \"CONN:P3\" \"CONN:P4\")) (ENCODER1 (type aea aea) (port \"CONN:P11\" \"CONN:P10\") (position atjoint atjoint) (resolution 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type qenc qenc) (port \"CONN:P3\" \"CONN:P4\") (position atmotor atmotor) (resolution 2048 2048) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (device embObjMotionControl) (id head-eb20-j0_1-mc) (robotName icub)") 468.956022 eth::parser::print(pc104Data) for PC104: 468.956037 PC104/PC104IpAddress:PC104IpPort = 10.0.1.104:12345 468.956048 PC104/PC104TXrate = 1 468.956058 PC104/PC104RXrate = 5 468.956066 EthSender is a PeriodicThread with txrate = 1 ms 468.956075 EthReceiver is a PeriodicThread with rxrate = 5 ms 468.956084 in EthReceiver::config() the config socket has queue size = 2097152 ; you request ETHRECEIVER_BUFFER_SIZE= 468.956095 eth::parser::print(boardData) for BOARD head-eb20-j0_1 468.956104 ETH_BOARD/ETH_BOARD_PROPERTIES: 468.956113 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.20 468.956121 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 468.956130 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 468.956138 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 468.956147 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 468.956156 ETH_BOARD/ETH_BOARD_SETTINGS: 468.956164 ETH_BOARD/ETH_BOARD_SETTINGS/Name = head-eb20-j0_1 468.965958 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 468.965999 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 468.966012 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 468.966024 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.20 (head-eb20-j0_1) with timeout = 0.02 sec and period of missing report = 60 sec 468.966036 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.20 468.966049 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 468.966060 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 468.966071 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 468.966081 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 468.966092 embObjMC BOARD head-eb20-j0_1 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 468.966104 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 584s 365m 141u: (code 0x00000034, par16 0x0001 par64 0x0000000000000014) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . 468.966118 EthResource::verifyBoardPresence() found BOARD head-eb20-j0_1 with IP 10.0.1.20 after 0.00747013 seconds 468.966128 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb20-j0_1 with IP 10.0.1.20 468.976035 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb20-j0_1 with IP 10.0.1.20 : config mode + cleared all its regulars 468.986109 EthResource::setTimingOfRunningCycle() for BOARD head-eb20-j0_1 with IP 10.0.1.20 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 468.986145 EthResource::askBoardVersion() found BOARD head-eb20-j0_1 @ IP 10.0.1.20 of type mc4plus with FW = ver 3.49 built on 2022 Mar 14 16:11 469.016397 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 584s 422m 387u: (code 0x05000015, par16 0x2000 par64 0x0000000000000000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 469.016447 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 584s 422m 756u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . 469.026452 embObjMotionControl:serviceVerifyActivate OK! 469.106988 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 469.107057 1719 469.107095 m2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P5 CONN:P4)) (ENCODER1 (type aea aea none none) (port CONN:P11 CONN:P10 CONN:none CONN:none) (position atjoint atjoint none none) (resolution 4096 4096 0 0) (tolerance 0.703 0.703 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P5 CONN:P4) (position atmotor atmotor atmotor atmotor) (resolution 2048 2048 2048 2048) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMin -45 -30 -30 0) (jntPosMax +45 +30 +30 +45) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2500 2500) (motorNominalCurrents 700 700 700 700) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1100.00 -1000 3500 3500) (kd 0.0 0.0 0.0 0.0) (ki 0.0 -100 600.0 600.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\")]") 469.107152 1721 469.117175 rdwareJntPosMin -45 -30 -45 0) (hardwareJntPosMax 45 30 45 45) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMin -45 -30 -30 0) (jntPosMax 45 30 30 45) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2500 2500) (motorNominalCurrents 700 700 700 700) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1100.0 -1000 3500 3500) (kd 0.0 0.0 0.0 0.0) (ki 0.0 -100 600.0 600.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P5\" \"CONN:P4\")) (ENCODER1 (type aea aea none none) (port \"CONN:P11\" \"CONN:P10\" \"CONN:none\" \"CONN:none\") (position atjoint atjoint none none) (resolution 4096 4096 0 0) (tolerance 0.702999999999999958256 0.702999999999999958256 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P5\" \"CONN:P4\") (position atmotor atmotor atmotor atmotor) (resolution 2048 2048 2048 2048) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id head-eb21-j2_5-mc) (robotName icub)") 469.117340 eth::parser::print(boardData) for BOARD head-eb21-j2_5 469.117360 ETH_BOARD/ETH_BOARD_PROPERTIES: 469.117371 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.21 469.117381 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 469.117391 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 469.117400 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 469.117409 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 469.117419 ETH_BOARD/ETH_BOARD_SETTINGS: 469.117428 ETH_BOARD/ETH_BOARD_SETTINGS/Name = head-eb21-j2_5 469.117437 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 469.117448 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 469.117457 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 469.117468 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.21 (head-eb21-j2_5) with timeout = 0.02 sec and period of missing report = 60 sec 469.117478 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.21 469.117489 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 469.117499 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 469.117509 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 469.117518 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 469.117528 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_none 469.117538 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 469.117548 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_none 469.117557 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 469.117567 embObjMC BOARD head-eb21-j2_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 469.127256 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 584s 524m 69u: (code 0x00000034, par16 0x0001 par64 0x0000000000000024) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . 469.127342 EthResource::verifyBoardPresence() found BOARD head-eb21-j2_5 with IP 10.0.1.21 after 0.00297189 seconds 469.127368 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD head-eb21-j2_5 with IP 10.0.1.21 469.127389 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb21-j2_5 with IP 10.0.1.21 : config mode + cleared all its regulars 469.147398 EthResource::setTimingOfRunningCycle() for BOARD head-eb21-j2_5 with IP 10.0.1.21 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 5 every cycle 469.147454 EthResource::askBoardVersion() found BOARD head-eb21-j2_5 @ IP 10.0.1.21 of type mc4plus with FW = ver 3.49 built on 2022 Mar 14 16:11 469.177613 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 584s 578m 393u: (code 0x05000015, par16 0x4000 par64 0x000000000000ff00) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 469.177646 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 584s 578m 771u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . 469.187688 embObjMotionControl:serviceVerifyActivate OK! 469.329029 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 469.329099 1756 469.329126 erloadCurrents 2000) (motorNominalCurrents 700) (motorPeakCurrents 1000) (jntVelMax 1000) (motorPwmLimit 3300)\"), (\"TIMEOUTS\" [group] = \"(velocity 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0) (damping 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT) (torqueControl none) (currentPid none) (speedPid none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 600.00) (kd 0.0) (ki 100.0) (maxOutput 3360) (maxInt 3360) (stictionUp 0) (stictionDown 0) (kff 0)\")]") 469.329151 1758 469.329177 (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm) (port \"CONN:P2\")) (ENCODER1 (type aea) (port \"CONN:P10\") (position atjoint) (resolution -4096) (tolerance 0.702999999999999958256)) (ENCODER2 (type none) (port none) (position none) (resolution 0) (tolerance 0))))) (TIMEOUTS (velocity 100)) (device embObjMotionControl) (id face-eb22-j0-mc) (robotName icub)") 469.339102 eth::parser::print(boardData) for BOARD face-eb22-j0 469.339145 ETH_BOARD/ETH_BOARD_PROPERTIES: 469.339160 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.22 469.339172 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 469.339184 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 469.339195 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 469.339206 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 469.339218 ETH_BOARD/ETH_BOARD_SETTINGS: 469.339229 ETH_BOARD/ETH_BOARD_SETTINGS/Name = face-eb22-j0 469.339240 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 469.339254 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 469.339265 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 469.339278 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.22 (face-eb22-j0) with timeout = 0.02 sec and period of missing report = 60 sec 469.339293 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.22 469.339306 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 469.339318 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_none 469.339330 embObjMC BOARD face-eb22-j0 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 469.339344 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 584s 747m 772u: (code 0x00000034, par16 0x0001 par64 0x0000000000000017) -> SYS: the board has detected a restart of the remote transceiver because the rx ropframe sequence number is 1. In par64 there is the expected number. + . 469.339359 EthResource::verifyBoardPresence() found BOARD face-eb22-j0 with IP 10.0.1.22 after 0.00136256 seconds 469.339371 EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD face-eb22-j0 with IP 10.0.1.22 469.349159 EthResource::cleanBoardBehaviour() has cleaned the application in BOARD face-eb22-j0 with IP 10.0.1.22 : config mode + cleared all its regulars 469.359233 EthResource::setTimingOfRunningCycle() for BOARD face-eb22-j0 with IP 10.0.1.22 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 3 every cycle 469.369455 EthResource::askBoardVersion() found BOARD face-eb22-j0 @ IP 10.0.1.22 of type mc4plus with FW = ver 3.49 built on 2022 Mar 14 16:11 469.399813 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 584s 800m 285u: (code 0x05000015, par16 0x1000 par64 0x00000000000f0000) -> CFG: EOtheEncoderReader can be correctly configured. p16&0xf000: number of joint; primary encs: failure mask in p16&0x000f and errorcodes in p64&0x0000ffff; secondary encs: failure mask in p16&0x00f0 and errorcodes in p64&0xffff0000 + . 469.399846 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 584s 800m 560u: (code 0x05000013, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow + . 469.399860 embObjMotionControl:serviceVerifyActivate OK! 469.450455 Created device . See C++ class yarp::dev::embObjMotionControl for documentation. 469.460589 1787 469.460639 SERVICE\" [group] = \"(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc) (port CAN1:3:0 CAN1:4:0 CAN1:1:0)) (ENCODER1 (type eomc_enc_aea aea aea) (port CONN:P6 CONN:P7 CONN:P8) (position eomc_pos_atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie) (port CAN1:3:0 CAN1:4:0 CAN1:1:0) (position atmotor atmotor atmotor) (resolution -14400 -14400 -14400) (tolerance 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 50 28 68) (jntPosMin -50 -28 -18) (jntVelMax 1000 1000 1000) (motorNominalCurrents 4000 4000 4000) (motorPeakCurrents 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000) (motorPwmLimit 10000 10000 10000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0 0 0) (damping 0 0 0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.11 -1066.66 -1066.66) (kd 0.00 0.00 0.00) (ki -7111.09 -10666.64 -14222.18) (maxOutput 8000 8000 16000) (maxInt 750 1000 1000) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (kbemf -0.0016 -0.003 -0.003) (filterType 0 0 0) 1788 469.460785 (ktau -200 -200 -200)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8) (kd 0 0 0) (ki 2 2 2) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000) (kff 0 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0) (kp 12 12 12) (kd 0 0 0) (ki 16 16 16) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)\")]") 469.460838 1790 469.460864 se false) (MotioncontrolVersion 6) (Joints 3) (AxisMap 2 0 1) (AxisName torso_yaw torso_roll torso_pitch) (AxisType revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1) (useMotorSpeedFbk 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0 0 0) (damping 0 0 0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 50 30 70) (hardwareJntPosMin -50 -30 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 50 28 68) (jntPosMin -50 -28 -18) (jntVelMax 1000 1000 1000) (motorNominalCurrents 4000 4000 4000) (motorPeakCurrents 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000) (motorPwmLimit 10000 10000 10000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.110000000000013642 -1066.66000000000008185 -1066.66000000000008185) (kd 0.0 0.0 0.0) (ki -7111.09000000000014552 -10666.6399999999994179 -14222.180000000000291) (maxOutput 8000 8000 16000) (maxInt 750 1000 1000) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc) (port \"CAN1:3:0\" \"CAN1:4:0\" \"CAN1:1:0\")) (ENCODER1 (type eomc_enc_aea aea aea) (port \"CONN:P6\" \"CONN:P7\" \"CONN:P8\") (position eomc_pos_atjoint atjoint atjoint) (resolution 4096 4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie) (port \"CAN1:3:0\" \"CAN1:4:0\" \"CAN1:1:0\") (position atmotor atmotor atmotor) (resolution -14400 -14400 -14400) (toler 1791 469.460966 ance 0 0 0))))) (TIMEOUTS (velocity 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (kbemf -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau -200 -200 -200)) (device embObjMotionControl) (id torso-eb5-j0_2-mc) (robotName icub)") 469.460977 eth::parser::print(boardData) for BOARD torso-eb5-j0_2 469.460989 ETH_BOARD/ETH_BOARD_PROPERTIES: 469.460998 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.5 469.461007 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 469.461016 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 469.461024 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 469.461033 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 469.470736 ETH_BOARD/ETH_BOARD_SETTINGS: 469.470777 ETH_BOARD/ETH_BOARD_SETTINGS/Name = torso-eb5-j0_2 469.470792 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 469.470804 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 469.470815 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 469.470826 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.5 (torso-eb5-j0_2) with timeout = 0.02 sec and period of missing report = 60 sec 469.470837 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.5 469.470849 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 469.470860 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 469.470871 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 469.470881 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 469.470892 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 469.470902 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 469.470912 embObjMC BOARD torso-eb5-j0_2 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 469.470924 viscousPos parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -450 -400 -400) (kd 0 0 0) (ki 0 0 0) (maxOutput 8000 8000 8000) (maxInt 500 500 500) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown -2 -2 -2) (kff 1 1 1) (kbemf -0.00160000000000000007667 -0.00300000000000000006245 -0.00300000000000000006245) (filterType 0 0 0) (ktau -200 -200 -200) 469.470940 Verbose parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8) 469.470953 In torso-eb5-j0_2 there isn't 2FOC.Verbose filed. For default it is enabled 469.470964 AutoCalibration parameter not found for board torso-eb5-j0_2 in bottle "2FOC" (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 8 8 8) 469.480886 In torso-eb5-j0_2 there isn't 2FOC.AutoCalibration filed. For default it is disabled 470.480793 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 471.481018 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 472.481609 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 473.481406 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 474.480604 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 475.478654 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 476.479661 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 477.287226 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 477.287316 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 477.287349 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 477.287378 Removing input from /tmp/port/1 to /icub/yarprobotinterface 477.287406 Removing input from /tmp/port/2 to /icub/yarprobotinterface 477.287433 Removing input from /tmp/port/3 to /icub/yarprobotinterface 477.478938 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 478.306729 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 478.306831 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 478.306850 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 478.306865 Removing input from /tmp/port/1 to /icub/yarprobotinterface 478.306881 Removing input from /tmp/port/2 to /icub/yarprobotinterface 478.306895 Removing input from /tmp/port/3 to /icub/yarprobotinterface 478.478488 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 479.325973 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 479.326030 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 479.326047 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 479.326066 Removing input from /tmp/port/1 to /icub/yarprobotinterface 479.326089 Removing input from /tmp/port/2 to /icub/yarprobotinterface 479.326103 Removing input from /tmp/port/3 to /icub/yarprobotinterface 479.477661 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 480.336060 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 480.336145 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 480.336183 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 480.346143 Removing input from /tmp/port/1 to /icub/yarprobotinterface 480.346200 Removing input from /tmp/port/2 to /icub/yarprobotinterface 480.346220 Removing input from /tmp/port/3 to /icub/yarprobotinterface 480.477414 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 481.356869 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 481.356935 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 481.356953 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 481.356967 Removing input from /tmp/port/1 to /icub/yarprobotinterface 481.356990 Removing input from /tmp/port/2 to /icub/yarprobotinterface 481.357008 Removing input from /tmp/port/3 to /icub/yarprobotinterface 481.478490 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 482.387588 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 482.387657 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 482.387675 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 482.387690 Removing input from /tmp/port/1 to /icub/yarprobotinterface 482.387704 Removing input from /tmp/port/2 to /icub/yarprobotinterface 482.387717 Removing input from /tmp/port/3 to /icub/yarprobotinterface 482.478251 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 483.396671 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 483.396733 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 483.396752 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 483.396768 Removing input from /tmp/port/1 to /icub/yarprobotinterface 483.406805 Removing input from /tmp/port/2 to /icub/yarprobotinterface 483.406860 Removing input from /tmp/port/3 to /icub/yarprobotinterface 483.487637 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 484.417878 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 484.417943 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 484.417967 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 484.417986 Removing input from /tmp/port/2 to /icub/yarprobotinterface 484.418004 Removing input from /tmp/port/1 to /icub/yarprobotinterface 484.418021 Removing input from /tmp/port/3 to /icub/yarprobotinterface 484.478310 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 484.660472 from BOARD 10.0.1.20 (head-eb20-j0_1), src LOCAL, adr 0, time 600s 59m 331u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 484.690736 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 600s 77m 823u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 484.781639 from BOARD 10.0.1.22 (face-eb22-j0), src LOCAL, adr 0, time 600s 177m 799u: (code 0x06000005, par16 0x0007 par64 0x3000000000000000) -> ETH monitor: just verified, no news + . 485.428012 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 485.428109 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 485.438068 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 485.438125 Removing input from /tmp/port/1 to /icub/yarprobotinterface 485.438143 Removing input from /tmp/port/2 to /icub/yarprobotinterface 485.438158 Removing input from /tmp/port/3 to /icub/yarprobotinterface 485.488631 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 486.448902 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 486.449048 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 486.449073 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 486.449095 Removing input from /tmp/port/1 to /icub/yarprobotinterface 486.449116 Removing input from /tmp/port/3 to /icub/yarprobotinterface 486.449135 Removing input from /tmp/port/2 to /icub/yarprobotinterface 486.489293 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 487.480259 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 487.480360 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 487.480389 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 487.480414 Removing input from /tmp/port/1 to /icub/yarprobotinterface 487.480440 Removing input from /tmp/port/3 to /icub/yarprobotinterface 487.480465 Removing input from /tmp/port/2 to /icub/yarprobotinterface 487.480492 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 488.489813 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 488.499888 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 488.499954 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 488.499977 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 488.499997 Removing input from /tmp/port/1 to /icub/yarprobotinterface 488.500015 Removing input from /tmp/port/3 to /icub/yarprobotinterface 488.500033 Removing input from /tmp/port/2 to /icub/yarprobotinterface 489.489775 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 489.509915 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 489.509991 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 489.510010 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 489.519991 Removing input from /tmp/port/1 to /icub/yarprobotinterface 489.520049 Removing input from /tmp/port/3 to /icub/yarprobotinterface 489.520067 Removing input from /tmp/port/2 to /icub/yarprobotinterface 490.489507 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 490.489567 EthResource::verifyBoardPresence() DID NOT have replies from BOARD torso-eb5-j0_2 with IP 10.0.1.5 after 21.0063 seconds: CANNOT PROCEED ANY FURTHER 490.489579 EthResource::verifyEPprotocol() cannot verify BOARD torso-eb5-j0_2 with IP 10.0.1.5 : cannot proceed any further 490.489590 embObjMotionControl: failed verifyEPprotocol. Cannot continue! 490.529811 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 490.529866 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 490.529885 Removing input from /tmp/port/2 to /icub/yarprobotinterface 490.529900 Removing input from /tmp/port/1 to /icub/yarprobotinterface 490.529914 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 490.539887 Removing input from /tmp/port/3 to /icub/yarprobotinterface 490.984296 theNVmanager::Impl::wait() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 490.984353 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.5 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 491.488772 theNVmanager::Impl::wait() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 491.488829 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.5 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 491.549278 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 491.549448 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 491.549473 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 491.549493 Removing input from /tmp/port/1 to /icub/yarprobotinterface 491.549524 Removing input from /tmp/port/2 to /icub/yarprobotinterface 491.549541 Removing input from /tmp/port/3 to /icub/yarprobotinterface 491.992916 theNVmanager::Impl::wait() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 491.992982 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.5 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 491.992994 EthResource::serviceCommand() failed an acked activation request to BOARD torso-eb5-j0_2 with IP 10.0.1.5 after 3 attempts each with waiting timeout of 0.5 seconds 491.993004 Driver was found but could not open 491.993021 Cannot open device torso-eb5-j0_2-mc 491.993032 Cannot open device torso-eb5-j0_2-mc 491.993040 1946 491.993059 \"), (\"JOINTSET_CFG\" [group] = \"(numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P8 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 -4096 4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0) (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 8 160 80 106) (jntPosMin -95.5 15 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4000 4000 4000 4000) (motorPeakCurrents 5000 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.1 0.1 0.1 0.1) (damping 0.05 0.05 0.05 0.05)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.11 -1066.66 -711.11 -1066.66) (kd 0.00 0.00 0.00 0.00) (ki -7111.09 -10666.64 -7111. 1947 491.993179 09 -10666.64) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.7) (stictionDown 0.7 0.7 0.8 1.2) (kff 1 1 1 1) (kbemf -0.0030 -0.0006 -0.0007 0.0007) (filterType 0 0 0 0) (ktau -180 -464 -463 -449)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)\")]") 492.002997 1949 492.003049 _ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0 1 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 8 160 80 106) (hardwareJntPosMin -95.5 15 -32 15) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 8 160 80 106) (jntPosMin -95.5 15 -32 15) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 4000 4000 4000 4000) (motorPeakCurrents 5000 5000 5000 5000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -711.110000000000013642 -1066.66000000000008185 -711.110000000000013642 -1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki -7111.09000000000014552 -10666.6399999999994179 -7111.09000000000014552 -10666.6399999999994179) (maxOutput 8000 8000 8000 8000) (maxInt 200 200 200 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (typ 1950 492.003087 e eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\" \"CAN1:4:0\")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port \"CONN:P6\" \"CONN:P7\" \"CONN:P8\" \"CONN:P9\") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 -4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port \"CAN1:1:0\" \"CAN1:2:0\" \"CAN1:3:0\" \"CAN1:4:0\") (position atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.69999999999999995559) (stictionDown 0.699999999999999955591 0.699999999999999955591 0.800000000000000044409 1.19999999999999995559) (kff 1 1 1 1) (kbemf -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau -180 -464 -463 -449)) (device embObjMotionControl) (id right_arm-eb3-j0_3-mc) (robotName icub)") 492.003178 eth::parser::print(boardData) for BOARD right_arm-eb3-j0_3 492.003192 ETH_BOARD/ETH_BOARD_PROPERTIES: 492.003202 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.3 492.003211 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 492.003220 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 492.003228 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 492.003237 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 492.003244 ETH_BOARD/ETH_BOARD_SETTINGS: 492.003253 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb3-j0_3 492.003261 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 492.003271 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 492.003279 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 492.003288 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.3 (right_arm-eb3-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec 492.003298 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.3 492.003306 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 492.003315 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 492.003324 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 492.003333 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 492.003341 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 492.003355 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 492.013076 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 492.013107 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 492.013119 embObjMC BOARD right_arm-eb3-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 492.013130 viscousPos parameter not found for board right_arm-eb3-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -200 -250 -300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -0.5 -0.5 -1 -1.69999999999999995559) (stictionDown 0.699999999999999955591 0.699999999999999955591 0.800000000000000044409 1.19999999999999995559) (kff 1 1 1 1) (kbemf -0.00300000000000000006245 -0.000599999999999999947438 -0.000699999999999999992888 0.000699999999999999992888) (filterType 0 0 0 0) (ktau -180 -464 -463 -449) 492.013146 Verbose parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) 492.013159 In right_arm-eb3-j0_3 there isn't 2FOC.Verbose filed. For default it is enabled 492.013168 AutoCalibration parameter not found for board right_arm-eb3-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) 492.013179 In right_arm-eb3-j0_3 there isn't 2FOC.AutoCalibration filed. For default it is disabled 492.568325 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 492.578410 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 492.578475 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 492.578495 Removing input from /tmp/port/3 to /icub/yarprobotinterface 492.578511 Removing input from /tmp/port/1 to /icub/yarprobotinterface 492.578526 Removing input from /tmp/port/2 to /icub/yarprobotinterface 493.012261 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 493.588990 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 493.589049 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 493.589068 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 493.589084 Removing input from /tmp/port/1 to /icub/yarprobotinterface 493.589099 Removing input from /tmp/port/3 to /icub/yarprobotinterface 493.589113 Removing input from /tmp/port/2 to /icub/yarprobotinterface 494.012435 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 494.607584 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 494.607644 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 494.607662 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 494.607677 Removing input from /tmp/port/3 to /icub/yarprobotinterface 494.607692 Removing input from /tmp/port/1 to /icub/yarprobotinterface 494.607706 Removing input from /tmp/port/2 to /icub/yarprobotinterface 495.011207 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 495.627414 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 495.627498 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 495.627522 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 495.627541 Removing input from /tmp/port/2 to /icub/yarprobotinterface 495.627561 Removing input from /tmp/port/1 to /icub/yarprobotinterface 495.627579 Removing input from /tmp/port/3 to /icub/yarprobotinterface 496.009521 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 496.643405 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 496.643478 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 496.643501 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 496.643519 Removing input from /tmp/port/1 to /icub/yarprobotinterface 496.643537 Removing input from /tmp/port/2 to /icub/yarprobotinterface 496.643554 Removing input from /tmp/port/3 to /icub/yarprobotinterface 497.017145 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 497.671634 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 497.671722 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 497.671745 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 497.671765 Removing input from /tmp/port/1 to /icub/yarprobotinterface 497.671785 Removing input from /tmp/port/3 to /icub/yarprobotinterface 497.671803 Removing input from /tmp/port/2 to /icub/yarprobotinterface 498.015722 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 498.683661 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 498.683720 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 498.683738 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 498.683751 Removing input from /tmp/port/1 to /icub/yarprobotinterface 498.683766 Removing input from /tmp/port/2 to /icub/yarprobotinterface 498.683779 Removing input from /tmp/port/3 to /icub/yarprobotinterface 499.016954 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 499.703287 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 499.703352 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 499.703375 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 499.703393 Removing input from /tmp/port/1 to /icub/yarprobotinterface 499.703412 Removing input from /tmp/port/2 to /icub/yarprobotinterface 499.703429 Removing input from /tmp/port/3 to /icub/yarprobotinterface 500.016851 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 500.714196 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 500.724270 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 500.724334 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 500.724356 Removing input from /tmp/port/1 to /icub/yarprobotinterface 500.724375 Removing input from /tmp/port/3 to /icub/yarprobotinterface 500.724392 Removing input from /tmp/port/2 to /icub/yarprobotinterface 501.017059 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 501.738669 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 501.738734 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 501.738753 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 501.738768 Removing input from /tmp/port/1 to /icub/yarprobotinterface 501.738782 Removing input from /tmp/port/2 to /icub/yarprobotinterface 501.738795 Removing input from /tmp/port/3 to /icub/yarprobotinterface 502.021465 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 502.758379 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 502.758450 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 502.758483 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 502.758553 Removing input from /tmp/port/1 to /icub/yarprobotinterface 502.758569 Removing input from /tmp/port/2 to /icub/yarprobotinterface 502.768461 Removing input from /tmp/port/3 to /icub/yarprobotinterface 503.020851 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 503.778835 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 503.778933 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 503.778963 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 503.778988 Removing input from /tmp/port/1 to /icub/yarprobotinterface 503.779012 Removing input from /tmp/port/2 to /icub/yarprobotinterface 503.779037 Removing input from /tmp/port/3 to /icub/yarprobotinterface 504.021353 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 504.799261 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 504.799320 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 504.799339 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 504.799354 Removing input from /tmp/port/2 to /icub/yarprobotinterface 504.799372 Removing input from /tmp/port/1 to /icub/yarprobotinterface 504.799393 Removing input from /tmp/port/3 to /icub/yarprobotinterface 505.021420 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 505.809342 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 505.809413 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 505.809436 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 505.819421 Removing input from /tmp/port/2 to /icub/yarprobotinterface 505.819483 Removing input from /tmp/port/1 to /icub/yarprobotinterface 505.819501 Removing input from /tmp/port/3 to /icub/yarprobotinterface 506.021231 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 506.829461 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 506.829536 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 506.839544 Removing input from /tmp/port/3 to /icub/yarprobotinterface 506.839605 Removing input from /tmp/port/1 to /icub/yarprobotinterface 506.839626 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 506.839645 Removing input from /tmp/port/2 to /icub/yarprobotinterface 507.021360 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 507.860262 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 507.860340 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 507.860370 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 507.860397 Removing input from /tmp/port/1 to /icub/yarprobotinterface 507.860424 Removing input from /tmp/port/2 to /icub/yarprobotinterface 507.860450 Removing input from /tmp/port/3 to /icub/yarprobotinterface 508.021898 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 508.880398 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 508.880480 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 508.880504 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 508.880523 Removing input from /tmp/port/1 to /icub/yarprobotinterface 508.880543 Removing input from /tmp/port/2 to /icub/yarprobotinterface 508.880562 Removing input from /tmp/port/3 to /icub/yarprobotinterface 509.021875 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 509.889122 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 509.899188 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 509.899251 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 509.899366 Removing input from /tmp/port/1 to /icub/yarprobotinterface 509.899384 Removing input from /tmp/port/2 to /icub/yarprobotinterface 509.899398 Removing input from /tmp/port/3 to /icub/yarprobotinterface 510.020223 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 510.907006 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 510.917085 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 510.917162 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 510.917184 Removing input from /tmp/port/2 to /icub/yarprobotinterface 510.917202 Removing input from /tmp/port/1 to /icub/yarprobotinterface 510.917225 Removing input from /tmp/port/3 to /icub/yarprobotinterface 511.017817 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 511.935527 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 511.935595 Removing input from /tmp/port/2 to /icub/yarprobotinterface 511.935617 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 511.935635 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 511.935652 Removing input from /tmp/port/1 to /icub/yarprobotinterface 511.935668 Removing input from /tmp/port/3 to /icub/yarprobotinterface 512.016204 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 512.963980 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 512.964064 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 512.964087 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 512.964107 Removing input from /tmp/port/1 to /icub/yarprobotinterface 512.964126 Removing input from /tmp/port/2 to /icub/yarprobotinterface 512.964143 Removing input from /tmp/port/3 to /icub/yarprobotinterface 513.014389 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 513.014457 EthResource::verifyBoardPresence() DID NOT have replies from BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 after 21.0061 seconds: CANNOT PROCEED ANY FURTHER 513.014471 EthResource::verifyEPprotocol() cannot verify BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 : cannot proceed any further 513.014482 embObjMotionControl: failed verifyEPprotocol. Cannot continue! 513.518802 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 513.518865 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.3 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 513.983300 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 513.983361 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 513.983380 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 513.983396 Removing input from /tmp/port/1 to /icub/yarprobotinterface 513.983411 Removing input from /tmp/port/3 to /icub/yarprobotinterface 513.983425 Removing input from /tmp/port/2 to /icub/yarprobotinterface 514.013491 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 514.013566 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.3 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 514.518296 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb3-j0_3 IP 10.0.1.3 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 514.528440 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.3 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 514.528474 EthResource::serviceCommand() failed an acked activation request to BOARD right_arm-eb3-j0_3 with IP 10.0.1.3 after 3 attempts each with waiting timeout of 0.5 seconds 514.528487 Driver was found but could not open 514.528506 Cannot open device right_arm-eb3-j0_3-mc 514.528517 Cannot open device right_arm-eb3-j0_3-mc 514.528526 2146 514.528547 int none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P2 CONN:P4 CONN:P3)) (ENCODER1 (type qenc aea aea absanalog) (port CONN:P5 CONN:P10 CONN:P11 CONN:P3) (position atjoint atjoint atjoint atjoint) (resolution 1 4096 -4096 65535) (tolerance 0 0.703 0.703 0)) (ENCODER2 (type qenc qenc qenc none) (port CONN:P5 CONN:P2 CONN:P4 CONN:none) (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200.0 500.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki 200.0 50.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 2147 514.528599 0 0 0)\")]") 514.528604 2149 514.528627 ) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 30 35 60) (hardwareJntPosMin -90 -80 -15 10) (rotorPosMax 0 0 0 0) (rotorPosMin 0 0 0 0) (jntPosMax 60 25 35 60) (jntPosMin -60 -70 -15 10) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 10000 2000 2000 2000) (motorNominalCurrents 5000 1000 1000 600) (motorPeakCurrents 5000 2000 2000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200.0 500.0 500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki 200.0 50.0 50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P5\" \"CONN:P2\" \"CONN:P4\" \"CONN:P3\")) (ENCODER1 (type qenc aea aea absanalog) (port \"CONN:P5\" \"CONN:P10\" \"CONN:P11\" \"CONN:P3\") (position atjoint atjoint atjoint atjoint) (resolution 1 4096 -4096 65535) (tolerance 0 0.702999999999999958256 0.702999999999999958256 0)) (ENCODER2 (type qenc qenc qenc none) (port \"CONN:P5\" \"CONN:P2\" \"CONN:P4\" \"CONN:none\") (position atmotor atmotor atmotor none) (resolution -2048 1600 1600 1) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0)) (device embObjMotionControl) (id right_arm-eb27-j4_7-mc) (robotName icub)") 514.528679 eth::parser::print(boardData) for BOARD right_arm-eb27-j4_7 514.528691 ETH_BOARD/ETH_BOARD_PROPERTIES: 514.528701 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.27 514.528710 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 514.528719 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 514.528728 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 514.528736 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 514.528744 ETH_BOARD/ETH_BOARD_SETTINGS: 514.528753 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb27-j4_7 514.528762 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 3 514.528773 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 514.528782 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 514.528791 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.27 (right_arm-eb27-j4_7) with timeout = 0.02 sec and period of missing report = 60 sec 514.528801 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.27 514.538486 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 514.538519 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 514.538535 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 514.538545 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 514.538555 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 514.538564 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 514.538578 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_absanalog 514.538587 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_none 514.538596 embObjMC BOARD right_arm-eb27-j4_7 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 514.538606 viscousPos parameter not found for board right_arm-eb27-j4_7 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1000 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 3360 0 0 0) (maxInt 500 0 0 0) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 1 0 0 0) 514.992978 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 514.993050 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 514.993069 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 514.993083 Removing input from /tmp/port/1 to /icub/yarprobotinterface 514.993098 Removing input from /tmp/port/3 to /icub/yarprobotinterface 515.003033 Removing input from /tmp/port/2 to /icub/yarprobotinterface 515.537198 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 516.011834 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 516.011900 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 516.011925 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 516.011946 Removing input from /tmp/port/1 to /icub/yarprobotinterface 516.011967 Removing input from /tmp/port/2 to /icub/yarprobotinterface 516.011981 Removing input from /tmp/port/3 to /icub/yarprobotinterface 516.537180 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 517.031406 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 517.031475 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 517.031506 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 517.031527 Removing input from /tmp/port/3 to /icub/yarprobotinterface 517.031547 Removing input from /tmp/port/2 to /icub/yarprobotinterface 517.031567 Removing input from /tmp/port/1 to /icub/yarprobotinterface 517.536421 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 518.063664 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 518.083798 Removing input from /tmp/port/1 to /icub/yarprobotinterface 518.083890 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 518.083922 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 518.083949 Removing input from /tmp/port/2 to /icub/yarprobotinterface 518.083981 Removing input from /tmp/port/3 to /icub/yarprobotinterface 518.537018 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 519.122195 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 519.132255 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 519.132325 Removing input from /tmp/port/1 to /icub/yarprobotinterface 519.132351 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 519.132372 Removing input from /tmp/port/3 to /icub/yarprobotinterface 519.132392 Removing input from /tmp/port/2 to /icub/yarprobotinterface 519.535008 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 520.139201 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 520.139304 Removing input from /tmp/port/1 to /icub/yarprobotinterface 520.139338 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 520.149244 Removing input from /tmp/port/2 to /icub/yarprobotinterface 520.149297 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 520.149316 Removing input from /tmp/port/1 to /icub/yarprobotinterface 520.532233 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 521.156682 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 521.156774 Removing input from /tmp/port/1 to /icub/yarprobotinterface 521.166745 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 521.166832 Removing input from /tmp/port/2 to /icub/yarprobotinterface 521.166871 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 521.176811 Removing input from /tmp/port/1 to /icub/yarprobotinterface 521.529550 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 522.175143 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 522.175200 Removing input from /tmp/port/1 to /icub/yarprobotinterface 522.175220 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 522.185204 Removing input from /tmp/port/2 to /icub/yarprobotinterface 522.185290 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 522.185320 Removing input from /tmp/port/1 to /icub/yarprobotinterface 522.528368 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 523.203906 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 523.203986 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 523.204006 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 523.204021 Removing input from /tmp/port/2 to /icub/yarprobotinterface 523.204036 Removing input from /tmp/port/3 to /icub/yarprobotinterface 523.204050 Removing input from /tmp/port/1 to /icub/yarprobotinterface 523.526455 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 524.223178 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 524.223257 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 524.223286 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 524.223317 Removing input from /tmp/port/1 to /icub/yarprobotinterface 524.223342 Removing input from /tmp/port/2 to /icub/yarprobotinterface 524.223365 Removing input from /tmp/port/3 to /icub/yarprobotinterface 524.525460 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 525.231199 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 525.241318 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 525.241408 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 525.241428 Removing input from /tmp/port/1 to /icub/yarprobotinterface 525.241445 Removing input from /tmp/port/3 to /icub/yarprobotinterface 525.241460 Removing input from /tmp/port/2 to /icub/yarprobotinterface 525.523451 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 526.259067 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 526.259155 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 526.259187 Removing input from /tmp/port/3 to /icub/yarprobotinterface 526.259216 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 526.259241 Removing input from /tmp/port/2 to /icub/yarprobotinterface 526.269128 Removing input from /tmp/port/1 to /icub/yarprobotinterface 526.530825 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 527.276224 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 527.276311 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 527.276343 Removing input from /tmp/port/1 to /icub/yarprobotinterface 527.276366 Removing input from /tmp/port/2 to /icub/yarprobotinterface 527.276386 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 527.286285 Removing input from /tmp/port/3 to /icub/yarprobotinterface 527.527912 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 528.313461 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 528.313540 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 528.313573 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 528.323529 Removing input from /tmp/port/3 to /icub/yarprobotinterface 528.323610 Removing input from /tmp/port/1 to /icub/yarprobotinterface 528.323636 Removing input from /tmp/port/2 to /icub/yarprobotinterface 528.524971 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 529.331509 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 529.331595 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 529.331633 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 529.341586 Removing input from /tmp/port/1 to /icub/yarprobotinterface 529.341656 Removing input from /tmp/port/2 to /icub/yarprobotinterface 529.341677 Removing input from /tmp/port/3 to /icub/yarprobotinterface 529.523018 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 530.348540 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 530.348601 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 530.348619 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 530.348633 Removing input from /tmp/port/1 to /icub/yarprobotinterface 530.348647 Removing input from /tmp/port/2 to /icub/yarprobotinterface 530.358595 Removing input from /tmp/port/3 to /icub/yarprobotinterface 530.519722 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 531.366450 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 531.366560 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 531.366605 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 531.366643 Removing input from /tmp/port/1 to /icub/yarprobotinterface 531.366687 Removing input from /tmp/port/2 to /icub/yarprobotinterface 531.366723 Removing input from /tmp/port/3 to /icub/yarprobotinterface 531.527677 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 532.384603 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 532.384659 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 532.384676 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 532.384690 Removing input from /tmp/port/3 to /icub/yarprobotinterface 532.384703 Removing input from /tmp/port/2 to /icub/yarprobotinterface 532.384716 Removing input from /tmp/port/1 to /icub/yarprobotinterface 532.525903 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 533.414185 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 533.414245 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 533.414263 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 533.414277 Removing input from /tmp/port/1 to /icub/yarprobotinterface 533.414291 Removing input from /tmp/port/2 to /icub/yarprobotinterface 533.414304 Removing input from /tmp/port/3 to /icub/yarprobotinterface 533.525105 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 534.421916 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 534.422006 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 534.422040 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 534.431979 Removing input from /tmp/port/1 to /icub/yarprobotinterface 534.432058 Removing input from /tmp/port/3 to /icub/yarprobotinterface 534.432080 Removing input from /tmp/port/2 to /icub/yarprobotinterface 534.522850 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 535.440555 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 535.440609 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 535.440627 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 535.440642 Removing input from /tmp/port/1 to /icub/yarprobotinterface 535.440657 Removing input from /tmp/port/2 to /icub/yarprobotinterface 535.440670 Removing input from /tmp/port/3 to /icub/yarprobotinterface 535.521312 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 535.521376 EthResource::verifyBoardPresence() DID NOT have replies from BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 after 21.0061 seconds: CANNOT PROCEED ANY FURTHER 535.521390 EthResource::verifyEPprotocol() cannot verify BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 : cannot proceed any further 535.521400 embObjMotionControl: failed verifyEPprotocol. Cannot continue! 536.016361 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 536.016432 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.27 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 536.460214 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 536.460274 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 536.460294 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 536.460311 Removing input from /tmp/port/1 to /icub/yarprobotinterface 536.460327 Removing input from /tmp/port/3 to /icub/yarprobotinterface 536.460348 Removing input from /tmp/port/2 to /icub/yarprobotinterface 536.520698 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 536.520773 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.27 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 537.015810 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb27-j4_7 IP 10.0.1.27 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 537.015881 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.27 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 537.015899 EthResource::serviceCommand() failed an acked activation request to BOARD right_arm-eb27-j4_7 with IP 10.0.1.27 after 3 attempts each with waiting timeout of 0.5 seconds 537.025975 Driver was found but could not open 537.026022 Cannot open device right_arm-eb27-j4_7-mc 537.026036 Cannot open device right_arm-eb27-j4_7-mc 537.026045 2341 537.026073 stofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type absanalog mais mais mais) (port CONN:P3 MAIS:thumbproximal MAIS:thumbdistal MAIS:indexproximal) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port CONN:none CONN:P2 CONN:P4 CONN:P5) (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 500.0 -500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 50.0 -50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\")]") 537.026136 2343 537.026161 ) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 180 90) (hardwareJntPosMin 10 0 0 0) (rotorPosMin 0 0 -5120 -5120) (rotorPosMax 0 0 70000 32000) (jntPosMax 90 90 180 90) (jntPosMin 10 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -500.0 500.0 -500.0 500.0) (kd 0.0 0.0 0.0 0.0) (ki -50.0 50.0 -50.0 50.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location \"CAN1:14\")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\")) (ENCODER1 (type absanalog mais mais mais) (port \"CONN:P3\" \"MAIS:thumbproximal\" \"MAIS:thumbdistal\" \"MAIS:indexproximal\") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type none qenc qenc qenc) (port \"CONN:none\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\") (position none atmotor atmotor atmotor) (resolution 1 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id right_arm-eb28-j8_11-mc) (robotName icub)") 537.026218 eth::parser::print(boardData) for BOARD right_arm-eb28-j8_11 537.026230 ETH_BOARD/ETH_BOARD_PROPERTIES: 537.026239 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.28 537.026249 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 537.026257 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 537.026266 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 537.036034 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 537.036080 ETH_BOARD/ETH_BOARD_SETTINGS: 537.036092 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb28-j8_11 537.036103 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 537.036114 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 537.036124 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 537.036134 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.28 (right_arm-eb28-j8_11) with timeout = 0.02 sec and period of missing report = 60 sec 537.036144 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.28 537.036154 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_absanalog 537.036165 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_none 537.036175 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_mais 537.036185 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 537.036195 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_mais 537.036205 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 537.036215 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_mais 537.036225 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 537.036234 embObjMC BOARD right_arm-eb28-j8_11 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 537.470441 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 537.480519 Receiving input from /tmp/port/2 to /icub/yarprobotinterface using tcp 537.480576 Receiving input from /tmp/port/3 to /icub/yarprobotinterface using tcp 537.480596 Removing input from /tmp/port/1 to /icub/yarprobotinterface 537.480618 Removing input from /tmp/port/2 to /icub/yarprobotinterface 537.480635 Removing input from /tmp/port/3 to /icub/yarprobotinterface 538.035211 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 539.034200 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 540.033534 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 541.033290 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 542.033113 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 543.033297 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 544.032620 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 545.031718 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 546.027956 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 547.026778 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 548.034720 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 549.032243 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 550.029454 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 551.025639 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 552.033021 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 553.030485 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 554.027945 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 555.026001 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 556.025096 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 557.025969 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 558.024298 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 558.024356 EthResource::verifyBoardPresence() DID NOT have replies from BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 after 21.0055 seconds: CANNOT PROCEED ANY FURTHER 558.024369 EthResource::verifyEPprotocol() cannot verify BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 : cannot proceed any further 558.024379 embObjMotionControl: failed verifyEPprotocol. Cannot continue! 558.529768 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 558.529832 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.28 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 559.024669 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 559.024724 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.28 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 559.529001 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb28-j8_11 IP 10.0.1.28 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 559.529058 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.28 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 559.529070 EthResource::serviceCommand() failed an acked activation request to BOARD right_arm-eb28-j8_11 with IP 10.0.1.28 after 3 attempts each with waiting timeout of 0.5 seconds 559.529080 Driver was found but could not open 559.529101 Cannot open device right_arm-eb28-j8_11-mc 559.529112 Cannot open device right_arm-eb28-j8_11-mc 559.529121 2408 559.529141 (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location CAN1:14)) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5)) (ENCODER1 (type mais mais mais mais) (port MAIS:indexdistal MAIS:mediumproximal MAIS:mediumdistal MAIS:littlefingers) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P3 CONN:P2 CONN:P4 CONN:P5) (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 500.0 500.0 -500.0 200.0) (kd 0.0 0.0 0.0 0.0) (ki 50.0 50.0 -50.0 20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\")]") 559.529278 2410 559.539076 e) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 180 90 180 270) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -65000 -5120 -5120 -65000) (rotorPosMax 5120 32000 65000 5120) (jntPosMax 180 90 180 270) (jntPosMin 0 0 0 0) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 600 600 600 600) (motorPeakCurrents 1000 1000 1000 1000) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 500.0 500.0 -500.0 200.0) (kd 0.0 0.0 0.0 0.0) (ki 50.0 50.0 -50.0 20.0) (maxOutput 3360 3360 3360 3360) (maxInt 3360 3360 3360 3360) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusmais) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (MAIS (location \"CAN1:14\")) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\")) (ENCODER1 (type mais mais mais mais) (port \"MAIS:indexdistal\" \"MAIS:mediumproximal\" \"MAIS:mediumdistal\" \"MAIS:littlefingers\") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 0 0 0 0)) (ENCODER2 (type qenc qenc qenc qenc) (port \"CONN:P3\" \"CONN:P2\" \"CONN:P4\" \"CONN:P5\") (position atmotor atmotor atmotor atmotor) (resolution 40 40 40 40) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id right_arm-eb29-j12_15-mc) (robotName icub)") 559.539167 eth::parser::print(boardData) for BOARD right_arm-eb29-j12_15 559.539186 ETH_BOARD/ETH_BOARD_PROPERTIES: 559.539196 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.29 559.539206 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 559.539215 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 559.539224 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 559.539233 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 559.539242 ETH_BOARD/ETH_BOARD_SETTINGS: 559.539250 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb29-j12_15 559.539259 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 559.539271 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 559.539280 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 559.539289 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.29 (right_arm-eb29-j12_15) with timeout = 0.02 sec and period of missing report = 60 sec 559.539299 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.29 559.539309 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_mais 559.539319 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 559.539328 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_mais 559.539337 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 559.539346 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_mais 559.539356 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 559.539366 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_mais 559.539376 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_qenc 559.539386 embObjMC BOARD right_arm-eb29-j12_15 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 560.538510 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 561.546925 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 562.542427 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 563.540205 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 564.546431 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 565.541806 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 566.537841 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 567.544692 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 568.542544 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 569.540430 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 570.537667 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 571.544983 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 572.544208 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 573.541998 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 574.540076 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 575.538491 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 576.537036 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 577.537019 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 578.536533 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 579.536166 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 580.534295 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 580.534357 EthResource::verifyBoardPresence() DID NOT have replies from BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 after 21.0064 seconds: CANNOT PROCEED ANY FURTHER 580.544367 EthResource::verifyEPprotocol() cannot verify BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 : cannot proceed any further 580.544425 embObjMotionControl: failed verifyEPprotocol. Cannot continue! 581.038424 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 581.038483 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.29 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 581.543684 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 581.543740 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.29 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 582.038333 theNVmanager::Impl::wait() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 582.038405 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.29 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 582.038419 EthResource::serviceCommand() failed an acked activation request to BOARD right_arm-eb29-j12_15 with IP 10.0.1.29 after 3 attempts each with waiting timeout of 0.5 seconds 582.038430 Driver was found but could not open 582.038449 Cannot open device right_arm-eb29-j12_15-mc 582.038461 Cannot open device right_arm-eb29-j12_15-mc 582.048420 2469 582.048465 ofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P8 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 4096 -4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0) (position eomc_pos_atmotor atmotor atmotor atmotor) (resolution -14400.0 -14400.0 -14400.0 -14400.0) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 85 85 70 0) (jntPosMin -30 0 -70 -100) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 5000 5000 5000 5000) (motorPeakCurrents 6000 10000 6000 10000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1066.66 2 2470 582.048536 066.66 -711.11 -1066.66) (kd 0.00 0.00 0.00 0.00) (ki -10666.64 14222.18 -7111.09 -1066.64) (maxOutput 8000 8000 8000 8000) (maxInt 1500 1500 750 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200 200 0 -200) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -2.0 2.0 -1.0 -1.0) (stictionDown 1.4 -2.0 1.3 0.2) (kff 1 1 1 1) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau -162 178 -197 -167)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)\")]") 582.048602 2472 582.048629 dOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName l_hip_pitch l_hip_roll l_hip_yaw l_knee) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -150.0 100.0 -100.0 -100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 92 92 72 0) (hardwareJntPosMin -30 -15 -72 -100) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 85 85 70 0) (jntPosMin -30 0 -70 -100) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 5000 5000 5000 5000) (motorPeakCurrents 6000 10000 6000 10000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -1066.66000000000008185 2066.65999999999985448 -711.110000000000013642 -1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki -10666.6399999999994179 14222.180000000000291 -7111.09000000000014552 -1066.64000000000010004) (maxOutput 8000 8000 8000 8000) (maxInt 1500 1500 750 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE 2473 582.048662 (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port \"CAN1:3:0\" \"CAN1:4:0\" \"CAN1:1:0\" \"CAN1:2:0\")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port \"CONN:P6\" \"CONN:P7\" \"CONN:P8\" \"CONN:P9\") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution 4096 4096 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port \"CAN1:3:0\" \"CAN1:4:0\" \"CAN1:1:0\" \"CAN1:2:0\") (position eomc_pos_atmotor atmotor atmotor atmotor) (resolution -14400.0 -14400.0 -14400.0 -14400.0) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200 200 0 -200) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -2.0 2.0 -1.0 -1.0) (stictionDown 1.39999999999999991118 -2.0 1.30000000000000004441 0.200000000000000011102) (kff 1 1 1 1) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau -162 178 -197 -167)) (device embObjMotionControl) (id left_leg-eb6-j0_3-mc) (robotName icub)") 582.048720 eth::parser::print(boardData) for BOARD left_leg-eb6-j0_3 582.048733 ETH_BOARD/ETH_BOARD_PROPERTIES: 582.048743 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.6 582.048752 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 582.048761 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 582.048769 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 582.048778 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 582.048788 ETH_BOARD/ETH_BOARD_SETTINGS: 582.058472 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_leg-eb6-j0_3 582.058504 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 582.058517 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 582.058526 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 582.058535 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.6 (left_leg-eb6-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec 582.058545 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.6 582.058554 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 582.058564 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 582.058573 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 582.058589 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 582.058599 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 582.058608 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 582.058617 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 582.058625 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 582.058635 embObjMC BOARD left_leg-eb6-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 582.058644 viscousPos parameter not found for board left_leg-eb6-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200 200 0 -200) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp -2.0 2.0 -1.0 -1.0) (stictionDown 1.39999999999999991118 -2.0 1.30000000000000004441 0.200000000000000011102) (kff 1 1 1 1) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau -162 178 -197 -167) 582.058658 Verbose parameter not found for board left_leg-eb6-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) 582.058670 In left_leg-eb6-j0_3 there isn't 2FOC.Verbose filed. For default it is enabled 582.068545 AutoCalibration parameter not found for board left_leg-eb6-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) 582.068607 In left_leg-eb6-j0_3 there isn't 2FOC.AutoCalibration filed. For default it is disabled 583.066943 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 584.065178 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 585.062718 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 586.060453 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 587.067375 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 588.063818 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 589.062461 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 590.060483 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 591.058141 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 592.066045 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 593.063552 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 594.060653 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 595.057899 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 596.066384 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 597.066457 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 598.065291 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 599.063461 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 600.061838 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 601.059919 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 602.058003 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 603.066405 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 603.066478 EthResource::verifyBoardPresence() DID NOT have replies from BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 after 21.0062 seconds: CANNOT PROCEED ANY FURTHER 603.066491 EthResource::verifyEPprotocol() cannot verify BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 : cannot proceed any further 603.066502 embObjMotionControl: failed verifyEPprotocol. Cannot continue! 603.560617 theNVmanager::Impl::wait() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 603.560708 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.6 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 604.065346 theNVmanager::Impl::wait() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 604.065401 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.6 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 604.560560 theNVmanager::Impl::wait() had a timeout for BOARD left_leg-eb6-j0_3 IP 10.0.1.6 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 604.560632 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.6 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 604.560646 EthResource::serviceCommand() failed an acked activation request to BOARD left_leg-eb6-j0_3 with IP 10.0.1.6 after 3 attempts each with waiting timeout of 0.5 seconds 604.560656 Driver was found but could not open 604.570614 Cannot open device left_leg-eb6-j0_3-mc 604.570662 Cannot open device left_leg-eb6-j0_3-mc 604.570672 2537 604.570693 ROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type eomc_enc_aea aea) (port CONN:P6 CONN:P7) (position eomc_pos_atjoint atjoint) (resolution -4096 4096) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution -14400 -14400) (tolerance 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 30 20) (jntPosMin -30 -20) (motorNominalCurrents 5000 5000) (motorPeakCurrents 10000 10000) (motorOverloadCurrents 15000 15000) (jntVelMax 1000 1000) (motorPwmLimit 10000 10000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0) (damping 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 2200.00 2200.00) (kd 0.00 0.00) (ki 0.09 0.09) (maxOutput 8000 8000) (maxInt 750 750) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 8000 8000) (maxInt 500 500) (ko 0 0) (stictionUp 1.7 0.8) (stictionDown -1.7 -1.8) (kff 1 1) (kbemf 0 0) (filterType 0 0) (ktau 209 160)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_u 2538 604.570798 nits) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)\")]") 604.570811 2540 604.570851 1000.0 1000.0) (Gearbox_M2J 100.0 100.0) (Gearbox_E2J 1 1) (MotorType BLL_MOOG BLL_MOOG) (useMotorSpeedFbk 1 1) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0) (damping 0.0 0.0)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 30.0 20.0) (hardwareJntPosMin -30.0 -20.0) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 30 20) (jntPosMin -30 -20) (motorNominalCurrents 5000 5000) (motorPeakCurrents 10000 10000) (motorOverloadCurrents 15000 15000) (jntVelMax 1000 1000) (motorPwmLimit 10000 10000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 2200.0 2200.0) (kd 0.0 0.0) (ki 0.0899999999999999966693 0.0899999999999999966693) (maxOutput 8000 8000) (maxInt 750 750) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\")) (ENCODER1 (type eomc_enc_aea aea) (port \"CONN:P6\" \"CONN:P7\") (position eomc_pos_atjoint atjoint) (resolution -4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port \"CAN1:1:0\" \"CAN1:2:0\") (position atmotor atmotor) (resolution -14400 -14400) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 8000 8000) (maxInt 500 500) (ko 0 0) (stictionUp 1.69999999999999995559 0.800000000000000044409) (stictionDown -1.69999999999999995559 -1.80000000000000004441) (kff 1 1) (kbemf 0 0) (filterType 0 0) (ktau 209 160)) (device embObjMotionControl) (id lef 2541 604.570985 t_leg-eb7-j4_5-mc) (robotName icub)") 604.570992 eth::parser::print(boardData) for BOARD left_leg-eb7-j4_5 604.571005 ETH_BOARD/ETH_BOARD_PROPERTIES: 604.571015 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.7 604.571026 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 604.571035 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 604.580674 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 604.580732 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 604.580746 ETH_BOARD/ETH_BOARD_SETTINGS: 604.580757 ETH_BOARD/ETH_BOARD_SETTINGS/Name = left_leg-eb7-j4_5 604.580775 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 604.580788 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 604.580798 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 604.580809 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.7 (left_leg-eb7-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec 604.580820 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.7 604.580831 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 604.580843 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 604.580853 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 604.580864 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 604.580874 embObjMC BOARD left_leg-eb7-j4_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 604.580886 viscousPos parameter not found for board left_leg-eb7-j4_5 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 200) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 8000 8000) (maxInt 500 500) (ko 0 0) (stictionUp 1.69999999999999995559 0.800000000000000044409) (stictionDown -1.69999999999999995559 -1.80000000000000004441) (kff 1 1) (kbemf 0 0) (filterType 0 0) (ktau 209 160) 604.580903 Verbose parameter not found for board left_leg-eb7-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (RotorIndexOffset 0 0) (HasSpeedEncoder 0 0) (MotorPoles 8 8) 604.580916 In left_leg-eb7-j4_5 there isn't 2FOC.Verbose filed. For default it is enabled 604.580927 AutoCalibration parameter not found for board left_leg-eb7-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (RotorIndexOffset 0 0) (HasSpeedEncoder 0 0) (MotorPoles 8 8) 604.580939 In left_leg-eb7-j4_5 there isn't 2FOC.AutoCalibration filed. For default it is disabled 605.580815 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 606.580047 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 607.588981 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 608.586991 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 609.586931 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 610.586029 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 611.584699 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 612.585186 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 613.584055 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 614.582998 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 615.582253 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 616.589665 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 617.587209 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 618.585474 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 619.583157 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 620.582363 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 621.580465 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 622.588894 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 623.588237 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 624.587142 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 625.586080 theNVmanager::Impl::ask() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 625.586138 EthResource::verifyBoardPresence() DID NOT have replies from BOARD left_leg-eb7-j4_5 with IP 10.0.1.7 after 21.006 seconds: CANNOT PROCEED ANY FURTHER 625.586153 EthResource::verifyEPprotocol() cannot verify BOARD left_leg-eb7-j4_5 with IP 10.0.1.7 : cannot proceed any further 625.586166 embObjMotionControl: failed verifyEPprotocol. Cannot continue! 626.090896 theNVmanager::Impl::wait() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 626.090954 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.7 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 626.584922 theNVmanager::Impl::wait() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 626.584981 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.7 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 627.089406 theNVmanager::Impl::wait() had a timeout for BOARD left_leg-eb7-j4_5 IP 10.0.1.7 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 627.089463 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.7 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 627.089476 EthResource::serviceCommand() failed an acked activation request to BOARD left_leg-eb7-j4_5 with IP 10.0.1.7 after 3 attempts each with waiting timeout of 0.5 seconds 627.089487 Driver was found but could not open 627.089507 Cannot open device left_leg-eb7-j4_5-mc 627.089519 Cannot open device left_leg-eb7-j4_5-mc 627.089535 2601 627.089563 listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))\"), (\"SERVICE\" [group] = \"(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0)) (ENCODER1 (type eomc_enc_aea aea aea aea) (port CONN:P6 CONN:P7 CONN:P8 CONN:P9) (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution -4096 -4096 -4096 4096) (tolerance 0.703 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie roie) (port CAN1:3:0 CAN1:4:0 CAN1:1:0 CAN1:2:0) (position eomc_pos_atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 85 85 70 0) (jntPosMin -30 0 -70 -100) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 5000 5000 5000 5000) (motorPeakCurrents 6000 10000 6000 10000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1066.66 -206 2602 627.089647 6.66 711.11 1066.66) (kd 0.00 0.00 0.00 0.00) (ki 10666.64 -14222.18 7111.09 1066.64) (maxOutput 8000 8000 8000 8000) (maxInt 1500 1500 750 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 -200 0 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 2.3 -1.79 1.8 1.2) (stictionDown -3.3 1.76 -1.4 -1.7) (kff 1 1 1 1) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 147 -180 217 282)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)\")]") 627.099462 2604 627.099505 iodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName r_hip_pitch r_hip_roll r_hip_yaw r_knee) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 150.0 -100.0 100.0 100.0) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 1 1 1 1) (MotorType BLL_MOOG BLL_MOOG BLL_MOOG BLL_MOOG) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 92 92 72 0) (hardwareJntPosMin -30 -15 -72 -100) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 85 85 70 0) (jntPosMin -30 0 -70 -100) (jntVelMax 1000 1000 1000 1000) (motorNominalCurrents 5000 5000 5000 5000) (motorPeakCurrents 6000 10000 6000 10000) (motorOverloadCurrents 15000 15000 15000 15000) (motorPwmLimit 10000 10000 10000 10000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1066.66000000000008185 -2066.65999999999985448 711.110000000000013642 1066.66000000000008185) (kd 0.0 0.0 0.0 0.0) (ki 10666.6399999999994179 -14222.180000000000291 7111.09000000000014552 1066.64000000000010004) (maxOutput 8000 8000 8000 8000) (maxInt 1500 1500 750 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (maj 2605 627.099535 or 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc foc foc) (port \"CAN1:3:0\" \"CAN1:4:0\" \"CAN1:1:0\" \"CAN1:2:0\")) (ENCODER1 (type eomc_enc_aea aea aea aea) (port \"CONN:P6\" \"CONN:P7\" \"CONN:P8\" \"CONN:P9\") (position eomc_pos_atjoint atjoint atjoint atjoint) (resolution -4096 -4096 -4096 4096) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie roie) (port \"CAN1:3:0\" \"CAN1:4:0\" \"CAN1:1:0\" \"CAN1:2:0\") (position eomc_pos_atmotor atmotor atmotor atmotor) (resolution -14400 -14400 -14400 -14400) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 -200 0 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 2.29999999999999982236 -1.79000000000000003553 1.80000000000000004441 1.19999999999999995559) (stictionDown -3.29999999999999982236 1.76000000000000000888 -1.39999999999999991118 -1.69999999999999995559) (kff 1 1 1 1) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 147 -180 217 282)) (device embObjMotionControl) (id right_leg-eb8-j0_3-mc) (robotName icub)") 627.099568 eth::parser::print(boardData) for BOARD right_leg-eb8-j0_3 627.099580 ETH_BOARD/ETH_BOARD_PROPERTIES: 627.099591 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.8 627.099600 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 627.099609 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 627.099618 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 627.099626 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 627.099793 ETH_BOARD/ETH_BOARD_SETTINGS: 627.099805 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_leg-eb8-j0_3 627.099813 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 627.099823 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 627.099832 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 627.099841 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.8 (right_leg-eb8-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec 627.099852 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.8 627.099861 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 627.099870 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 627.099881 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 627.099889 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 627.099898 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 627.099906 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 627.099915 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 627.099923 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 627.099931 embObjMC BOARD right_leg-eb8-j0_3 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 627.109565 viscousPos parameter not found for board right_leg-eb8-j0_3 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 200 -200 0 300) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 8000 8000 8000 8000) (maxInt 500 500 500 500) (ko 0 0 0 0) (stictionUp 2.29999999999999982236 -1.79000000000000003553 1.80000000000000004441 1.19999999999999995559) (stictionDown -3.29999999999999982236 1.76000000000000000888 -1.39999999999999991118 -1.69999999999999995559) (kff 1 1 1 1) (kbemf 0 0 0 0) (filterType 0 0 0 0) (ktau 147 -180 217 282) 627.109601 Verbose parameter not found for board right_leg-eb8-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) 627.109617 In right_leg-eb8-j0_3 there isn't 2FOC.Verbose filed. For default it is enabled 627.109631 AutoCalibration parameter not found for board right_leg-eb8-j0_3 in bottle "2FOC" (HasHallSensor 1 1 1 1) (HasTempSensor 0 0 0 0) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 0 0 0 0) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 0 0 0 0) (MotorPoles 8 8 8 8) 627.109643 In right_leg-eb8-j0_3 there isn't 2FOC.AutoCalibration filed. For default it is disabled 628.107908 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 629.106400 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 630.103927 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 631.111222 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 632.110278 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 633.109596 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 634.108681 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 635.106110 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 636.104644 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 637.113170 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 638.112156 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 639.111785 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 640.109647 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 641.108144 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 642.106735 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 643.115250 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 644.112715 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 645.111494 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 646.109220 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 647.107215 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 648.107198 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 648.107404 EthResource::verifyBoardPresence() DID NOT have replies from BOARD right_leg-eb8-j0_3 with IP 10.0.1.8 after 21.0061 seconds: CANNOT PROCEED ANY FURTHER 648.117278 EthResource::verifyEPprotocol() cannot verify BOARD right_leg-eb8-j0_3 with IP 10.0.1.8 : cannot proceed any further 648.117356 embObjMotionControl: failed verifyEPprotocol. Cannot continue! 648.611296 theNVmanager::Impl::wait() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 648.611438 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.8 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 649.115577 theNVmanager::Impl::wait() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 649.115649 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.8 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 649.610333 theNVmanager::Impl::wait() had a timeout for BOARD right_leg-eb8-j0_3 IP 10.0.1.8 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 649.610395 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.8 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 649.610409 EthResource::serviceCommand() failed an acked activation request to BOARD right_leg-eb8-j0_3 with IP 10.0.1.8 after 3 attempts each with waiting timeout of 0.5 seconds 649.610420 Driver was found but could not open 649.620432 Cannot open device right_leg-eb8-j0_3-mc 649.620462 Cannot open device right_leg-eb8-j0_3-mc 649.620474 2669 649.620495 PERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type eomc_enc_aea aea) (port CONN:P6 CONN:P7) (position eomc_pos_atjoint atjoint) (resolution 4096 -4096) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution -14400 -14400) (tolerance 0 0))))\"), (\"LIMITS\" [group] = \"(jntPosMax 30 20) (jntPosMin -30 -20) (motorNominalCurrents 5000 5000) (motorPeakCurrents 10000 10000) (motorOverloadCurrents 15000 15000) (jntVelMax 1000 1000) (motorPwmLimit 10000 10000)\"), (\"TIMEOUTS\" [group] = \"(velocity 100 100)\"), (\"IMPEDANCE\" [group] = \"(stiffness 0 0) (damping 0 0)\"), (\"CONTROLS\" [group] = \"(positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid 2FOC_CUR_CONTROL 2FOC_CUR_CONTROL) (speedPid 2FOC_VEL_CONTROL 2FOC_VEL_CONTROL)\"), (\"POS_PID_DEFAULT\" [group] = \"(controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -2105.00 -2310.00) (kd 0.00 0.00) (ki -0.09 -0.09) (maxOutput 8000 8000) (maxInt 750 750) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)\"), (\"TRQ_PID_DEFAULT\" [group] = \"(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200 -200) (kd 0 0) (ki 0 0) (maxOutput 8000 8000) (maxInt 500 500) (ko 0 0) (stictionUp -1.4 -1.5) (stictionDown 2.4 1.6) (kff 1 1) (kbemf 0 0) (filterType 0 0) (ktau -231 -180)\"), (\"2FOC_CUR_CONTROL\" [group] = \"(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)\"), (\"2FOC_VEL_CONTROL\" [group] = \"(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outp 2670 649.620599 utControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)\")]") 649.620611 2672 649.620657 or 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0) (Gearbox_E2J 1.0 1.0) (MotorType BLL_MOOG BLL_MOOG) (useMotorSpeedFbk 1 1) (Verbose 0)) (IMPEDANCE (stiffness 0 0) (damping 0 0)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 30 20) (hardwareJntPosMin -30 -20) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 30 20) (jntPosMin -30 -20) (motorNominalCurrents 5000 5000) (motorPeakCurrents 10000 10000) (motorOverloadCurrents 15000 15000) (jntVelMax 1000 1000) (motorPwmLimit 10000 10000)) (PC104 (PC104IpAddress \"10.0.1.104\") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -2105.0 -2310.0) (kd 0.0 0.0) (ki -0.0899999999999999966693 -0.0899999999999999966693) (maxOutput 8000 8000) (maxInt 750 750) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 3))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc) (port \"CAN1:1:0\" \"CAN1:2:0\")) (ENCODER1 (type eomc_enc_aea aea) (port \"CONN:P6\" \"CONN:P7\") (position eomc_pos_atjoint atjoint) (resolution 4096 -4096) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port \"CAN1:1:0\" \"CAN1:2:0\") (position atmotor atmotor) (resolution -14400 -14400) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200 -200) (kd 0 0) (ki 0 0) (maxOutput 8000 8000) (maxInt 500 500) (ko 0 0) (stictionUp -1.39999999999999991118 -1.5) (stictionDown 2.39999999999999991118 1.60000000000000008882) (kff 1 1) (kbemf 0 0) (filterType 0 0) (ktau -231 -180)) (device embObjMotionControl) (id right_leg-eb9-j4_5-mc) (robotNam 2673 649.620788 e icub)") 649.620794 eth::parser::print(boardData) for BOARD right_leg-eb9-j4_5 649.620806 ETH_BOARD/ETH_BOARD_PROPERTIES: 649.620816 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.9 649.620825 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 649.620834 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 649.620843 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 649.620852 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 649.620860 ETH_BOARD/ETH_BOARD_SETTINGS: 649.620871 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_leg-eb9-j4_5 649.630595 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 649.630627 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 649.630646 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 649.630656 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.9 (right_leg-eb9-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec 649.630666 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.9 649.630677 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 649.630687 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 649.630697 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_aea 649.630706 ServiceParser::parse_encoder_port(): ===========================> eomc_enc_roie 649.630719 embObjMC BOARD right_leg-eb9-j4_5 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails) 649.630730 viscousPos parameter not found for board right_leg-eb9-j4_5 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -200 -200) (kd 0 0) (ki 0 0) (maxOutput 8000 8000) (maxInt 500 500) (ko 0 0) (stictionUp -1.39999999999999991118 -1.5) (stictionDown 2.39999999999999991118 1.60000000000000008882) (kff 1 1) (kbemf 0 0) (filterType 0 0) (ktau -231 -180) 649.630744 Verbose parameter not found for board right_leg-eb9-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8) 649.630755 In right_leg-eb9-j4_5 there isn't 2FOC.Verbose filed. For default it is enabled 649.630765 AutoCalibration parameter not found for board right_leg-eb9-j4_5 in bottle "2FOC" (HasHallSensor 1 1) (HasTempSensor 0 0) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 0 0) (HasSpeedEncoder 0 0) (RotorIndexOffset 0 0) (MotorPoles 8 8) 649.630776 In right_leg-eb9-j4_5 there isn't 2FOC.AutoCalibration filed. For default it is disabled 650.627629 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 651.635544 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 652.634346 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 653.632651 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 654.632283 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 655.630995 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 656.629565 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 657.627374 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 658.635357 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 659.632870 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 660.630094 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 661.627758 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 662.636436 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 663.633976 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 664.631037 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 665.638756 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 666.637623 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 667.636464 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 668.635771 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 669.635511 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 670.634116 theNVmanager::Impl::ask() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 670.634178 EthResource::verifyBoardPresence() DID NOT have replies from BOARD right_leg-eb9-j4_5 with IP 10.0.1.9 after 21.0059 seconds: CANNOT PROCEED ANY FURTHER 670.634194 EthResource::verifyEPprotocol() cannot verify BOARD right_leg-eb9-j4_5 with IP 10.0.1.9 : cannot proceed any further 670.634207 embObjMotionControl: failed verifyEPprotocol. Cannot continue! 671.139196 theNVmanager::Impl::wait() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 671.139255 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.9 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 671.633562 theNVmanager::Impl::wait() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 671.633621 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.9 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 672.137865 theNVmanager::Impl::wait() had a timeout for BOARD right_leg-eb9-j4_5 IP 10.0.1.9 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 672.137926 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.9 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 672.137940 EthResource::serviceCommand() failed an acked activation request to BOARD right_leg-eb9-j4_5 with IP 10.0.1.9 after 3 attempts each with waiting timeout of 0.5 seconds 672.137952 Driver was found but could not open 672.137971 Cannot open device right_leg-eb9-j4_5-mc 672.137982 Cannot open device right_leg-eb9-j4_5-mc 672.137997 Opening device head-imuFilter_wrapper with parameters [("robotName" = "icub"), ("period" = "20"), ("name" = "/imuFilter")] 672.178151 Parameters are (device multipleanalogsensorsserver) (id head-imuFilter_wrapper) (name "/imuFilter") (period 20) (robotName icub) 672.178224 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 672.178242 Opening device head-imuFilter with parameters [("robotName" = "icub"), ("period" = "20"), ("name" = "/imuFilter")] 672.188292 Parameters are (device imuFilter) (id head-imuFilter) (name "/imuFilter") (period 20) (robotName icub) 672.198385 Finish PassThroughInertial::open 672.208467 Port /imuFilter/bias:o active at tcp://10.0.0.2:10052/ 672.208534 Created device . See C++ class yarp::dev::ImuFilter for documentation. 672.208557 Opening device head-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/head/inertials")] 672.208576 Parameters are (device multipleanalogsensorsserver) (id head-inertials_wrapper) (name "/icub/head/inertials") (period 10) (robotName icub) 672.208606 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 672.208627 Opening device head-inertial with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.21) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "head-eb21-j2_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type rfe) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status) (boardType rfe rfe rfe rfe) (location CAN1:1 CAN1:1 CAN1:1 CAN1:1))) (SETTINGS (acquisitionRate 10) (enabledSensors rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status))")] 672.218553 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.21") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name head-eb21-j2_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type rfe) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_status) (boardType rfe rfe rfe rfe) (location "CAN1:1" "CAN1:1" "CAN1:1" "CAN1:1"))) (SETTINGS (acquisitionRate 10) (enabledSensors rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_status))) (device embObjIMU) (id head-inertial) (robotName icub) 672.228695 from BOARD 10.0.1.21 (head-eb21-j2_5) @ 787s 686m 218u: CAN discovery has started for 1 eobrd_rfe boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 2.0 and application ver 0.0.0. 672.228742 from BOARD 10.0.1.21 (head-eb21-j2_5) @ 787s 687m 180u: CAN discovery has detected a eobrd_rfe board in CAN1 addr 1 with can protocol ver 2.0 and application ver 1.2.2 Search time was 0 ms 672.228758 from BOARD 10.0.1.21 (head-eb21-j2_5) @ 787s 687m 342u: CAN discovery is OK for 1 eobrd_rfe boards with target can protocol ver 2.0 and application ver 0.0.0. Search time was 0 ms 672.228771 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 787s 687m 478u: (code 0x05000030, par16 0x0000 par64 0x0000000000000000) -> CFG: EOtheInertial3 can be correctly configured. tbd + . 672.228784 from BOARD 10.0.1.21 (head-eb21-j2_5), src LOCAL, adr 0, time 787s 688m 138u: (code 0x0000000b, par16 0x01fc par64 0x001700ff0075005f) -> SYS: the RX phase of the control loop has last more than wanted. In par16: RX execution time [usec]. In par64: latest previous execution times of TX, RX, DO, TX [usec] + . 672.248912 Created device . See C++ class yarp::dev::embObjIMU for documentation. 672.248960 Opening device waist-inertials_remapper with parameters [("robotName" = "icub"), ("period" = "10"), ("ThreeAxisGyroscopesNames" = "(waist_ems_gyro_eb5)")] 672.258975 Parameters are (ThreeAxisGyroscopesNames (waist_ems_gyro_eb5)) (device multipleanalogsensorsremapper) (id waist-inertials_remapper) (period 10) (robotName icub) 672.259043 Created device . See C++ class MultipleAnalogSensorsRemapper for documentation. 672.259074 Opening device waist-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/waist/inertials")] 672.259097 Parameters are (device multipleanalogsensorsserver) (id waist-inertials_wrapper) (name "/icub/waist/inertials") (period 10) (robotName icub) 672.259123 Created wrapper . See C++ class MultipleAnalogSensorsServer for documentation. 672.259150 Opening device waist-eb5-inertials_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/waist/inertialEMS5")] 672.269056 Parameters are (device analogServer) (id waist-eb5-inertials_wrapper) (name "/icub/waist/inertialEMS5") (period 10) (robotName icub) 672.269115 The 'AnalogWrapper' device is deprecated. 672.269131 Possible alternatives, depending on the specific type sensor data, are: 672.269145 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 672.269163 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 672.269175 Please update your scripts. 672.269187 No ROS group found in config file ... skipping ROS initialization. 672.279121 Port /icub/waist/inertialEMS5/rpc:i active at tcp://10.0.0.2:10053/ 672.279211 : no ROS initialization required 672.279228 Created wrapper . See C++ class AnalogWrapper for documentation. 672.279247 Opening device xsens_inertial with parameters [("robotName" = "icub"), ("name" = "/icub/xsens_inertial"), ("subdevice" = "xsensmt"), ("serial" = "/dev/ttyXsens")] 672.289199 Parameters are (device inertial) (id xsens_inertial) (name "/icub/xsens_inertial") (robotName icub) (serial "/dev/ttyXsens") (subdevice xsensmt) 672.289248 The 'inertial' device is deprecated in favour of 'multipleanalogsensorsremapper' + 'multipleanalogsensorsserver' + 'IMURosPublisher'. 672.289266 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 672.289289 Please update your scripts. 672.289303 Subdevice xsensmt 672.299272 Parameters are (device xsensmt) (id xsens_inertial) (name "/icub/xsens_inertial") (robotName icub) (serial "/dev/ttyXsens") (subdevice xsensmt) 672.299317 xsensmt - Parameter "sensor_name" not set. Using default value " sensor_imu_xsensmt " for this parameter. 672.299333 xsensmt - Parameter "frame_name" not set. Using the same value as "sensor_name" for this parameter. 672.299345 xsensmt: Opening serial port /dev/ttyXsens with baud rate 115200. 672.299356 xsensmt: Putting device into configuration mode. 672.309347 xsensmt: Found a device with id: 03782679 @ port: /dev/ttyXsens , baudrate: 4098 . 672.319425 xsensmt: Device: MTi-300-2A8G4 opened. 672.319466 xsensmt: Configuring the device of type 03782679. 672.551809 xsensmt: Putting device into measurement mode. 672.551889 Created device . See C++ class yarp::dev::XsensMT for documentation. 672.551931 No ROS group found in config file ... skipping ROS initialization. 672.561874 Port /icub/xsens_inertial active at tcp://10.0.0.2:10054/ 672.561972 Server Inertial : no ROS initialization required 672.562002 Starting server Inertial thread 672.562026 Created wrapper . See C++ class ServerInertial for documentation. 672.562057 xsensmt: Sensor timeout, no sensor measurement received in the last 0.205888 seconds. 672.562078 Opening device waist-eb5-inertials with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.5) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "torso-eb5-j0_2") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials) (PROPERTIES (CANBOARDS (type eobrd_mtb) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id waist_ems_gyro_eb5) (type eoas_gyros_st_l3g4200d) (location ETH:1))) (SETTINGS (acquisitionRate 50) (enabledSensors waist_ems_gyro_eb5))")] 672.562124 xsensmt: Sensor timeout, no sensor measurement received in the last 0.210936 seconds. 672.571935 xsensmt: Missing orientation message, skipping orientation update. 672.572002 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.5") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name torso-eb5-j0_2) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_inertials) (PROPERTIES (CANBOARDS (type eobrd_mtb) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id waist_ems_gyro_eb5) (type eoas_gyros_st_l3g4200d) (location "ETH:1"))) (SETTINGS (acquisitionRate 50) (enabledSensors waist_ems_gyro_eb5))) (device embObjInertials) (id waist-eb5-inertials) (robotName icub) 672.572040 eth::parser::print(boardData) for BOARD torso-eb5-j0_2 672.572053 ETH_BOARD/ETH_BOARD_PROPERTIES: 672.572064 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.5 672.572075 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 672.572084 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = ems4 672.572093 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 672.572103 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 672.572113 ETH_BOARD/ETH_BOARD_SETTINGS: 672.572127 ETH_BOARD/ETH_BOARD_SETTINGS/Name = torso-eb5-j0_2 672.572137 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 672.572148 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 672.572158 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 672.572169 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.5 (torso-eb5-j0_2) with timeout = 0.02 sec and period of missing report = 60 sec 672.572179 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type ems4 with IP = 10.0.1.5 672.572189 The embObjInertials device using BOARD torso-eb5-j0_2 w/ IP 10.0.1.5 has the following service config: 672.572200 - acquisitionrate = 50 672.572210 - number of sensors = 1 defined as follows: 672.572220 - id = waist_ems_gyro_eb5 type = eoas_gyros_st_l3g4200d on MTB w/ loc = [E, T, H, :, 1, 672.572232 Writing an Inertial measurement. 673.569500 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 674.567280 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 675.565214 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 676.573610 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 677.570442 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 678.567828 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 679.565453 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 680.573550 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 681.571078 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 682.568890 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 683.567201 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 684.566998 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 685.567238 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 686.576486 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 687.574620 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 688.573404 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 689.574187 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 690.573055 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 691.570853 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 692.578161 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 693.577456 theNVmanager::Impl::ask() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 693.577523 EthResource::verifyBoardPresence() DID NOT have replies from BOARD torso-eb5-j0_2 with IP 10.0.1.5 after 21.005 seconds: CANNOT PROCEED ANY FURTHER 693.577536 EthResource::verifyEPprotocol() cannot verify BOARD torso-eb5-j0_2 with IP 10.0.1.5 : cannot proceed any further 694.072158 theNVmanager::Impl::wait() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 694.072220 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.5 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 694.576642 theNVmanager::Impl::wait() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 694.576705 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.5 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 695.071106 theNVmanager::Impl::wait() had a timeout for BOARD torso-eb5-j0_2 IP 10.0.1.5 and nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 695.071166 theNVmanager::Impl::command() fails a wait() from IP 10.0.1.5 for nv ID32 = 0x00030001 -> IND = 0, TAG = eoprot_tag_mn_service_status_commandresult 695.071179 EthResource::serviceCommand() failed an acked activation request to BOARD torso-eb5-j0_2 with IP 10.0.1.5 after 3 attempts each with waiting timeout of 0.5 seconds 695.071195 Driver was found but could not open 695.071215 Cannot open device waist-eb5-inertials 695.081257 Cannot open device waist-eb5-inertials 695.081289 Opening device right_arm-mais_wrapper with parameters [("robotName" = "icub"), ("period" = "10"), ("name" = "/icub/right_hand/analog:o")] 695.081308 Parameters are (device analogServer) (id right_arm-mais_wrapper) (name "/icub/right_hand/analog:o") (period 10) (robotName icub) 695.081335 The 'AnalogWrapper' device is deprecated. 695.081348 Possible alternatives, depending on the specific type sensor data, are: 695.081359 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc. 695.081371 The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4. 695.081382 Please update your scripts. 695.081397 No ROS group found in config file ... skipping ROS initialization. 695.121716 Port /icub/right_hand/analog:o/rpc:i active at tcp://10.0.0.2:10056/ 695.121776 : no ROS initialization required 695.121792 Created wrapper . See C++ class AnalogWrapper for documentation. 695.121810 Opening device right_arm-eb29-j12_15-mais with parameters [("robotName" = "icub"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.29) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb29-j12_15") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location CAN1:14))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))")] 695.131748 Parameters are (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.29") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb29-j12_15) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 5))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 5)) (SERVICE (type eomn_serv_AS_mais) (PROPERTIES (CANBOARDS (type eobrd_mais) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id id_x_hand_mais) (type eoas_mais) (location "CAN1:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors id_x_hand_mais))) (device embObjMais) (id right_arm-eb29-j12_15-mais) (robotName icub) 695.131870 eth::parser::print(boardData) for BOARD right_arm-eb29-j12_15 695.131891 ETH_BOARD/ETH_BOARD_PROPERTIES: 695.131906 ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress = 10.0.1.29 695.131921 ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort = 12345 695.131944 ETH_BOARD/ETH_BOARD_PROPERTIES/Type = mc4plus 695.131958 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket = 768 695.131971 ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP = 384 695.131984 ETH_BOARD/ETH_BOARD_SETTINGS: 695.131996 ETH_BOARD/ETH_BOARD_SETTINGS/Name = right_arm-eb29-j12_15 695.132009 ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) = 1000 400 300 300 5 695.132025 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE 695.132038 ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) = true 0.02 60 695.132052 eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.29 (right_arm-eb29-j12_15) with timeout = 0.02 sec and period of missing report = 60 sec 695.132067 TheEthManager::requestResource2(): has just succesfully created a new EthResource for board of type mc4plus with IP = 10.0.1.29 695.132082 The embObjMais device using BOARD right_arm-eb29-j12_15 w/ IP 10.0.1.29 has the following service config: 695.141804 - acquisitionrate = 10 695.141839 - MAIS named id_x_hand_mais @ [C, A, N, 1, :, 1, 4, 696.138527 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 697.135264 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 698.133399 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 699.140238 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 699.925664 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 699.925739 Removing input from /tmp/port/1 to /icub/yarprobotinterface 700.137939 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 700.934069 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 700.944145 Removing input from /tmp/port/1 to /icub/yarprobotinterface 701.135813 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 701.953982 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 701.954059 Removing input from /tmp/port/1 to /icub/yarprobotinterface 702.135870 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 702.973386 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 702.973448 Removing input from /tmp/port/1 to /icub/yarprobotinterface 703.134756 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 703.991946 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 703.992031 Removing input from /tmp/port/1 to /icub/yarprobotinterface 704.133418 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 705.002130 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 705.002197 Removing input from /tmp/port/1 to /icub/yarprobotinterface 705.134680 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 706.012596 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 706.022659 Removing input from /tmp/port/1 to /icub/yarprobotinterface 706.133768 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 707.031762 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 707.031836 Removing input from /tmp/port/1 to /icub/yarprobotinterface 707.142628 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 708.052176 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 708.052239 Removing input from /tmp/port/1 to /icub/yarprobotinterface 708.142879 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion 709.072259 Receiving input from /tmp/port/1 to /icub/yarprobotinterface using tcp 709.072331 Removing input from /tmp/port/1 to /icub/yarprobotinterface 709.142867 theNVmanager::Impl::ask() had a timeout for BOARD right_arm-eb29-j12_15 IP 10.0.1.29 and nv ID32 = 0x00000002 -> IND = 0, TAG = eoprot_tag_mn_comm_status_managementprotocolversion