0.000000 <DEBUG> Reading file /usr/local/src/robot/robotology-superbuild/src/robots-configuration/ergoCubSN001/ergocub_wbd.xml
 0.000587 <DEBUG> yarprobotinterface: using xml parser for DTD v3.x
 0.000620 <DEBUG> Reading file /usr/local/src/robot/robotology-superbuild/src/robots-configuration/ergoCubSN001/ergocub_wbd.xml
 0.000637 <INFO> Yarprobotinterface was started using the following enable_tags: 
 0.030679 <WARNING> Invalid syntax while loading  at line 4 . "robot" element should contain the "portprefix" attribute. Using "name" attribute
 0.030720 <WARNING> *************************************************************************************
* 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   *
*************************************************************************************
 0.051132 <INFO> Opening device right_hand_as_wrapper4 with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/right_hand/POS4:o")]
 0.071632 <WARNING> Please update your scripts.
 0.102280 <INFO> Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
 0.102329 <INFO> Opening device right_hand-pos4 with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.22) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb22-j7_10") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (location CAN1:1 CAN1:1 CAN1:1 CAN1:1) (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (boardType mtb4c mtb4c mtb4c mtb4c) (connector CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2) (CALIBRATION (type TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg) (rotation ROT:zero ROT:zero ROT:zero ROT:zero) (offset 0.0 0.0 0.0 0.0) (invertDirection false false false false)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))")]
 0.122651 <INFO> embObjPOS::open(): preparing ETH resource
 0.122699 <WARNING> in EthReceiver::config() the config socket has queue size =  2097152 ; you request ETHRECEIVER_BUFFER_SIZE= 
 0.122711 <DEBUG> eth::parser::print(boardData) for BOARD right_arm-eb22-j7_10
 0.122721 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 0.122729 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
 0.122737 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 2
 0.122747 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 0.122763 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.22 (right_arm-eb22-j7_10) with timeout = 0.02 sec and period of missing report = 60 sec
 0.122774 <INFO> embObjPOS::open(): browsing xml files which describe the service
 0.122782 <WARNING> ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName
 0.132704 <DEBUG> zero  yyyyyyyyyyyyyyyyyyy  15
 0.132738 <DEBUG> zero  yyyyyyyyyyyyyyyyyyy  15
 0.132748 <DEBUG> zero  yyyyyyyyyyyyyyyyyyy  15
 0.132756 <DEBUG> zero  yyyyyyyyyyyyyyyyyyy  15
 0.132764 <INFO> embObjPOS::open(): verify the presence of the board and if its protocol version is correct
 0.132774 <DEBUG> EthResource::verifyBoardPresence() found BOARD right_arm-eb22-j7_10 with IP 10.0.1.22 after 0.00139499 seconds
 0.132783 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb22-j7_10 with IP 10.0.1.22 : config mode + cleared all its regulars
 0.142968 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb22-j7_10 with IP 10.0.1.22 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 0.143003 <INFO> EthResource::askBoardVersion() found BOARD right_arm-eb22-j7_10 @ IP 10.0.1.22 of type mc4plus with FW = ver 3.89 built on 2024 Mar 15 12:0
 0.153095 <INFO> embObjPOS::open(): verify and activate the POS service
 0.153133 <INFO> from BOARD 10.0.1.22 (right_arm-eb22-j7_10) time=960s 109m 523u :  CFG: CANdiscovery started the search for 1 eobrd_mtb4c boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 2.0 and application ver 2.2.0.
 0.153146 <INFO> from BOARD 10.0.1.22 (right_arm-eb22-j7_10) time=960s 109m 952u : CFG: CANdiscovery has detected  eobrd_mtb4c board in CAN1 addr 1 with can protocol ver 2.0 and application ver 2.2.0 Search time was 0 ms
 0.153157 <INFO> embObjPOS::open(): configure the POS service
 0.194171 <INFO> embObjPOS::open(): impose the network variable which the ETH bord must stream up
 0.194220 <INFO> embObjPOS::open(): start the POS service
 0.194232 <INFO> embObjPOS::open(): start streaming of POS data
 0.194241 <INFO> from BOARD 10.0.1.22 (right_arm-eb22-j7_10) time=960s 130m 654u : ETH monitor: just verified, no news
 0.194251 <WARNING> from BOARD 10.0.1.22 (right_arm-eb22-j7_10) time=960s 131m 15u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 382[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=0); (Rx=180, DO=8, ...). Num of CAN frames[CAN1,CAN2]=[6 0]
 0.194262 <INFO> Created device <embObjPOS>. See C++ class yarp::dev::embObjPOS for documentation.
 0.194284 <INFO> Opening device left_hand_as_wrapper4 with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/left_hand/POS4:o")]
 0.194296 <DEBUG> Parameters are (device analogServer) (id left_hand_as_wrapper4) (name "/ergocub/left_hand/POS4:o") (period 10) (robotName ergoCubSN001)
 0.194310 <WARNING> The 'AnalogWrapper' device is deprecated.
 0.194321 <WARNING> Possible alternatives, depending on the specific type sensor data, are:
 0.194332 <WARNING> 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc.
 0.194343 <WARNING> The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4.
 0.194353 <WARNING> Please update your scripts.
 0.234893 <INFO> Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
 0.234938 <INFO> Opening device left_hand-pos4 with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.23) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb23-j7_10") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (location CAN1:1 CAN1:1 CAN1:1 CAN1:1) (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (boardType mtb4c mtb4c mtb4c mtb4c) (connector CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2) (CALIBRATION (type TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg) (rotation ROT:zero ROT:zero ROT:zero ROT:zero) (offset 0 0 0 0) (invertDirection false false false false)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))")]
 0.234972 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.23") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb23-j7_10) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (location "CAN1:1" "CAN1:1" "CAN1:1" "CAN1:1") (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_oc" "POS:hand_index_oc" "POS:hand_middle_oc" "POS:hand_ring_pinky_oc") (boardType mtb4c mtb4c mtb4c mtb4c) (connector "CONN:J3_SDA3" "CONN:J3_SDA0" "CONN:J3_SDA1" "CONN:J3_SDA2") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg" "TYPE:decideg" "TYPE:decideg") (rotation "ROT:zero" "ROT:zero" "ROT:zero" "ROT:zero") (offset 0 0 0 0) (invertDirection false false false false)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (device embObjPOS) (id left_hand-pos4) (robotName ergoCubSN001)
 0.235007 <DEBUG> eth::parser::print(boardData) for BOARD left_arm-eb23-j7_10
 0.235017 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.23
 0.235026 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  mc4plus
 0.235035 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
 0.235043 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_arm-eb23-j7_10
 0.235051 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
 0.235059 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.23 (left_arm-eb23-j7_10) with timeout = 0.02 sec and period of missing report = 60 sec
 0.235069 <INFO> embObjPOS::open(): browsing xml files which describe the service
 0.235077 <WARNING> ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName
 0.235086 <DEBUG> zero  yyyyyyyyyyyyyyyyyyy  15
 0.235094 <DEBUG> zero  yyyyyyyyyyyyyyyyyyy  15
 0.235101 <DEBUG> zero  yyyyyyyyyyyyyyyyyyy  15
 0.235109 <INFO> embObjPOS::open(): verify the presence of the board and if its protocol version is correct
 0.235118 <DEBUG> EthResource::verifyBoardPresence() found BOARD left_arm-eb23-j7_10 with IP 10.0.1.23 after 0.00138688 seconds
 0.235126 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb23-j7_10 with IP 10.0.1.23 : config mode + cleared all its regulars
 0.245149 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb23-j7_10 with IP 10.0.1.23 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 0.255242 <INFO> EthResource::askBoardVersion() found BOARD left_arm-eb23-j7_10 @ IP 10.0.1.23 of type mc4plus with FW = ver 3.89 built on 2024 Mar 15 12:0
 0.255262 <INFO> embObjPOS::open(): verify and activate the POS service
 0.255268 <INFO> from BOARD 10.0.1.23 (left_arm-eb23-j7_10) time=960s 212m 924u :  CFG: CANdiscovery started the search for 1 eobrd_mtb4c boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 2.0 and application ver 2.2.0.
 0.255275 <INFO> from BOARD 10.0.1.23 (left_arm-eb23-j7_10) time=960s 213m 346u : CFG: CANdiscovery has detected  eobrd_mtb4c board in CAN1 addr 1 with can protocol ver 2.0 and application ver 2.2.0 Search time was 0 ms
 0.255281 <DEBUG> from BOARD 10.0.1.23 (left_arm-eb23-j7_10) time=960s 213m 679u : CFG: EOthePOS can be correctly configured on board at addr: 1 and port:0 with can protocol ver 2.0 and application ver 2.2.
 0.255286 <INFO> embObjPOS::open(): configure the POS service
 0.265428 <INFO> embObjPOS::open(): impose the network variable which the ETH bord must stream up
 0.275643 <INFO> embObjPOS::open(): start the POS service
 0.275661 <WARNING> from BOARD 10.0.1.22 (right_arm-eb22-j7_10) time=960s 231m 330u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_pos. Lost can boards on (can1map, can2map) = ([ 1 ], [  ] ).
 0.275669 <INFO> from BOARD 10.0.1.23 (left_arm-eb23-j7_10) time=960s 233m 898u : ETH monitor: just verified, no news
 0.285804 <INFO> Created device <embObjPOS>. See C++ class yarp::dev::embObjPOS for documentation.
 0.285828 <INFO> Opening device right_hand_as_wrapper2 with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/right_hand/POS2:o")]
 0.285837 <DEBUG> Parameters are (device analogServer) (id right_hand_as_wrapper2) (name "/ergocub/right_hand/POS2:o") (period 10) (robotName ergoCubSN001)
 0.285846 <WARNING> The 'AnalogWrapper' device is deprecated.
 0.285854 <WARNING> Possible alternatives, depending on the specific type sensor data, are:
 0.285861 <WARNING> 'MultipleAnalogSensorsRemapper`+`MultipleAnalogSensorsServer`, `PoseStampedRosPublisher`, `WrenchStampedRosPublisher`,`IMURosPublisher`,etc.
 0.285868 <WARNING> The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4.
 0.316128 <INFO> Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
 0.316172 <INFO> Opening device right_hand-pos2 with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.24) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb24-j11_12") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (location CAN1:2 CAN1:2) (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_add POS:hand_index_add) (boardType mtb4c mtb4c) (connector CONN:J3_SDA2 CONN:J3_SDA3) (CALIBRATION (type TYPE:decideg TYPE:decideg) (rotation ROT:plus180 ROT:zero) (offset -91.0 -291.0) (invertDirection false false)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))")]
 0.316199 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.24") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb24-j11_12) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (location "CAN1:2" "CAN1:2") (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_add" "POS:hand_index_add") (boardType mtb4c mtb4c) (connector "CONN:J3_SDA2" "CONN:J3_SDA3") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg") (rotation "ROT:plus180" "ROT:zero") (offset -91.0 -291.0) (invertDirection false false)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (device embObjPOS) (id right_hand-pos2) (robotName ergoCubSN001)
 0.316231 <DEBUG> eth::parser::print(boardData) for BOARD right_arm-eb24-j11_12
 0.316242 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 0.316250 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
 0.316259 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS:
 0.316267 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 2
 0.316277 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 0.316285 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.24 (right_arm-eb24-j11_12) with timeout = 0.02 sec and period of missing report = 60 sec
 0.316295 <INFO> embObjPOS::open(): browsing xml files which describe the service
 0.316303 <WARNING> ServiceParser::check_analog() cannot find PROPERTIES.SENSORS.sensorName
 0.316311 <DEBUG> plus180  yyyyyyyyyyyyyyyyyyy  15
 0.316321 <DEBUG> zero  yyyyyyyyyyyyyyyyyyy  15
 0.316328 <INFO> embObjPOS::open(): verify the presence of the board and if its protocol version is correct
 0.316337 <DEBUG> EthResource::verifyBoardPresence() found BOARD right_arm-eb24-j11_12 with IP 10.0.1.24 after 0.00189042 seconds
 0.326184 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb24-j11_12 with IP 10.0.1.24 : config mode + cleared all its regulars
 0.336411 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb24-j11_12 with IP 10.0.1.24 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 0.336443 <INFO> EthResource::askBoardVersion() found BOARD right_arm-eb24-j11_12 @ IP 10.0.1.24 of type mc4plus with FW = ver 3.89 built on 2024 Mar 15 12:0
 0.336450 <INFO> embObjPOS::open(): verify and activate the POS service
 0.346590 <INFO> embObjPOS::open(): configure the POS service
 0.356803 <INFO> embObjPOS::open(): impose the network variable which the ETH bord must stream up
 0.356821 <INFO> embObjPOS::open(): start the POS service
 0.356832 <INFO> embObjPOS::open(): start streaming of POS data
 0.366962 <INFO> from BOARD 10.0.1.24 (right_arm-eb24-j11_12) time=960s 319m 631u : ETH monitor: just verified, no news
 0.377020 <INFO> Created device <embObjPOS>. See C++ class yarp::dev::embObjPOS for documentation.
 0.377057 <INFO> Opening device left_hand_as_wrapper2 with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/left_hand/POS2:o")]
 0.377067 <WARNING> Possible alternatives, depending on the specific type sensor data, are:
 0.377075 <WARNING> The old device is no longer supported, and it will be deprecated in YARP 3.7 and removed in YARP 4.
 0.377083 <WARNING> Please update your scripts.
 0.377089 <WARNING> from BOARD 10.0.1.23 (left_arm-eb23-j7_10) time=960s 334m 575u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_pos. Lost can boards on (can1map, can2map) = ([ 1 ], [  ] ).
 0.407485 <INFO> Created wrapper <analogServer>. See C++ class AnalogWrapper for documentation.
 0.407509 <INFO> Opening device left_hand-pos2 with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.25) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb25-j11_12") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (location CAN1:2 CAN1:2) (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_add POS:hand_index_add) (boardType mtb4c mtb4c) (connector CONN:J3_SDA2 CONN:J3_SDA3) (CALIBRATION (type TYPE:decideg TYPE:decideg) (rotation ROT:plus180 ROT:zero) (offset -209.0 -161.0) (invertDirection true true)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))")]
 0.407530 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.25") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb25-j11_12) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_pos) (PROPERTIES (CANBOARDS (type eobrd_mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (SENSORS (location "CAN1:2" "CAN1:2") (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_add" "POS:hand_index_add") (boardType mtb4c mtb4c) (connector "CONN:J3_SDA2" "CONN:J3_SDA3") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg") (rotation "ROT:plus180" "ROT:zero") (offset -209.0 -161.0) (invertDirection true true)))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (device embObjPOS) (id left_hand-pos2) (robotName ergoCubSN001)
 0.407546 <DEBUG> eth::parser::print(boardData) for BOARD left_arm-eb25-j11_12
 0.407552 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 0.407556 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
 0.407561 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_arm-eb25-j11_12
 0.407565 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
 0.407569 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.25 (left_arm-eb25-j11_12) with timeout = 0.02 sec and period of missing report = 60 sec
 0.407575 <INFO> embObjPOS::open(): browsing xml files which describe the service
 0.407579 <DEBUG> plus180  yyyyyyyyyyyyyyyyyyy  15
 0.407583 <INFO> embObjPOS::open(): verify the presence of the board and if its protocol version is correct
 0.407589 <DEBUG> EthResource::verifyBoardPresence() found BOARD left_arm-eb25-j11_12 with IP 10.0.1.25 after 0.00293469 seconds
 0.407594 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb25-j11_12 with IP 10.0.1.25 : config mode + cleared all its regulars
 0.417660 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb25-j11_12 with IP 10.0.1.25 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 0.427720 <INFO> EthResource::askBoardVersion() found BOARD left_arm-eb25-j11_12 @ IP 10.0.1.25 of type mc4plus with FW = ver 3.89 built on 2024 Mar 15 12:0
 0.427773 <INFO> embObjPOS::open(): verify and activate the POS service
 0.427786 <INFO> from BOARD 10.0.1.25 (left_arm-eb25-j11_12) time=960s 391m 821u :  CFG: CANdiscovery started the search for 1 eobrd_mtb4c boards on (can1map, can2map) = (0x0004, 0x0000) with target can protocol ver 2.0 and application ver 2.2.0.
 0.427798 <INFO> embObjPOS::open(): configure the POS service
 0.448082 <INFO> embObjPOS::open(): impose the network variable which the ETH bord must stream up
 0.448117 <INFO> embObjPOS::open(): start the POS service
 0.448128 <INFO> embObjPOS::open(): start streaming of POS data
 0.448137 <INFO> from BOARD 10.0.1.25 (left_arm-eb25-j11_12) time=960s 412m 728u : ETH monitor: just verified, no news
 0.458345 <INFO> Created device <embObjPOS>. See C++ class yarp::dev::embObjPOS for documentation.
 0.458383 <INFO> Opening device left_leg-mc_nws_yarp with parameters [("robotName" = "ergoCubSN001"), ("period" = "0.002"), ("name" = "/ergocub/left_leg")]
 0.478692 <DEBUG> Parameters are (device controlBoard_nws_yarp) (id left_leg-mc_nws_yarp) (name "/ergocub/left_leg") (period 0.00200000000000000004163) (robotName ergoCubSN001)
 0.550045 <INFO> Opening device right_leg-mc_nws_yarp with parameters [("robotName" = "ergoCubSN001"), ("period" = "0.002"), ("name" = "/ergocub/right_leg")]
 0.620985 <INFO> Opening device left_leg-mc_remapper with parameters [("robotName" = "ergoCubSN001"), ("networks" = "(left_leg_joints1 left_leg_joints2)"), ("left_leg_joints1" = "( 0 3 0 3 )"), ("left_leg_joints2" = "( 4 5 0 1 )"), ("joints" = "6")]
 0.631221 <INFO> Opening device left_leg-eb9-j4_5-jtcvc with parameters [("robotName" = "ergoCubSN001"), ("remote" = "/hijackingTrqCrl"), ("joint_list" = "( "l_ankle_pitch", "l_ankle_roll" )"), ("TORQUE_CURRENT_PARAMS" [group] = "(kt ( 0.111, 0.025 )) (kfc ( 1.0, 1.0 )) (max_curr ( 2.0, 2.0 )) (friction_model ("FRICTION_COULOMB_VISCOUS_STRIBECK", "FRICTION_PINN"))"), ("FRICTION_PINN" [group] = "(model ("", "model.onnx")) (history_size (0, 25)) (thread_number 2)"), ("FRICTION_COULOMB_VISCOUS" [group] = "(kv ( 0.0058, 0.000980 )) (kc ( 0.1, 0.01 ))"), ("FRICTION_COULOMB_VISCOUS_STRIBECK" [group] = "(kv ( 0.1 0.3 )) (kc ( 14.828 1.022 )) (ks ( 13.0168 1.466 )) (ka ( 53.107 12.067 )) (vs ( -0.2147 0.3011 ))"), ("period" = "1")]
 0.631246 <INFO> Opening device left_leg-eb9-j4_5-jtcvc with parameters [("robotName" = "ergoCubSN001"), ("remote" = "/hijackingTrqCrl"), ("joint_list" = "( "l_ankle_pitch", "l_ankle_roll" )"), ("TORQUE_CURRENT_PARAMS" [group] = "(kt ( 0.111, 0.025 )) (kfc ( 1.0, 1.0 )) (max_curr ( 2.0, 2.0 )) (friction_model ("FRICTION_COULOMB_VISCOUS_STRIBECK", "FRICTION_PINN"))"), ("FRICTION_PINN" [group] = "(model ("", "model.onnx")) (history_size (0, 25)) (thread_number 2)"), ("FRICTION_COULOMB_VISCOUS" [group] = "(kv ( 0.0058, 0.000980 )) (kc ( 0.1, 0.01 ))"), ("FRICTION_COULOMB_VISCOUS_STRIBECK" [group] = "(kv ( 0.1 0.3 )) (kc ( 14.828 1.022 )) (ks ( 13.0168 1.466 )) (ka ( 53.107 12.067 )) (vs ( -0.2147 0.3011 ))"), ("period" = "1")]
 0.661919 <DEBUG> Parameters are (FRICTION_COULOMB_VISCOUS (kv (0.00579999999999999960032 0.000979999999999999968359)) (kc (0.100000000000000005551 0.0100000000000000002082))) (FRICTION_COULOMB_VISCOUS_STRIBECK (kv (0.100000000000000005551 0.299999999999999988898)) (kc (14.8279999999999994031 1.02200000000000001954)) (ks (13.0167999999999999261 1.4659999999999999698)) (ka (53.1069999999999993179 12.0670000000000001705)) (vs (-0.214700000000000001954 0.301099999999999978773))) (FRICTION_PINN (model ("" model.onnx)) (history_size (0 25)) (thread_number 2)) (TORQUE_CURRENT_PARAMS (kt (0.111000000000000001443 0.0250000000000000013878)) (kfc (1.0 1.0)) (max_curr (2.0 2.0)) (friction_model (FRICTION_COULOMB_VISCOUS_STRIBECK FRICTION_PINN))) (device JointTorqueControlDevice) (id left_leg-eb9-j4_5-jtcvc) (joint_list (l_ankle_pitch l_ankle_roll)) (period 1) (remote "/hijackingTrqCrl") (robotName ergoCubSN001)
 0.743392 <INFO> Created device <JointTorqueControlDevice>. See C++ class BipedalLocomotion::JointTorqueControlDevice for documentation.
 0.743430 <INFO> Opening device right_leg-mc_remapper with parameters [("robotName" = "ergoCubSN001"), ("networks" = "(right_leg_joints1 right_leg_joints2)"), ("right_leg_joints1" = "( 0 3 0 3 )"), ("right_leg_joints2" = "( 4 5 0 1 )"), ("joints" = "6")]
 0.743440 <DEBUG> 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 ergoCubSN001)
 0.743449 <DEBUG> Parameters are (device controlBoard_nws_yarp) (id right_arm-mc_nws_yarp) (name "/ergocub/right_arm") (period 0.00200000000000000004163) (robotName ergoCubSN001)
 0.814702 <INFO> Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
 0.814733 <INFO> Opening device right_arm-mc_remapper with parameters [("robotName" = "ergoCubSN001"), ("axesNames" = "(r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,r_elbow,r_wrist_yaw,r_wrist_roll,r_wrist_pitch,r_thumb_add,r_thumb_oc,r_index_add,r_index_oc,r_middle_oc,r_ring_pinky_oc)"), ("joints" = "13")]
 0.814744 <DEBUG> Parameters are (axesNames (r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_yaw r_wrist_roll r_wrist_pitch r_thumb_add r_thumb_oc r_index_add r_index_oc r_middle_oc r_ring_pinky_oc)) (device controlboardremapper) (id right_arm-mc_remapper) (joints 13) (robotName ergoCubSN001)
 0.814754 <INFO> Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
 0.814763 <INFO> Opening device left_arm-mc_nws_yarp with parameters [("robotName" = "ergoCubSN001"), ("period" = "0.002"), ("name" = "/ergocub/left_arm")]
 0.814770 <DEBUG> Parameters are (device controlBoard_nws_yarp) (id left_arm-mc_nws_yarp) (name "/ergocub/left_arm") (period 0.00200000000000000004163) (robotName ergoCubSN001)
 0.875469 <INFO> Opening device torso-mc_nws_yarp with parameters [("robotName" = "ergoCubSN001"), ("period" = "0.002"), ("name" = "/ergocub/torso")]
 0.875496 <DEBUG> Parameters are (device controlBoard_nws_yarp) (id torso-mc_nws_yarp) (name "/ergocub/torso") (period 0.00200000000000000004163) (robotName ergoCubSN001)
 0.946558 <INFO> Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
 0.946586 <INFO> Opening device torso-mc_remapper with parameters [("robotName" = "ergoCubSN001"), ("axesNames" = "(torso_roll,torso_pitch,torso_yaw)"), ("joints" = "3")]
 0.946599 <DEBUG> Parameters are (axesNames (torso_roll torso_pitch torso_yaw)) (device controlboardremapper) (id torso-mc_remapper) (joints 3) (robotName ergoCubSN001)
 0.946609 <INFO> Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
 0.946617 <INFO> Opening device head-mc_nws_yarp with parameters [("robotName" = "ergoCubSN001"), ("period" = "0.002"), ("name" = "/ergocub/head")]
 0.946623 <DEBUG> Parameters are (device controlBoard_nws_yarp) (id head-mc_nws_yarp) (name "/ergocub/head") (period 0.00200000000000000004163) (robotName ergoCubSN001)
 1.017487 <INFO> Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
 1.017519 <INFO> Opening device head-mc_remapper with parameters [("robotName" = "ergoCubSN001"), ("networks" = "(head_joints1 head_joints2)"), ("head_joints1" = "( 0 1 0 1 )"), ("head_joints2" = "( 2 3 0 1 )"), ("joints" = "4")]
 1.017529 <DEBUG> Parameters are (device controlboardremapper) (head_joints1 (0 1 0 1)) (head_joints2 (2 3 0 1)) (id head-mc_remapper) (joints 4) (networks (head_joints1 head_joints2)) (robotName ergoCubSN001)
 1.017538 <INFO> Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
 1.017546 <INFO> Opening device head-mc-slow_nws_yarp with parameters [("robotName" = "ergoCubSN001"), ("period" = "0.02"), ("name" = "/ergocub/head_slow")]
 1.017552 <DEBUG> Parameters are (device controlBoard_nws_yarp) (id head-mc-slow_nws_yarp) (name "/ergocub/head_slow") (period 0.0200000000000000004163) (robotName ergoCubSN001)
 1.078334 <INFO> Created wrapper <controlBoard_nws_yarp>. See C++ class ControlBoard_nws_yarp for documentation.
 1.078365 <INFO> Opening device head-eb20-j0_1-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.20) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "head-eb20-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "neck_pitch" "neck_roll") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 161.68 161.68) (Gearbox_E2J 1 1) (useMotorSpeedFbk 1 1) (MotorType "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMin -45 -20) (hardwareJntPosMax +22 +20) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 1.000 0.000 0.000 -1.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 0.500 -0.500 0.000 0.000 0.500 0.500 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 1) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port CONN:P3P CONN:P4P)) (ENCODER1 (type aea3 aea3) (port CONN:P11 CONN:P10) (position atjoint atjoint) (resolution 16384 -16384) (tolerance 0.703 0.703)) (ENCODER2 (type qenc qenc) (port CONN:P3 CONN:P4) (position atmotor atmotor) (resolution 2048 2048) (tolerance 0 0))))"), ("LIMITS" [group] = "(jntPosMin -40 -20) (jntPosMax +22 +20) (jntVelMax 1000 1000) (motorOverloadCurrents 10000 10000) (motorNominalCurrents 4000 4000) (motorPeakCurrents 6000 6000) (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 -209 +190) (kd -5.6 +4.54) (ki -492 +509) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0495 0.0495)")]
 1.098780 <DEBUG> Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none) (currentPid none none) (speedPid none none)) (COUPLINGS (matrixJ2M 1.0 1.0 0.0 0.0 -1.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 0.5 -0.5 0.0 0.0 0.5 0.5 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.20") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name head-eb20-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName neck_pitch neck_roll) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 161.680000000000006821 161.680000000000006821) (Gearbox_E2J 1 1) (useMotorSpeedFbk 1 1) (MotorType DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0) (damping 0.0 0.0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0 1) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMin -45 -20) (hardwareJntPosMax 22 20) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin -40 -20) (jntPosMax 22 20) (jntVelMax 1000 1000) (motorOverloadCurrents 10000 10000) (motorNominalCurrents 4000 4000) (motorPeakCurrents 6000 6000) (motorPwmLimit 3360 3360)) (OTHER_CONTROL_PARAMETERS (deadZone 0.0495000000000000023315 0.0495000000000000023315)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -209 190) (kd -5.59999999999999964473 4.54000000000000003553) (ki -492 509) (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:P3P" "CONN:P4P")) (ENCODER1 (type aea3 aea3) (port "CONN:P11" "CONN:P10") (position atjoint atjoint) (resolution 16384 -16384) (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 ergoCubSN001)
 1.098835 <DEBUG> eth::parser::print(boardData) for BOARD head-eb20-j0_1
 1.098843 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 1.098848 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
 1.098853 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/Name =  head-eb20-j0_1
 1.098857 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 2
 1.098863 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 1.098868 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.20 (head-eb20-j0_1) with timeout = 0.02 sec and period of missing report = 60 sec
 1.098874 <WARNING> embObjMC BOARD  head-eb20-j0_1 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default.
 1.098879 <WARNING> hardwareTemperatureLimits parameter not found for board head-eb20-j0_1 in bottle LIMITS (hardwareJntPosMin -45 -20) (hardwareJntPosMax 22 20) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin -40 -20) (jntPosMax 22 20) (jntVelMax 1000 1000) (motorOverloadCurrents 10000 10000) (motorNominalCurrents 4000 4000) (motorPeakCurrents 6000 6000) (motorPwmLimit 3360 3360)
 1.098886 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 1.098891 <DEBUG> EthResource::verifyBoardPresence() found BOARD head-eb20-j0_1 with IP 10.0.1.20 after 0.00121307 seconds
 1.109001 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb20-j0_1 with IP 10.0.1.20 : config mode + cleared all its regulars
 1.119273 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD head-eb20-j0_1 with IP 10.0.1.20 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 1.119296 <INFO> EthResource::askBoardVersion() found BOARD head-eb20-j0_1 @ IP 10.0.1.20 of type mc4plus with FW = ver 3.89 built on 2024 Mar 15 12:0
 1.149978 <DEBUG> from BOARD 10.0.1.20 (head-eb20-j0_1) time=961s 95m 350u : CFG: EOtheEncoderReader can be correctly configured
 1.180485 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 1.200901 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 1.211101 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 1.211157 <INFO> Opening device head-eb21-j2_3-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("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_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "neck_yaw" "camera_tilt") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100 -141) (Gearbox_E2J 1 1) (useMotorSpeedFbk 1 1) (MotorType "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMin -45 -30) (hardwareJntPosMax +45 +30) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plus) (PROPERTIES (ETHBOARD (type mc4plus)) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port CONN:P3 CONN:P4)) (ENCODER1 (type aea3 aea3) (port CONN:P11 CONN:P10) (position atjoint atjoint) (resolution 16384 16384) (tolerance 0.703 0.703)) (ENCODER2 (type qenc qenc) (port CONN:P3 CONN:P4) (position atmotor atmotor) (resolution 2048 2048) (tolerance 0 0))))"), ("LIMITS" [group] = "(jntPosMin -45 -30) (jntPosMax +45 +30) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (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 1100 557) (kd 0 0) (ki 0 2798) (maxOutput 3360 3360) (maxInt 3360 3360) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0495 0.0495)")]
 1.211193 <DEBUG> Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none) (currentPid none none) (speedPid none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (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_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName neck_yaw camera_tilt) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100 -141) (Gearbox_E2J 1 1) (useMotorSpeedFbk 1 1) (MotorType DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0) (damping 0.0 0.0)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMin -45 -30) (hardwareJntPosMax 45 30) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin -45 -30) (jntPosMax 45 30) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (motorPwmLimit 3360 3360)) (OTHER_CONTROL_PARAMETERS (deadZone 0.0495000000000000023315 0.0495000000000000023315)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 1100 557) (kd 0 0) (ki 0 2798) (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 aea3 aea3) (port "CONN:P11" "CONN:P10") (position atjoint atjoint) (resolution 16384 16384) (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-eb21-j2_3-mc) (robotName ergoCubSN001)
 1.211216 <DEBUG> eth::parser::print(boardData) for BOARD head-eb21-j2_3
 1.211222 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 1.211227 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
 1.211231 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 2
 1.211237 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 1.211241 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.21 (head-eb21-j2_3) with timeout = 0.02 sec and period of missing report = 60 sec
 1.211247 <WARNING> embObjMC BOARD  head-eb21-j2_3 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default.
 1.211252 <WARNING> hardwareTemperatureLimits parameter not found for board head-eb21-j2_3 in bottle LIMITS (hardwareJntPosMin -45 -30) (hardwareJntPosMax 45 30) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin -45 -30) (jntPosMax 45 30) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (motorPwmLimit 3360 3360)
 1.211259 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 1.211264 <INFO> from BOARD 10.0.1.20 (head-eb20-j0_1) time=961s 166m 160u : ETH monitor: just verified, no news
 1.221292 <DEBUG> EthResource::verifyBoardPresence() found BOARD head-eb21-j2_3 with IP 10.0.1.21 after 0.0021112 seconds
 1.221312 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD head-eb21-j2_3 with IP 10.0.1.21 : config mode + cleared all its regulars
 1.231561 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD head-eb21-j2_3 with IP 10.0.1.21 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 1.231581 <INFO> EthResource::askBoardVersion() found BOARD head-eb21-j2_3 @ IP 10.0.1.21 of type mc4plus with FW = ver 3.89 built on 2024 Mar 15 12:0
 1.262251 <DEBUG> from BOARD 10.0.1.21 (head-eb21-j2_3) time=961s 209m 518u : CFG: EOtheMotionController can correctly configure mc4plus-based motion. more info will follow
 1.302953 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 1.313125 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 1.323364 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 1.323411 <INFO> Opening device torso-eb5-j0_2-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("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 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 3) (AxisMap 0 1 2) (AxisName "torso_roll" "torso_pitch" "torso_yaw") (AxisType "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J 100.0 160.0 -100.0) (Gearbox_E2J 1 1 1) (useMotorSpeedFbk 1 1 1) (MotorType "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900576") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 25 65 45) (hardwareJntPosMin -25 -20 -45) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0)"), ("2FOC" [group] = "(Verbose 0 0 0) (AutoCalibration 0 0 0) (HasHallSensor 0 0 0) (TemperatureSensorType PT100 PT100 PT100) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 1 1 1) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 155 210 328) (MotorPoles 8 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (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 20))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc eomc_act_foc eomc_act_foc) (port CAN1:2:0 CAN1:3:0 CAN1:1:0)) (ENCODER1 (type amo amo amo) (port CONN:P7 CONN:P8 CONN:P6) (position atjoint atjoint atjoint) (resolution 1048576 1048576 1048576) (tolerance 0.703 0.703 0.703)) (ENCODER2 (type roie roie roie) (port CAN1:2:0 CAN1:3:0 CAN1:1:0) (position atmotor atmotor atmotor) (resolution 14400 14400 14400) (tolerance 3.6 3.6 3.6))))"), ("LIMITS" [group] = "(jntPosMax 23 45 43) (jntPosMin -23 -18 -43) (jntVelMax 120 120 120) (motorNominalCurrents 3770 16000 5000) (motorPeakCurrents 14000 17000 10000) (motorOverloadCurrents 18000 18000 15000) (motorPwmLimit 16000 16000 16000) (hardwareTemperatureLimits 110 110 110) (warningTemperatureLimits 90 90 90)"), ("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 10000 10000 -1500) (kd 0 0 0) (ki 8000 5000 -1000) (maxOutput 10000 10000 8000) (maxInt 10000 5000 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 dutycycle_percent) (kp 0 0 0) (kd 0 0 0) (ki 0 0 0) (maxOutput 25 25 25) (maxInt 1.56 1.56 1.56) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 1 1 1) (viscousPos 0.0016 0.003 -0.003) (viscousNeg 0.0016 0.003 -0.003) (coulombPos 0 0 0) (coulombNeg 0 0 0) (velocityThres 0 0 0) (filterType 0 0 0) (ktau 0.63 0.63 -0.63)"), ("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)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0049 0.0049 0.0049)")]
 1.333562 <DEBUG> Parameters are ("2FOC" (Verbose 0 0 0) (AutoCalibration 0 0 0) (HasHallSensor 0 0 0) (TemperatureSensorType PT100 PT100 PT100) (HasRotorEncoder 1 1 1) (HasRotorEncoderIndex 1 1 1) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 155 210 328) (MotorPoles 8 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8) (kd 0 0 0) (ki 2 2 2) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000) (kff 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0) (kp 12 12 12) (kd 0 0 0) (ki 16 16 16) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_DEFAULT TRQ_PID_DEFAULT TRQ_PID_DEFAULT) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (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 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 3) (AxisMap 0 1 2) (AxisName torso_roll torso_pitch torso_yaw) (AxisType revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J 100.0 160.0 -100.0) (Gearbox_E2J 1 1 1) (useMotorSpeedFbk 1 1 1) (MotorType MOOG_C2900576 MOOG_C2900576 MOOG_C2900576) (Verbose 0)) (IMPEDANCE (stiffness 0 0 0) (damping 0 0 0)) (JOINTSET_CFG (numberofsets 3) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 25 65 45) (hardwareJntPosMin -25 -20 -45) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 23 45 43) (jntPosMin -23 -18 -43) (jntVelMax 120 120 120) (motorNominalCurrents 3770 16000 5000) (motorPeakCurrents 14000 17000 10000) (motorOverloadCurrents 18000 18000 15000) (motorPwmLimit 16000 16000 16000) (hardwareTemperatureLimits 110 110 110) (warningTemperatureLimits 90 90 90)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 10000 10000 -1500) (kd 0 0 0) (ki 8000 5000 -1000) (maxOutput 10000 10000 8000) (maxInt 10000 5000 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 20))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc eomc_act_foc eomc_act_foc) (port "CAN1:2:0" "CAN1:3:0" "CAN1:1:0")) (ENCODER1 (type amo amo amo) (port "CONN:P7" "CONN:P8" "CONN:P6") (position atjoint atjoint atjoint) (resolution 1048576 1048576 1048576) (tolerance 0.702999999999999958256 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie roie) (port "CAN1:2:0" "CAN1:3:0" "CAN1:1:0") (position atmotor atmotor atmotor) (resolution 14400 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0) (kd 0 0 0) (ki 0 0 0) (maxOutput 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 1 1 1) (viscousPos 0.00160000000000000007667 0.00300000000000000006245 -0.00300000000000000006245) (viscousNeg 0.00160000000000000007667 0.00300000000000000006245 -0.00300000000000000006245) (coulombPos 0 0 0) (coulombNeg 0 0 0) (velocityThres 0 0 0) (filterType 0 0 0) (ktau 0.630000000000000004441 0.630000000000000004441 -0.630000000000000004441)) (device embObjMotionControl) (id torso-eb5-j0_2-mc) (robotName ergoCubSN001)
 1.333616 <DEBUG> eth::parser::print(boardData) for BOARD torso-eb5-j0_2
 1.333624 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 1.333629 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
 1.333634 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 2
 1.333639 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 1.333644 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.5 (torso-eb5-j0_2) with timeout = 0.02 sec and period of missing report = 60 sec
 1.333649 <WARNING> embObjMC BOARD  torso-eb5-j0_2 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default.
 1.333655 <WARNING> kbemf parameter not found for board torso-eb5-j0_2 in bottle TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0) (kd 0 0 0) (ki 0 0 0) (maxOutput 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 1 1 1) (viscousPos 0.00160000000000000007667 0.00300000000000000006245 -0.00300000000000000006245) (viscousNeg 0.00160000000000000007667 0.00300000000000000006245 -0.00300000000000000006245) (coulombPos 0 0 0) (coulombNeg 0 0 0) (velocityThres 0 0 0) (filterType 0 0 0) (ktau 0.630000000000000004441 0.630000000000000004441 -0.630000000000000004441)
 1.333664 <INFO> from BOARD 10.0.1.21 (head-eb21-j2_3) time=961s 280m 634u : ETH monitor: just verified, no news
 1.333669 <DEBUG> EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD torso-eb5-j0_2 with IP 10.0.1.5
 1.333674 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD torso-eb5-j0_2 with IP 10.0.1.5 : config mode + cleared all its regulars
 1.343761 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD torso-eb5-j0_2 with IP 10.0.1.5 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 1.343790 <INFO> EthResource::askBoardVersion() found BOARD torso-eb5-j0_2 @ IP 10.0.1.5 of type ems4 with FW = ver 3.86 built on 2024 Mar 15 12:0
 1.374397 <INFO> from BOARD 10.0.1.5 (torso-eb5-j0_2) time=960s 644m 628u :  CFG: CANdiscovery started the search for 3 eobrd_foc boards on (can1map, can2map) = (0x000e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.20.
 1.456130 <DEBUG> Converted temperature limit to raw value:1370.520840
 1.466313 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 1.466357 <INFO> Opening device left_arm-eb2-j0_1-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.2) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb2-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "l_shoulder_pitch" "l_shoulder_roll") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.00 100.00) (Gearbox_E2J 64 64) (useMotorSpeedFbk 1 1) (MotorType "MOOG-BL-C2900576" "MOOG-BL-C2900576") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 35 150) (hardwareJntPosMin -170 -15) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("2FOC" [group] = "(Verbose 0 0) (AutoCalibration 0 0) (HasHallSensor 0 0) (TemperatureSensorType NONE NONE) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 214 279) (MotorPoles 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 20))) (JOINTMAPPING (ACTUATOR (type foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P8) (position atjoint atjoint) (resolution -16384 16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))"), ("LIMITS" [group] = "(jntPosMax 14 130) (jntPosMin -130 0) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 12000 12000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)"), ("TIMEOUTS" [group] = "(velocity 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.3 0.3) (damping 0.05 0.05)"), ("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_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (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) (kff 0 0) (kp 4000 1000) (kd 0 0) (ki 1000 1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 3 1.8) (kd 0 0) (ki 6 4) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 0.86 0.7)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)"), ("TRQ_PID_OUTPUT_CURR" [group] = "(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 150 100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 250 200)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0049 0.0049)"), ("KALMAN_FILTER" [group] = "(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)")]
 1.466402 <DEBUG> Parameters are ("2FOC" (Verbose 0 0) (AutoCalibration 0 0) (HasHallSensor 0 0) (TemperatureSensorType NONE NONE) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 214 279) (MotorPoles 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.2") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb2-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName l_shoulder_pitch l_shoulder_roll) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.0 100.0) (Gearbox_E2J 64 64) (useMotorSpeedFbk 1 1) (MotorType MOOG-BL-C2900576 MOOG-BL-C2900576) (Verbose 0)) (IMPEDANCE (stiffness 0.299999999999999988898 0.299999999999999988898) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 35 150) (hardwareJntPosMin -170 -15) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 14 130) (jntPosMin -130 0) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 12000 12000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp 4000 1000) (kd 0 0) (ki 1000 1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 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 20))) (JOINTMAPPING (ACTUATOR (type foc foc) (port "CAN1:1:0" "CAN1:2:0")) (ENCODER1 (type amo amo) (port "CONN:P6" "CONN:P8") (position atjoint atjoint) (resolution -16384 16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port "CAN1:1:0" "CAN1:2:0") (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 3 1.80000000000000004441) (kd 0 0) (ki 6 4) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 0.859999999999999986677 0.699999999999999955591)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 150 100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 250 200)) (device embObjMotionControl) (id left_arm-eb2-j0_1-mc) (robotName ergoCubSN001)
 1.466435 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES:
 1.466441 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
 1.466446 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS:
 1.466450 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 2
 1.466456 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 1.466460 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.2 (left_arm-eb2-j0_1) with timeout = 0.02 sec and period of missing report = 60 sec
 1.466466 <WARNING> kbemf parameter not found for board left_arm-eb2-j0_1 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 150 100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 250 200)
 1.466473 <WARNING> hardwareTemperatureLimits parameter not found for board left_arm-eb2-j0_1 in bottle LIMITS (hardwareJntPosMax 35 150) (hardwareJntPosMin -170 -15) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 14 130) (jntPosMin -130 0) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 12000 12000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)
 1.466479 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 1.466485 <INFO> embObjMC  BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
 1.466490 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb2-j0_1 with IP 10.0.1.2 : config mode + cleared all its regulars
 1.486759 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb2-j0_1 with IP 10.0.1.2 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 1.486781 <INFO> EthResource::askBoardVersion() found BOARD left_arm-eb2-j0_1 @ IP 10.0.1.2 of type ems4 with FW = ver 3.86 built on 2024 Mar 15 12:0
 1.507168 <INFO> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=960s 786m 483u :  CFG: CANdiscovery started the search for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.20.
 1.507209 <DEBUG> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=960s 787m 669u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
 1.558389 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 1.568606 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 1.578780 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 1.578803 <INFO> Opening device left_arm-eb4-j2_3-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.4) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb4-j2_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "l_shoulder_yaw" "l_elbow") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.00 -100.00) (Gearbox_E2J 32 32) (useMotorSpeedFbk 1 1) (MotorType "MOOG-BL-C2900575" "MOOG-BL-C2900575") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 82 120) (hardwareJntPosMin -52 -5) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("2FOC" [group] = "(Verbose 0 0) (AutoCalibration 0 0) (HasHallSensor 0 0) (TemperatureSensorType NONE NONE) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 1 96) (MotorPoles 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 20))) (JOINTMAPPING (ACTUATOR (type foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P8) (position atjoint atjoint) (resolution 16384 16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))"), ("LIMITS" [group] = "(jntPosMax 80 105) (jntPosMin -50 -3) (jntVelMax 120 120) (motorNominalCurrents 8000 5000) (motorPeakCurrents 10000 9000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)"), ("TIMEOUTS" [group] = "(velocity 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.2 0.1) (damping 0.05 0.05)"), ("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_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (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) (kff 0 0) (kp 1000 -1000) (kd 0 0) (ki 1000 -1000) (maxOutput 8000 8000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 2.5 -3) (kd 0 0) (ki 3.5 -4) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0.003 -0.0023) (viscousNeg 0.003 -0.0023) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 0.9 -0.7)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)"), ("TRQ_PID_OUTPUT_CURR" [group] = "(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0.0001 -0.0002) (viscousNeg 0.0001 -0.0002) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 50 -300)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0049 0.0049)"), ("KALMAN_FILTER" [group] = "(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)")]
 1.578846 <DEBUG> Parameters are ("2FOC" (Verbose 0 0) (AutoCalibration 0 0) (HasHallSensor 0 0) (TemperatureSensorType NONE NONE) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 1 96) (MotorPoles 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.4") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb4-j2_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName l_shoulder_yaw l_elbow) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.0 -100.0) (Gearbox_E2J 32 32) (useMotorSpeedFbk 1 1) (MotorType MOOG-BL-C2900575 MOOG-BL-C2900575) (Verbose 0)) (IMPEDANCE (stiffness 0.200000000000000011102 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 82 120) (hardwareJntPosMin -52 -5) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 80 105) (jntPosMin -50 -3) (jntVelMax 120 120) (motorNominalCurrents 8000 5000) (motorPeakCurrents 10000 9000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp 1000 -1000) (kd 0 0) (ki 1000 -1000) (maxOutput 8000 8000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 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 20))) (JOINTMAPPING (ACTUATOR (type foc foc) (port "CAN1:1:0" "CAN1:2:0")) (ENCODER1 (type amo amo) (port "CONN:P6" "CONN:P8") (position atjoint atjoint) (resolution 16384 16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port "CAN1:1:0" "CAN1:2:0") (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 2.5 -3) (kd 0 0) (ki 3.5 -4) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0.00300000000000000006245 -0.00229999999999999996114) (viscousNeg 0.00300000000000000006245 -0.00229999999999999996114) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 0.900000000000000022204 -0.699999999999999955591)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0.000100000000000000004792 -0.000200000000000000009584) (viscousNeg 0.000100000000000000004792 -0.000200000000000000009584) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 50 -300)) (device embObjMotionControl) (id left_arm-eb4-j2_3-mc) (robotName ergoCubSN001)
 1.578880 <DEBUG> eth::parser::print(boardData) for BOARD left_arm-eb4-j2_3
 1.578885 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 1.578890 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
 1.578895 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_arm-eb4-j2_3
 1.578899 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
 1.578903 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.4 (left_arm-eb4-j2_3) with timeout = 0.02 sec and period of missing report = 60 sec
 1.578908 <WARNING> kbemf parameter not found for board left_arm-eb4-j2_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0.000100000000000000004792 -0.000200000000000000009584) (viscousNeg 0.000100000000000000004792 -0.000200000000000000009584) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 50 -300)
 1.578916 <WARNING> hardwareTemperatureLimits parameter not found for board left_arm-eb4-j2_3 in bottle LIMITS (hardwareJntPosMax 82 120) (hardwareJntPosMin -52 -5) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 80 105) (jntPosMin -50 -3) (jntVelMax 120 120) (motorNominalCurrents 8000 5000) (motorPeakCurrents 10000 9000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)
 1.578946 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 1.578951 <INFO> embObjMC  BOARD left_arm-eb4-j2_3 (IP 10.0.1.4)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
 1.588909 <DEBUG> EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb4-j2_3 with IP 10.0.1.4
 1.588978 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb4-j2_3 with IP 10.0.1.4 : config mode + cleared all its regulars
 1.599079 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb4-j2_3 with IP 10.0.1.4 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 1.599106 <INFO> EthResource::askBoardVersion() found BOARD left_arm-eb4-j2_3 @ IP 10.0.1.4 of type ems4 with FW = ver 3.86 built on 2024 Mar 15 12:0
 1.629641 <INFO> from BOARD 10.0.1.4 (left_arm-eb4-j2_3) time=960s 898m 483u :  CFG: CANdiscovery started the search for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.20.
 1.629660 <DEBUG> from BOARD 10.0.1.4 (left_arm-eb4-j2_3) time=960s 899m 669u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
 1.629667 <DEBUG> embObjMotionControl:serviceVerifyActivate OK!
 1.670485 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 1.680563 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 1.700789 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 1.700812 <INFO> Opening device left_arm-eb31-j4_6-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.31) (IpPort 12345) (Type amc) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb31-j4_6") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 3) (AxisMap 0 1 2) (AxisName "l_wrist_yaw" "l_wrist_roll" "l_wrist_pitch") (AxisType "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J -392.0 -392.0 -392.0) (Gearbox_E2J 2.0 2.0 2.0) (useMotorSpeedFbk 0 0 0) (MotorType "FAULHABER" "FAULHABER" "FAULHABER") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 30 20) (hardwareJntPosMin -90 -20 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0)"), ("ADVFOC" [group] = "(HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14)"), ("COUPLINGS" [group] = "(matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 1) (JOINTSET_0 (listofjoints 0 1 2) (constraint ergocubwrist) (param1 21) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_advfoc) (PROPERTIES (ETHBOARD (type amc)) (CANBOARDS (type amcbldc amc2c) (PROTOCOL (major 2 2) (minor 0 0)) (FIRMWARE (major 2 3) (minor 0 0) (build 13 3))) (JOINTMAPPING (ACTUATOR (type advfoc advfoc advfoc) (onboard amcbldc amcbldc amc2c) (port CAN1:1 CAN1:2 CAN1:3)) (ENCODER1 (type aea3 aea3 aea3) (port CONN:J5_X1 CONN:J5_X2 CONN:J5_X3) (position atjoint atjoint atjoint) (resolution 16384 16384 16384) (tolerance 0.4 0.4 0.4)) (ENCODER2 (type none none none) (port CAN1:1 CAN1:2 CAN1:3) (position atmotor atmotor atmotor) (resolution 0 0 0) (tolerance 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 90 30 20) (jntPosMin -90 -20 -20) (jntVelMax 90 90 90) (motorNominalCurrents 200 200 200) (motorPeakCurrents 200 200 200) (motorOverloadCurrents 350 350 350) (motorPwmLimit 16000 16000 16000)"), ("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 none none none) (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 current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -50 -50) (kd -8 -8 -8) (ki -220 -220 -220) (maxOutput 500 500 500) (maxInt 200 200 200) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 2 2 2) (kd 0 0 0) (ki 500 500 500) (shift 0 0 0) (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)")]
 1.700846 <DEBUG> Parameters are ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 2 2 2) (kd 0 0 0) (ki 500 500 500) (shift 0 0 0) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000) (kff 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0) (kp 12 12 12) (kd 0 0 0) (ki 16 16 16) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)) (ADVFOC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.31") (IpPort 12345) (Type amc) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb31-j4_6) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 3) (AxisMap 0 1 2) (AxisName l_wrist_yaw l_wrist_roll l_wrist_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 -392.0 -392.0 -392.0) (Gearbox_E2J 2.0 2.0 2.0) (useMotorSpeedFbk 0 0 0) (MotorType FAULHABER FAULHABER FAULHABER) (Verbose 0)) (IMPEDANCE (stiffness 0 0 0) (damping 0 0 0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0 1 2) (constraint ergocubwrist) (param1 21) (param2 0))) (LIMITS (hardwareJntPosMax 90 30 20) (hardwareJntPosMin -90 -20 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 90 30 20) (jntPosMin -90 -20 -20) (jntVelMax 90 90 90) (motorNominalCurrents 200 200 200) (motorPeakCurrents 200 200 200) (motorOverloadCurrents 350 350 350) (motorPwmLimit 16000 16000 16000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -50 -50) (kd -8 -8 -8) (ki -220 -220 -220) (maxOutput 500 500 500) (maxInt 200 200 200) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)) (SERVICE (type eomn_serv_MC_advfoc) (PROPERTIES (ETHBOARD (type amc)) (CANBOARDS (type amcbldc amc2c) (PROTOCOL (major 2 2) (minor 0 0)) (FIRMWARE (major 2 3) (minor 0 0) (build 13 3))) (JOINTMAPPING (ACTUATOR (type advfoc advfoc advfoc) (onboard amcbldc amcbldc amc2c) (port "CAN1:1" "CAN1:2" "CAN1:3")) (ENCODER1 (type aea3 aea3 aea3) (port "CONN:J5_X1" "CONN:J5_X2" "CONN:J5_X3") (position atjoint atjoint atjoint) (resolution 16384 16384 16384) (tolerance 0.400000000000000022204 0.400000000000000022204 0.400000000000000022204)) (ENCODER2 (type none none none) (port "CAN1:1" "CAN1:2" "CAN1:3") (position atmotor atmotor atmotor) (resolution 0 0 0) (tolerance 0 0 0))))) (TIMEOUTS (velocity 100 100 100)) (device embObjMotionControl) (id left_arm-eb31-j4_6-mc) (robotName ergoCubSN001)
 1.700874 <DEBUG> eth::parser::print(boardData) for BOARD left_arm-eb31-j4_6
 1.700888 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  amc
 1.700892 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
 1.700897 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 2
 1.700902 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 1.700907 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.31 (left_arm-eb31-j4_6) with timeout = 0.02 sec and period of missing report = 60 sec
 1.700912 <WARNING> embObjMC BOARD  left_arm-eb31-j4_6 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
 1.700918 <WARNING> embObjMC BOARD  left_arm-eb31-j4_6 Missing KALMAN_FILTER group. Kalman Filter will be disabled by default.
 1.700923 <WARNING> hardwareTemperatureLimits parameter not found for board left_arm-eb31-j4_6 in bottle LIMITS (hardwareJntPosMax 90 30 20) (hardwareJntPosMin -90 -20 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 90 30 20) (jntPosMin -90 -20 -20) (jntVelMax 90 90 90) (motorNominalCurrents 200 200 200) (motorPeakCurrents 200 200 200) (motorOverloadCurrents 350 350 350) (motorPwmLimit 16000 16000 16000)
 1.700930 <WARNING> TemperatureSensorType parameter not found for board left_arm-eb31-j4_6 in bottle ADVFOC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14)
 1.700936 <WARNING> left_arm-eb31-j4_6 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor
 1.700942 <WARNING> left_arm-eb31-j4_6 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor
 1.700948 <WARNING> left_arm-eb31-j4_6 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor
 1.700953 <WARNING> Verbose parameter not found for board left_arm-eb31-j4_6 in bottle ADVFOC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14)
 1.700959 <WARNING> In  left_arm-eb31-j4_6  there isn't  ADVFOC . Verbose filed. For default it is enabled
 1.700963 <WARNING> AutoCalibration parameter not found for board left_arm-eb31-j4_6 in bottle ADVFOC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14)
 1.700969 <WARNING> In  left_arm-eb31-j4_6  there isn't  ADVFOC . AutoCalibration filed. For default it is disabled
 1.700974 <INFO> embObjMC  BOARD left_arm-eb31-j4_6 (IP 10.0.1.31)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
 1.700979 <INFO> embObjMC  BOARD left_arm-eb31-j4_6 (IP 10.0.1.31)  joint  2  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
 1.700985 <DEBUG> EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD left_arm-eb31-j4_6 with IP 10.0.1.31
 1.731311 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_arm-eb31-j4_6 with IP 10.0.1.31 : config mode + cleared all its regulars
 1.761918 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD left_arm-eb31-j4_6 with IP 10.0.1.31 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 1.792574 <INFO> EthResource::askBoardVersion() found BOARD left_arm-eb31-j4_6 @ IP 10.0.1.31 of type amc with FW = ver 2.3 built on 2024 Apr 11 11:18
 1.823025 <INFO> from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=960s 897m 206u : CFG: CANdiscovery has detected  eobrd_amcbldc board in CAN1 addr 2 with can protocol ver 2.0 and application ver 2.0.13 Search time was 0 ms
 1.823048 <DEBUG> embObjMotionControl:serviceVerifyActivate OK!
 1.823055 <INFO> from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=960s 897m 419u : CFG: CANdiscovery is OK for 1 eobrd_amc2c boards with target can protocol ver 2.0 and application ver 3.0.3. Search time was 0 ms
 1.874032 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0200274 sec (its timeout is 0.02 sec)
 1.894421 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.0420618 sec
 1.914777 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0200226 sec (its timeout is 0.02 sec)
 1.935177 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.0380435 sec
 1.955639 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0200276 sec (its timeout is 0.02 sec)
 1.976048 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 1.996487 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0200286 sec (its timeout is 0.02 sec)
 2.006705 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.036046 sec
 2.027111 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0200193 sec (its timeout is 0.02 sec)
 2.047613 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.0360372 sec
 2.068015 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has been silent for 0.0200257 sec (its timeout is 0.02 sec)
 2.078172 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.31 (left_arm-eb31-j4_6) has shown after being lost for 0.036119 sec
 2.088358 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 2.088380 <INFO> Opening device left_arm-eb23-j7_10-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.23) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb23-j7_10") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "l_thumb_oc" "l_index_oc" "l_middle_oc" "l_ring_pinky_oc") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 159 159 159 159) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 0 0 0 0) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 90 90 90) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -26500 -26500 -26500 -26500) (rotorPosMax -100 -100 -100 -100)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (POS (location CAN1:1) (SENSORS (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (boardType mtb4c mtb4c mtb4c mtb4c) (connector CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2) (CALIBRATION (type TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg) (rotation ROT:plus180 ROT:zero ROT:zero ROT:zero) (offset -273 -305.0 -230.0 -55.0) (invertDirection true true false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P4 CONN:P3 CONN:P2)) (ENCODER1 (type pos pos pos pos) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 5 5 5 5)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P5 CONN:P4 CONN:P3 CONN:P2) (position atmotor atmotor atmotor atmotor) (resolution 1600 1600 1600 1600) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMin 0 0 0 0) (jntPosMax 90 90 90 90) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 1100 1100 1100 1100) (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 -246 -246 -246 -246) (kd 0 0 0 0) (ki -33 -33 -33 -33) (maxOutput 2700 2700 2700 2700) (maxInt 1000 1000 1000 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")]
 2.088413 <DEBUG> Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.23") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb23-j7_10) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_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 l_thumb_oc l_index_oc l_middle_oc l_ring_pinky_oc) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 159 159 159 159) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 0 0 0 0) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 90 90) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -26500 -26500 -26500 -26500) (rotorPosMax -100 -100 -100 -100) (jntPosMin 0 0 0 0) (jntPosMax 90 90 90 90) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 1100 1100 1100 1100) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -246 -246 -246 -246) (kd 0 0 0 0) (ki -33 -33 -33 -33) (maxOutput 2700 2700 2700 2700) (maxInt 1000 1000 1000 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (POS (location "CAN1:1") (SENSORS (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_oc" "POS:hand_index_oc" "POS:hand_middle_oc" "POS:hand_ring_pinky_oc") (boardType mtb4c mtb4c mtb4c mtb4c) (connector "CONN:J3_SDA3" "CONN:J3_SDA0" "CONN:J3_SDA1" "CONN:J3_SDA2") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg" "TYPE:decideg" "TYPE:decideg") (rotation "ROT:plus180" "ROT:zero" "ROT:zero" "ROT:zero") (offset -273 -305.0 -230.0 -55.0) (invertDirection true true false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P5" "CONN:P4" "CONN:P3" "CONN:P2")) (ENCODER1 (type pos pos pos pos) (port "POS:hand_thumb_oc" "POS:hand_index_oc" "POS:hand_middle_oc" "POS:hand_ring_pinky_oc") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 5 5 5 5)) (ENCODER2 (type qenc qenc qenc qenc) (port "CONN:P5" "CONN:P4" "CONN:P3" "CONN:P2") (position atmotor atmotor atmotor atmotor) (resolution 1600 1600 1600 1600) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id left_arm-eb23-j7_10-mc) (robotName ergoCubSN001)
 2.088451 <WARNING> embObjMC BOARD  left_arm-eb23-j7_10 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
 2.088487 <WARNING> hardwareTemperatureLimits parameter not found for board left_arm-eb23-j7_10 in bottle LIMITS (hardwareJntPosMax 90 90 90 90) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -26500 -26500 -26500 -26500) (rotorPosMax -100 -100 -100 -100) (jntPosMin 0 0 0 0) (jntPosMax 90 90 90 90) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 1100 1100 1100 1100) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)
 2.088495 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 2.088501 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 2.108818 <DEBUG> from BOARD 10.0.1.23 (left_arm-eb23-j7_10) time=962s 67m 187u : CFG: EOtheEncoderReader can be correctly configured
 2.108840 <DEBUG> from BOARD 10.0.1.23 (left_arm-eb23-j7_10) time=962s 68m 375u : CFG: EOtheMotionController can correctly configure mc4plusfaps-based motion. more info will follow
 2.190869 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 2.200991 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 2.211196 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 2.231575 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 2.251901 <WARNING> from BOARD 10.0.1.23 (left_arm-eb23-j7_10) time=962s 203m 260u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 383[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=22); (Rx=380, DO=96, ...). Num of CAN frames[CAN1,CAN2]=[6 0]
 2.251948 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 2.251966 <INFO> Opening device left_arm-eb25-j11_12-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.25) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb25-j11_12") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "l_thumb_add" "l_index_add") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 159 159) (Gearbox_E2J 1 1) (useMotorSpeedFbk 0 0) (MotorType "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 30) (hardwareJntPosMin 0 0) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (POS (location CAN1:2) (SENSORS (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_add POS:hand_index_add) (boardType mtb4c mtb4c) (connector CONN:J3_SDA2 CONN:J3_SDA3) (CALIBRATION (type TYPE:decideg TYPE:decideg) (rotation ROT:zero ROT:zero) (offset -200.0 -295.0) (invertDirection false true))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port CONN:P2 CONN:P5)) (ENCODER1 (type pos pos) (port POS:hand_thumb_add POS:hand_index_add) (position atjoint atjoint) (resolution 65535 65535) (tolerance 5 5)) (ENCODER2 (type none none) (port CONN:P2 CONN:P5) (position atmotor atmotor) (resolution -1600 1600) (tolerance 0 0))))"), ("LIMITS" [group] = "(jntPosMin 0 0) (jntPosMax 90 15) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (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 150 200) (kd 0 0) (ki 10 10) (maxOutput 3360 3360) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)")]
 2.252011 <DEBUG> Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none) (currentPid none none) (speedPid none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.25") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb25-j11_12) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName l_thumb_add l_index_add) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 159 159) (Gearbox_E2J 1 1) (useMotorSpeedFbk 0 0) (MotorType DC DC) (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 90 30) (hardwareJntPosMin 0 0) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin 0 0) (jntPosMax 90 15) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (motorPwmLimit 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 150 200) (kd 0 0) (ki 10 10) (maxOutput 3360 3360) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (POS (location "CAN1:2") (SENSORS (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_add" "POS:hand_index_add") (boardType mtb4c mtb4c) (connector "CONN:J3_SDA2" "CONN:J3_SDA3") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg") (rotation "ROT:zero" "ROT:zero") (offset -200.0 -295.0) (invertDirection false true))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port "CONN:P2" "CONN:P5")) (ENCODER1 (type pos pos) (port "POS:hand_thumb_add" "POS:hand_index_add") (position atjoint atjoint) (resolution 65535 65535) (tolerance 5 5)) (ENCODER2 (type none none) (port "CONN:P2" "CONN:P5") (position atmotor atmotor) (resolution -1600 1600) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (device embObjMotionControl) (id left_arm-eb25-j11_12-mc) (robotName ergoCubSN001)
 2.252054 <WARNING> embObjMC BOARD  left_arm-eb25-j11_12 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
 2.252065 <WARNING> hardwareTemperatureLimits parameter not found for board left_arm-eb25-j11_12 in bottle LIMITS (hardwareJntPosMax 90 30) (hardwareJntPosMin 0 0) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin 0 0) (jntPosMax 90 15) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (motorPwmLimit 3360 3360)
 2.252077 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 2.272260 <DEBUG> from BOARD 10.0.1.25 (left_arm-eb25-j11_12) time=962s 237m 321u : CFG: EOtheMotionController can correctly configure mc4plusfaps-based motion. more info will follow
 2.323049 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 2.333193 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 2.343299 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 2.343358 <INFO> Opening device right_arm-eb1-j0_1-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb1-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "r_shoulder_pitch" "r_shoulder_roll") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.00 -100.00) (Gearbox_E2J 64 64) (useMotorSpeedFbk 1 1) (MotorType "MOOG-BL-C2900576" "MOOG-BL-C2900576") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 35 150) (hardwareJntPosMin -170 -15) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("2FOC" [group] = "(AutoCalibration 0 0) (Verbose 0 0) (HasHallSensor 0 0) (TemperatureSensorType NONE NONE) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 270 177) (MotorPoles 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 20))) (JOINTMAPPING (ACTUATOR (type foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P8) (position atjoint atjoint) (resolution 16384 -16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))"), ("LIMITS" [group] = "(jntPosMax 14 130) (jntPosMin -130 0) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 12000 12000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)"), ("TIMEOUTS" [group] = "(velocity 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.3 0.3) (damping 0.05 0.05)"), ("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_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (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) (kff 0 0) (kp -4000 -1000) (kd 0 0) (ki -1000 -1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 0 0)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp -3 -2) (kd 0 0) (ki -6 -4) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.004 -0.004) (viscousNeg -0.004 -0.004) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -0.86 -0.72)"), ("TRQ_PID_OUTPUT_CURR" [group] = "(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 -100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.0001 -0.0001) (viscousNeg -0.0001 -0.0001) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -250 -200)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0049 0.0049)"), ("KALMAN_FILTER" [group] = "(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)")]
 2.353509 <DEBUG> Parameters are ("2FOC" (AutoCalibration 0 0) (Verbose 0 0) (HasHallSensor 0 0) (TemperatureSensorType NONE NONE) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 270 177) (MotorPoles 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb1-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName r_shoulder_pitch r_shoulder_roll) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.0 -100.0) (Gearbox_E2J 64 64) (useMotorSpeedFbk 1 1) (MotorType MOOG-BL-C2900576 MOOG-BL-C2900576) (Verbose 0)) (IMPEDANCE (stiffness 0.299999999999999988898 0.299999999999999988898) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 35 150) (hardwareJntPosMin -170 -15) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 14 130) (jntPosMin -130 0) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 12000 12000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp -4000 -1000) (kd 0 0) (ki -1000 -1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 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 20))) (JOINTMAPPING (ACTUATOR (type foc foc) (port "CAN1:1:0" "CAN1:2:0")) (ENCODER1 (type amo amo) (port "CONN:P6" "CONN:P8") (position atjoint atjoint) (resolution 16384 -16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port "CAN1:1:0" "CAN1:2:0") (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp -3 -2) (kd 0 0) (ki -6 -4) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.00400000000000000008327 -0.00400000000000000008327) (viscousNeg -0.00400000000000000008327 -0.00400000000000000008327) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -0.859999999999999986677 -0.719999999999999973355)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 -100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.000100000000000000004792 -0.000100000000000000004792) (viscousNeg -0.000100000000000000004792 -0.000100000000000000004792) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -250 -200)) (device embObjMotionControl) (id right_arm-eb1-j0_1-mc) (robotName ergoCubSN001)
 2.353599 <DEBUG> eth::parser::print(boardData) for BOARD right_arm-eb1-j0_1
 2.353611 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 2.353620 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
 2.353628 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS:
 2.353637 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 2
 2.353646 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 2.353655 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.1 (right_arm-eb1-j0_1) with timeout = 0.02 sec and period of missing report = 60 sec
 2.353663 <WARNING> kbemf parameter not found for board right_arm-eb1-j0_1 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 -100) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.000100000000000000004792 -0.000100000000000000004792) (viscousNeg -0.000100000000000000004792 -0.000100000000000000004792) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -250 -200)
 2.353683 <WARNING> hardwareTemperatureLimits parameter not found for board right_arm-eb1-j0_1 in bottle LIMITS (hardwareJntPosMax 35 150) (hardwareJntPosMin -170 -15) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 14 130) (jntPosMin -130 0) (jntVelMax 120 120) (motorNominalCurrents 5000 5000) (motorPeakCurrents 12000 12000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)
 2.353696 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 2.353704 <INFO> embObjMC  BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
 2.353714 <DEBUG> EthResource::verifyBoardPresence() found BOARD right_arm-eb1-j0_1 with IP 10.0.1.1 after 0.00135803 seconds
 2.353722 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb1-j0_1 with IP 10.0.1.1 : config mode + cleared all its regulars
 2.363597 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb1-j0_1 with IP 10.0.1.1 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 2.363636 <INFO> EthResource::askBoardVersion() found BOARD right_arm-eb1-j0_1 @ IP 10.0.1.1 of type ems4 with FW = ver 3.86 built on 2024 Mar 15 12:0
 2.394241 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=961s 662m 483u :  CFG: CANdiscovery started the search for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.20.
 2.394289 <WARNING> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=961s 663m 16u : CFG: CANdiscovery has detected  eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms
 2.394302 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=961s 663m 230u : CFG: CANdiscovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.20. Search time was 0 ms
 2.394319 <DEBUG> embObjMotionControl:serviceVerifyActivate OK!
 2.435209 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 2.445430 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 2.465963 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 2.466008 <INFO> Opening device right_arm-eb3-j2_3-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.3) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb3-j2_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "r_shoulder_yaw" "r_elbow") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.00 100.00) (Gearbox_E2J 32 32) (useMotorSpeedFbk 1 1) (MotorType "MOOG-BL-C2900575" "MOOG-BL-C2900575") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 82 120) (hardwareJntPosMin -52 -5) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("2FOC" [group] = "(AutoCalibration 0 0) (Verbose 0 0) (HasHallSensor 0 0) (TemperatureSensorType NONE NONE) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 205 59) (MotorPoles 8 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 20))) (JOINTMAPPING (ACTUATOR (type foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P8) (position atjoint atjoint) (resolution -16384 -16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))"), ("LIMITS" [group] = "(jntPosMax 80 105) (jntPosMin -50 -3) (jntVelMax 120 120) (motorNominalCurrents 8000 5000) (motorPeakCurrents 10000 9000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)"), ("TIMEOUTS" [group] = "(velocity 100 100)"), ("IMPEDANCE" [group] = "(stiffness 0.2 0.1) (damping 0.05 0.05)"), ("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_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (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) (kff 0 0) (kp -1000 1000) (kd 0 0) (ki -1000 1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp -2.5 3) (kd 0 0) (ki -3.5 4) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.003 0.0023) (viscousNeg -0.003 0.0023) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -0.9 0.7)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)"), ("TRQ_PID_OUTPUT_CURR" [group] = "(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.0001 0.0002) (viscousNeg -0.0001 0.0002) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -50 300)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0049 0.0049)"), ("KALMAN_FILTER" [group] = "(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)")]
 2.466068 <DEBUG> Parameters are ("2FOC" (AutoCalibration 0 0) (Verbose 0 0) (HasHallSensor 0 0) (TemperatureSensorType NONE NONE) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 205 59) (MotorPoles 8 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.3") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb3-j2_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName r_shoulder_yaw r_elbow) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.0 100.0) (Gearbox_E2J 32 32) (useMotorSpeedFbk 1 1) (MotorType MOOG-BL-C2900575 MOOG-BL-C2900575) (Verbose 0)) (IMPEDANCE (stiffness 0.200000000000000011102 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 82 120) (hardwareJntPosMin -52 -5) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 80 105) (jntPosMin -50 -3) (jntVelMax 120 120) (motorNominalCurrents 8000 5000) (motorPeakCurrents 10000 9000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp -1000 1000) (kd 0 0) (ki -1000 1000) (maxOutput 8000 8000) (maxInt 2000 2000) (stictionUp 0 0) (stictionDown 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 20))) (JOINTMAPPING (ACTUATOR (type foc foc) (port "CAN1:1:0" "CAN1:2:0")) (ENCODER1 (type amo amo) (port "CONN:P6" "CONN:P8") (position atjoint atjoint) (resolution -16384 -16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port "CAN1:1:0" "CAN1:2:0") (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp -2.5 3) (kd 0 0) (ki -3.5 4) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.00300000000000000006245 0.00229999999999999996114) (viscousNeg -0.00300000000000000006245 0.00229999999999999996114) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -0.900000000000000022204 0.699999999999999955591)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.000100000000000000004792 0.000200000000000000009584) (viscousNeg -0.000100000000000000004792 0.000200000000000000009584) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -50 300)) (device embObjMotionControl) (id right_arm-eb3-j2_3-mc) (robotName ergoCubSN001)
 2.466128 <DEBUG> eth::parser::print(boardData) for BOARD right_arm-eb3-j2_3
 2.466138 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.3
 2.466147 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
 2.466156 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
 2.466173 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_arm-eb3-j2_3
 2.466183 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
 2.466191 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.3 (right_arm-eb3-j2_3) with timeout = 0.02 sec and period of missing report = 60 sec
 2.466201 <WARNING> kbemf parameter not found for board right_arm-eb3-j2_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 200) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.000100000000000000004792 0.000200000000000000009584) (viscousNeg -0.000100000000000000004792 0.000200000000000000009584) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -50 300)
 2.466215 <WARNING> hardwareTemperatureLimits parameter not found for board right_arm-eb3-j2_3 in bottle LIMITS (hardwareJntPosMax 82 120) (hardwareJntPosMin -52 -5) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 80 105) (jntPosMin -50 -3) (jntVelMax 120 120) (motorNominalCurrents 8000 5000) (motorPeakCurrents 10000 9000) (motorOverloadCurrents 15000 15000) (motorPwmLimit 8000 8000)
 2.466227 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 2.466236 <INFO> embObjMC  BOARD right_arm-eb3-j2_3 (IP 10.0.1.3)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
 2.466245 <DEBUG> EthResource::verifyBoardPresence() found BOARD right_arm-eb3-j2_3 with IP 10.0.1.3 after 0.00132084 seconds
 2.466254 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb3-j2_3 with IP 10.0.1.3 : config mode + cleared all its regulars
 2.486497 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb3-j2_3 with IP 10.0.1.3 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 2.486542 <INFO> EthResource::askBoardVersion() found BOARD right_arm-eb3-j2_3 @ IP 10.0.1.3 of type ems4 with FW = ver 3.86 built on 2024 Mar 15 12:0
 2.506888 <INFO> from BOARD 10.0.1.3 (right_arm-eb3-j2_3) time=961s 772m 483u :  CFG: CANdiscovery started the search for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.20.
 2.506929 <DEBUG> from BOARD 10.0.1.3 (right_arm-eb3-j2_3) time=961s 773m 669u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
 2.547966 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 2.568460 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 2.578617 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 2.578663 <INFO> Opening device right_arm-eb30-j4_6-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.30) (IpPort 12345) (Type amc) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb30-j4_6") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 3) (AxisMap 0 1 2) (AxisName "r_wrist_yaw" "r_wrist_roll" "r_wrist_pitch") (AxisType "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0) (Gearbox_M2J -392.0 -392.0 -392.0) (Gearbox_E2J 2.0 2.0 2.0) (useMotorSpeedFbk 0 0 0) (MotorType "FAULHABER" "FAULHABER" "FAULHABER") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 30 20) (hardwareJntPosMin -90 -20 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0)"), ("ADVFOC" [group] = "(HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14)"), ("COUPLINGS" [group] = "(matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 1) (JOINTSET_0 (listofjoints 0 1 2) (constraint ergocubwrist) (param1 21) (param2 1))"), ("SERVICE" [group] = "(type eomn_serv_MC_advfoc) (PROPERTIES (ETHBOARD (type amc)) (CANBOARDS (type amcbldc amc2c) (PROTOCOL (major 2 2) (minor 0 0)) (FIRMWARE (major 2 3) (minor 0 0) (build 13 3))) (JOINTMAPPING (ACTUATOR (type advfoc advfoc advfoc) (onboard amcbldc amcbldc amc2c) (port CAN1:1 CAN1:2 CAN1:3)) (ENCODER1 (type aea3 aea3 aea3) (port CONN:J5_X1 CONN:J5_X2 CONN:J5_X3) (position atjoint atjoint atjoint) (resolution 16384 16384 16384) (tolerance 0.4 0.4 0.4)) (ENCODER2 (type none none none) (port CAN1:1 CAN1:2 CAN1:3) (position atmotor atmotor atmotor) (resolution 0 0 0) (tolerance 0 0 0))))"), ("LIMITS" [group] = "(jntPosMax 90 30 20) (jntPosMin -90 -20 -20) (jntVelMax 90 90 90) (motorNominalCurrents 200 200 200) (motorPeakCurrents 200 200 200) (motorOverloadCurrents 350 350 350) (motorPwmLimit 16000 16000 16000)"), ("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 none none none) (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 current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -50 -50) (kd -8 -8 -8) (ki -220 -220 -220) (maxOutput 500 500 500) (maxInt 200 200 200) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 2 2 2) (kd 0 0 0) (ki 500 500 500) (shift 0 0 0) (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)")]
 2.578717 <DEBUG> Parameters are ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 2 2 2) (kd 0 0 0) (ki 500 500 500) (shift 0 0 0) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000) (kff 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0) (kp 12 12 12) (kd 0 0 0) (ki 16 16 16) (shift 10 10 10) (maxOutput 32000 32000 32000) (maxInt 32000 32000 32000)) (ADVFOC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.30") (IpPort 12345) (Type amc) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb30-j4_6) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 3) (AxisMap 0 1 2) (AxisName r_wrist_yaw r_wrist_roll r_wrist_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 -392.0 -392.0 -392.0) (Gearbox_E2J 2.0 2.0 2.0) (useMotorSpeedFbk 0 0 0) (MotorType FAULHABER FAULHABER FAULHABER) (Verbose 0)) (IMPEDANCE (stiffness 0 0 0) (damping 0 0 0)) (JOINTSET_CFG (numberofsets 1) (JOINTSET_0 (listofjoints 0 1 2) (constraint ergocubwrist) (param1 21) (param2 1))) (LIMITS (hardwareJntPosMax 90 30 20) (hardwareJntPosMin -90 -20 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 90 30 20) (jntPosMin -90 -20 -20) (jntVelMax 90 90 90) (motorNominalCurrents 200 200 200) (motorPeakCurrents 200 200 200) (motorOverloadCurrents 350 350 350) (motorPwmLimit 16000 16000 16000)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -50 -50 -50) (kd -8 -8 -8) (ki -220 -220 -220) (maxOutput 500 500 500) (maxInt 200 200 200) (stictionUp 0 0 0) (stictionDown 0 0 0) (kff 0 0 0)) (SERVICE (type eomn_serv_MC_advfoc) (PROPERTIES (ETHBOARD (type amc)) (CANBOARDS (type amcbldc amc2c) (PROTOCOL (major 2 2) (minor 0 0)) (FIRMWARE (major 2 3) (minor 0 0) (build 13 3))) (JOINTMAPPING (ACTUATOR (type advfoc advfoc advfoc) (onboard amcbldc amcbldc amc2c) (port "CAN1:1" "CAN1:2" "CAN1:3")) (ENCODER1 (type aea3 aea3 aea3) (port "CONN:J5_X1" "CONN:J5_X2" "CONN:J5_X3") (position atjoint atjoint atjoint) (resolution 16384 16384 16384) (tolerance 0.400000000000000022204 0.400000000000000022204 0.400000000000000022204)) (ENCODER2 (type none none none) (port "CAN1:1" "CAN1:2" "CAN1:3") (position atmotor atmotor atmotor) (resolution 0 0 0) (tolerance 0 0 0))))) (TIMEOUTS (velocity 100 100 100)) (device embObjMotionControl) (id right_arm-eb30-j4_6-mc) (robotName ergoCubSN001)
 2.578767 <DEBUG> eth::parser::print(boardData) for BOARD right_arm-eb30-j4_6
 2.578777 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 2.578795 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
 2.578804 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS:
 2.578813 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 2
 2.578823 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 2.578831 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.30 (right_arm-eb30-j4_6) with timeout = 0.02 sec and period of missing report = 60 sec
 2.578841 <WARNING> embObjMC BOARD  right_arm-eb30-j4_6 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
 2.578850 <WARNING> hardwareTemperatureLimits parameter not found for board right_arm-eb30-j4_6 in bottle LIMITS (hardwareJntPosMax 90 30 20) (hardwareJntPosMin -90 -20 -20) (rotorPosMin 0 0 0) (rotorPosMax 0 0 0) (jntPosMax 90 30 20) (jntPosMin -90 -20 -20) (jntVelMax 90 90 90) (motorNominalCurrents 200 200 200) (motorPeakCurrents 200 200 200) (motorOverloadCurrents 350 350 350) (motorPwmLimit 16000 16000 16000)
 2.578862 <WARNING> TemperatureSensorType parameter not found for board right_arm-eb30-j4_6 in bottle ADVFOC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14)
 2.578872 <WARNING> right_arm-eb30-j4_6 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor
 2.578882 <WARNING> right_arm-eb30-j4_6 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor
 2.578893 <WARNING> right_arm-eb30-j4_6 ATTENTION HasTempSensor will be soon DEPRECATED in favour of TemperatureSensorType (PT100, PT1000, NONE(=default)). Currently kept for backward compatibility but update your configuration files if using a Temperature Sensor
 2.578904 <WARNING> Verbose parameter not found for board right_arm-eb30-j4_6 in bottle ADVFOC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14)
 2.578914 <WARNING> In  right_arm-eb30-j4_6  there isn't  ADVFOC . Verbose filed. For default it is enabled
 2.578922 <WARNING> AutoCalibration parameter not found for board right_arm-eb30-j4_6 in bottle ADVFOC (HasHallSensor 1 1 1) (HasTempSensor 0 0 0) (HasRotorEncoder 0 0 0) (HasRotorEncoderIndex 0 0 0) (HasSpeedEncoder 0 0 0) (RotorIndexOffset 0 0 0) (MotorPoles 14 14 14)
 2.578932 <WARNING> In  right_arm-eb30-j4_6  there isn't  ADVFOC . AutoCalibration filed. For default it is disabled
 2.578940 <INFO> embObjMC  BOARD right_arm-eb30-j4_6 (IP 10.0.1.30)  joint  0  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
 2.578950 <INFO> embObjMC  BOARD right_arm-eb30-j4_6 (IP 10.0.1.30)  joint  2  has motor not provided with any available type of temperature sensor. If needed update the configurations file accordingly
 2.578959 <DEBUG> EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD right_arm-eb30-j4_6 with IP 10.0.1.30
 2.609055 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_arm-eb30-j4_6 with IP 10.0.1.30 : config mode + cleared all its regulars
 2.650101 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD right_arm-eb30-j4_6 with IP 10.0.1.30 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 2.670655 <INFO> EthResource::askBoardVersion() found BOARD right_arm-eb30-j4_6 @ IP 10.0.1.30 of type amc with FW = ver 2.3 built on 2024 Apr 11 11:18
 2.701448 <INFO> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=961s 969m 638u : CFG: CANdiscovery has detected  eobrd_amcbldc board in CAN1 addr 2 with can protocol ver 2.0 and application ver 2.0.13 Search time was 0 ms
 2.701489 <WARNING> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=961s 969m 710u : CFG: CANdiscovery has detected  eobrd_amc2c board in CAN1 addr 3 with can protocol ver 2.0 and application ver 3.0.4 Search time was 0 ms
 2.762705 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.0200326 sec (its timeout is 0.02 sec)
 2.782992 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0420573 sec
 2.803457 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.0200253 sec (its timeout is 0.02 sec)
 2.813627 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.036087 sec
 2.834217 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.020087 sec (its timeout is 0.02 sec)
 2.854667 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0361021 sec
 2.875035 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.0200458 sec (its timeout is 0.02 sec)
 2.895577 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0380659 sec
 2.915971 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.0200355 sec (its timeout is 0.02 sec)
 2.936541 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0380545 sec
 2.946813 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has been silent for 0.0200336 sec (its timeout is 0.02 sec)
 2.967313 <DEBUG> eth::EthMonitorPresence: BOARD 10.0.1.30 (right_arm-eb30-j4_6) has shown after being lost for 0.0380523 sec
 2.967351 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 2.967369 <INFO> Opening device right_arm-eb22-j7_10-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.22) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb22-j7_10") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "r_thumb_oc" "r_index_oc" "r_middle_oc" "r_ring_pinky_oc") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 159 159 159 159) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 0 0 0 0) (MotorType "DC" "DC" "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 90 90 90) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -26500 -26500 -26500 -26500) (rotorPosMax -100 -100 -100 -100)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (POS (location CAN1:1) (SENSORS (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (boardType mtb4c mtb4c mtb4c mtb4c) (connector CONN:J3_SDA3 CONN:J3_SDA0 CONN:J3_SDA1 CONN:J3_SDA2) (CALIBRATION (type TYPE:decideg TYPE:decideg TYPE:decideg TYPE:decideg) (rotation ROT:plus180 ROT:zero ROT:zero ROT:zero) (offset -190.0 -305.0 -230.0 -55.0) (invertDirection true true false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port CONN:P5 CONN:P4 CONN:P3 CONN:P2)) (ENCODER1 (type pos pos pos pos) (port POS:hand_thumb_oc POS:hand_index_oc POS:hand_middle_oc POS:hand_ring_pinky_oc) (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 5 5 5 5)) (ENCODER2 (type qenc qenc qenc qenc) (port CONN:P5 CONN:P4 CONN:P3 CONN:P2) (position atmotor atmotor atmotor atmotor) (resolution 1600 1600 1600 1600) (tolerance 0 0 0 0))))"), ("LIMITS" [group] = "(jntPosMin 0 0 0 0) (jntPosMax 90 90 90 90) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 1100 1100 1100 1100) (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 -246 -246 -246 -246) (kd 0 0 0 0) (ki -33 -33 -33 -33) (maxOutput 2700 2700 2700 2700) (maxInt 1000 1000 1000 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)")]
 2.967433 <DEBUG> Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none none none) (currentPid none none none none) (speedPid none none none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.22") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb22-j7_10) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_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_thumb_oc r_index_oc r_middle_oc r_ring_pinky_oc) (AxisType revolute revolute revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360 3360 3360) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 159 159 159 159) (Gearbox_E2J 1 1 1 1) (useMotorSpeedFbk 0 0 0 0) (MotorType DC DC DC DC) (Verbose 0)) (IMPEDANCE (stiffness 0.0 0.0 0.0 0.0) (damping 0.0 0.0 0.0 0.0)) (JOINTSET_CFG (numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))) (LIMITS (hardwareJntPosMax 90 90 90 90) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -26500 -26500 -26500 -26500) (rotorPosMax -100 -100 -100 -100) (jntPosMin 0 0 0 0) (jntPosMax 90 90 90 90) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 1100 1100 1100 1100) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -246 -246 -246 -246) (kd 0 0 0 0) (ki -33 -33 -33 -33) (maxOutput 2700 2700 2700 2700) (maxInt 1000 1000 1000 1000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 0 0 0 0)) (SERVICE (type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (POS (location "CAN1:1") (SENSORS (id id_fapAA id_fapBB id_fapCC id_fapDD) (type eoas_pos_angle eoas_pos_angle eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_oc" "POS:hand_index_oc" "POS:hand_middle_oc" "POS:hand_ring_pinky_oc") (boardType mtb4c mtb4c mtb4c mtb4c) (connector "CONN:J3_SDA3" "CONN:J3_SDA0" "CONN:J3_SDA1" "CONN:J3_SDA2") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg" "TYPE:decideg" "TYPE:decideg") (rotation "ROT:plus180" "ROT:zero" "ROT:zero" "ROT:zero") (offset -190.0 -305.0 -230.0 -55.0) (invertDirection true true false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapAA id_fapBB id_fapCC id_fapDD))) (JOINTMAPPING (ACTUATOR (type pwm pwm pwm pwm) (port "CONN:P5" "CONN:P4" "CONN:P3" "CONN:P2")) (ENCODER1 (type pos pos pos pos) (port "POS:hand_thumb_oc" "POS:hand_index_oc" "POS:hand_middle_oc" "POS:hand_ring_pinky_oc") (position atjoint atjoint atjoint atjoint) (resolution 65535 65535 65535 65535) (tolerance 5 5 5 5)) (ENCODER2 (type qenc qenc qenc qenc) (port "CONN:P5" "CONN:P4" "CONN:P3" "CONN:P2") (position atmotor atmotor atmotor atmotor) (resolution 1600 1600 1600 1600) (tolerance 0 0 0 0))))) (TIMEOUTS (velocity 100 100 100 100)) (device embObjMotionControl) (id right_arm-eb22-j7_10-mc) (robotName ergoCubSN001)
 2.977526 <WARNING> embObjMC BOARD  right_arm-eb22-j7_10 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
 2.977577 <WARNING> hardwareTemperatureLimits parameter not found for board right_arm-eb22-j7_10 in bottle LIMITS (hardwareJntPosMax 90 90 90 90) (hardwareJntPosMin 0 0 0 0) (rotorPosMin -26500 -26500 -26500 -26500) (rotorPosMax -100 -100 -100 -100) (jntPosMin 0 0 0 0) (jntPosMax 90 90 90 90) (jntVelMax 1000 1000 1000 1000) (motorOverloadCurrents 2000 2000 2000 2000) (motorNominalCurrents 1100 1100 1100 1100) (motorPeakCurrents 1500 1500 1500 1500) (motorPwmLimit 3360 3360 3360 3360)
 2.977606 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 2.977616 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 2.998082 <DEBUG> from BOARD 10.0.1.22 (right_arm-eb22-j7_10) time=962s 955m 160u : CFG: EOtheEncoderReader can be correctly configured
 2.998120 <DEBUG> from BOARD 10.0.1.22 (right_arm-eb22-j7_10) time=962s 956m 373u : CFG: EOtheMotionController can correctly configure mc4plusfaps-based motion. more info will follow
 3.069882 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 3.090379 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 3.100607 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 3.110744 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 3.131004 <WARNING> from BOARD 10.0.1.22 (right_arm-eb22-j7_10) time=963s 91m 17u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 384[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=114); (Rx=378, DO=96, ...). Num of CAN frames[CAN1,CAN2]=[6 0]
 3.131050 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 3.131068 <INFO> Opening device right_arm-eb24-j11_12-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.24) (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb24-j11_12") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "r_thumb_add" "r_index_add") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 159 159) (Gearbox_E2J 1 1) (useMotorSpeedFbk 0 0) (MotorType "DC" "DC") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 90 15) (hardwareJntPosMin 0 0) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("COUPLINGS" [group] = "(matrixJ2M 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixM2J 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 1.000) (matrixE2J 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000 0.000 0.000 0.000 0.000 1.000 0.000 0.000)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (POS (location CAN1:2) (SENSORS (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port POS:hand_thumb_add POS:hand_index_add) (boardType mtb4c mtb4c) (connector CONN:J3_SDA2 CONN:J3_SDA3) (CALIBRATION (type TYPE:decideg TYPE:decideg) (rotation ROT:zero ROT:zero) (offset -200.0 -295.0) (invertDirection false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port CONN:P2 CONN:P5)) (ENCODER1 (type pos pos) (port POS:hand_thumb_add POS:hand_index_add) (position atjoint atjoint) (resolution 65535 65535) (tolerance 5 5)) (ENCODER2 (type none none) (port CONN:P2 CONN:P5) (position atmotor atmotor) (resolution -1600 1600) (tolerance 0 0))))"), ("LIMITS" [group] = "(jntPosMin 0 0) (jntPosMax 90 15) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (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 -150 -200) (kd 0 0) (ki -10 -10) (maxOutput 3360 3360) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)")]
 3.131094 <DEBUG> Parameters are (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl none none) (currentPid none none) (speedPid none none)) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.24") (IpPort 12345) (Type mc4plus) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb24-j11_12) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName r_thumb_add r_index_add) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 3360 3360) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 159 159) (Gearbox_E2J 1 1) (useMotorSpeedFbk 0 0) (MotorType DC DC) (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 90 15) (hardwareJntPosMin 0 0) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin 0 0) (jntPosMax 90 15) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (motorPwmLimit 3360 3360)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -150 -200) (kd 0 0) (ki -10 -10) (maxOutput 3360 3360) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0) (kff 0 0)) (SERVICE (type eomn_serv_MC_mc4plusfaps) (PROPERTIES (ETHBOARD (type mc4plus)) (CANBOARDS (type mtb4c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 2) (build 0))) (POS (location "CAN1:2") (SENSORS (id id_fapEE id_fapFF) (type eoas_pos_angle eoas_pos_angle) (port "POS:hand_thumb_add" "POS:hand_index_add") (boardType mtb4c mtb4c) (connector "CONN:J3_SDA2" "CONN:J3_SDA3") (CALIBRATION (type "TYPE:decideg" "TYPE:decideg") (rotation "ROT:zero" "ROT:zero") (offset -200.0 -295.0) (invertDirection false false))) (SETTINGS (acquisitionRate 50) (enabledSensors id_fapEE id_fapFF))) (JOINTMAPPING (ACTUATOR (type pwm pwm) (port "CONN:P2" "CONN:P5")) (ENCODER1 (type pos pos) (port "POS:hand_thumb_add" "POS:hand_index_add") (position atjoint atjoint) (resolution 65535 65535) (tolerance 5 5)) (ENCODER2 (type none none) (port "CONN:P2" "CONN:P5") (position atmotor atmotor) (resolution -1600 1600) (tolerance 0 0))))) (TIMEOUTS (velocity 100 100)) (device embObjMotionControl) (id right_arm-eb24-j11_12-mc) (robotName ergoCubSN001)
 3.131118 <WARNING> embObjMC BOARD  right_arm-eb24-j11_12 Missing OTHER_CONTROL_PARAMETERS.DeadZone parameter. I'll use default value. (see documentation for more datails)
 3.131124 <WARNING> hardwareTemperatureLimits parameter not found for board right_arm-eb24-j11_12 in bottle LIMITS (hardwareJntPosMax 90 15) (hardwareJntPosMin 0 0) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMin 0 0) (jntPosMax 90 15) (jntVelMax 1000 1000) (motorOverloadCurrents 2000 2000) (motorNominalCurrents 700 700) (motorPeakCurrents 1500 1500) (motorPwmLimit 3360 3360)
 3.131131 <INFO> Private varibales NOT DEFINED for class TemperatureSensorNONE
 3.161414 <DEBUG> from BOARD 10.0.1.24 (right_arm-eb24-j11_12) time=963s 119m 139u : CFG: EOtheEncoderReader can be correctly configured
 3.161458 <DEBUG> from BOARD 10.0.1.24 (right_arm-eb24-j11_12) time=963s 120m 301u : CFG: EOtheMotionController can correctly configure mc4plusfaps-based motion. more info will follow
 3.212471 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 3.222694 <INFO> convertTempCelsiusToRaw METHOD, NOT IMPLEMENTED for class TemperatureSensorNONE
 3.243169 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 3.243227 <INFO> Opening device left_leg-eb8-j0_3-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.8) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb8-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "l_hip_pitch" "l_hip_roll" "l_hip_yaw" "l_knee") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J -100.0 160.0 -100.0 -100.0) (Gearbox_E2J 64 64 64 64) (useMotorSpeedFbk 1 1 1 1) (MotorType "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900580") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 110.15 111.77 81.65 7.75) (hardwareJntPosMin -44.81 -35 -81.65 -105.23) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0)"), ("2FOC" [group] = "(AutoCalibration 0 0 0 0) (Verbose 0 0 0 0) (HasHallSensor 0 0 0 0) (TemperatureSensorType PT100 PT100 PT100 PT100) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 1 1 1 1) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 337 181 112 113) (MotorPoles 12 8 8 12)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 20))) (JOINTMAPPING (ACTUATOR (type foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type amo amo amo amo) (port CONN:P6 CONN:P8 CONN:P7 CONN:P9) (position atjoint atjoint atjoint atjoint) (resolution 16384 16384 16384 -16384) (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 3.6 3.6 3.6 3.6))))"), ("LIMITS" [group] = "(jntPosMax 102 108 78 5) (jntPosMin -42 -15 -78 -103) (jntVelMax 240 240 240 240) (motorNominalCurrents 15000 15000 5000 10000) (motorPeakCurrents 20000 20000 10000 15000) (motorOverloadCurrents 30000 30000 15000 20000) (motorPwmLimit 16000 16000 16000 16000) (hardwareTemperatureLimits 110 110 110 110) (warningTemperatureLimits 90 90 90 90)"), ("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_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (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) (kff 0 0 0 0) (kp -5000 7000 -3000 -10000) (kd 0 0 0 0) (ki -1500 5000 -200 -1500) (maxOutput 12000 12000 12000 16000) (maxInt 1500 5000 750 2000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 25 25 25 25) (maxInt 1.56 1.56 1.56 1.56) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -0.51 0.56 -0.62 -0.52)"), ("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)"), ("TRQ_PID_OUTPUT_CURR" [group] = "(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -100 150 -0.0 -350) (kd 0 0 0 0) (ki -10 25 -0 -100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (viscousPos -0.0001 0.0001 -0.0005 -0.0003) (viscousNeg -0.0001 0.0001 -0.0005 -0.0003) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -40 50 -150 -110)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0049 0.0049 0.0049 0.011)"), ("KALMAN_FILTER" [group] = "(kalmanFilterEnabled 1 1 1 1) (x0 0 0 0 0) (x1 0 0 0 0) (x2 0 0 0 0) (Q0 0.0001 0.0001 0.0001 0.0001) (Q1 0.01 0.01 0.01 0.01) (Q2 10 10 10 10) (R 0.001 0.001 0.001 0.001) (P0 0.000099 0.000099 0.000099 0.000099)")]
 3.243274 <DEBUG> Parameters are ("2FOC" (AutoCalibration 0 0 0 0) (Verbose 0 0 0 0) (HasHallSensor 0 0 0 0) (TemperatureSensorType PT100 PT100 PT100 PT100) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 1 1 1 1) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 337 181 112 113) (MotorPoles 12 8 8 12)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.8") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb8-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_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 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 -100.0 160.0 -100.0 -100.0) (Gearbox_E2J 64 64 64 64) (useMotorSpeedFbk 1 1 1 1) (MotorType MOOG_C2900580 MOOG_C2900576 MOOG_C2900576 MOOG_C2900580) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (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))) (KALMAN_FILTER (kalmanFilterEnabled 1 1 1 1) (x0 0 0 0 0) (x1 0 0 0 0) (x2 0 0 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10 10 10) (R 0.00100000000000000002082 0.00100000000000000002082 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 110.150000000000005684 111.769999999999996021 81.6500000000000056843 7.75) (hardwareJntPosMin -44.8100000000000022737 -35 -81.6500000000000056843 -105.230000000000003979) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 102 108 78 5) (jntPosMin -42 -15 -78 -103) (jntVelMax 240 240 240 240) (motorNominalCurrents 15000 15000 5000 10000) (motorPeakCurrents 20000 20000 10000 15000) (motorOverloadCurrents 30000 30000 15000 20000) (motorPwmLimit 16000 16000 16000 16000) (hardwareTemperatureLimits 110 110 110 110) (warningTemperatureLimits 90 90 90 90)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179 0.00489999999999999984179 0.0109999999999999993616)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp -5000 7000 -3000 -10000) (kd 0 0 0 0) (ki -1500 5000 -200 -1500) (maxOutput 12000 12000 12000 16000) (maxInt 1500 5000 750 2000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 20))) (JOINTMAPPING (ACTUATOR (type foc foc foc foc) (port "CAN1:1:0" "CAN1:2:0" "CAN1:3:0" "CAN1:4:0")) (ENCODER1 (type amo amo amo amo) (port "CONN:P6" "CONN:P8" "CONN:P7" "CONN:P9") (position atjoint atjoint atjoint atjoint) (resolution 16384 16384 16384 -16384) (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 3.60000000000000008882 3.60000000000000008882 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 25 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -0.510000000000000008882 0.560000000000000053291 -0.619999999999999995559 -0.520000000000000017764)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -100 150 -0.0 -350) (kd 0 0 0 0) (ki -10 25 0 -100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (viscousPos -0.000100000000000000004792 0.000100000000000000004792 -0.000500000000000000010408 -0.000299999999999999973719) (viscousNeg -0.000100000000000000004792 0.000100000000000000004792 -0.000500000000000000010408 -0.000299999999999999973719) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -40 50 -150 -110)) (device embObjMotionControl) (id left_leg-eb8-j0_3-mc) (robotName ergoCubSN001)
 3.243319 <DEBUG> eth::parser::print(boardData) for BOARD left_leg-eb8-j0_3
 3.243326 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 3.243331 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
 3.243335 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_leg-eb8-j0_3
 3.243340 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
 3.243344 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.8 (left_leg-eb8-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
 3.243350 <WARNING> kbemf parameter not found for board left_leg-eb8-j0_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -100 150 -0.0 -350) (kd 0 0 0 0) (ki -10 25 0 -100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (viscousPos -0.000100000000000000004792 0.000100000000000000004792 -0.000500000000000000010408 -0.000299999999999999973719) (viscousNeg -0.000100000000000000004792 0.000100000000000000004792 -0.000500000000000000010408 -0.000299999999999999973719) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -40 50 -150 -110)
 3.243359 <DEBUG> EthResource::verifyBoardPresence() found BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 after 0.00112247 seconds
 3.243364 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 : config mode + cleared all its regulars
 3.263602 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb8-j0_3 with IP 10.0.1.8 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 300 350 350 ) usec and TX rate = 2  every cycle
 3.263644 <INFO> EthResource::askBoardVersion() found BOARD left_leg-eb8-j0_3 @ IP 10.0.1.8 of type ems4 with FW = ver 3.86 built on 2024 Mar 15 12:0
 3.284032 <INFO> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=962s 560m 694u :  CFG: CANdiscovery started the search for 4 eobrd_foc boards on (can1map, can2map) = (0x001e, 0x0000) with target can protocol ver 1.6 and application ver 3.3.20.
 3.294309 <DEBUG> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=962s 562m 725u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
 3.355489 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.365682 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.386104 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.396326 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.406524 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 3.406576 <INFO> Opening device left_leg-eb9-j4_5-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.9) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb9-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "l_ankle_pitch" "l_ankle_roll") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.00 -160.00) (Gearbox_E2J 64 32) (useMotorSpeedFbk 1 1) (MotorType "MOOG_C2900580" "MOOG_C2900575") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 46.624 25.313) (hardwareJntPosMin -46.624 -25.313) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("2FOC" [group] = "(AutoCalibration 0 0) (Verbose 0 0) (HasHallSensor 0 0) (TemperatureSensorType PT100 PT100) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 255 206) (MotorPoles 12 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 20))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P7) (position atjoint atjoint) (resolution 16384 -16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))"), ("LIMITS" [group] = "(jntPosMax 43 23) (jntPosMin -43 -23) (jntVelMax 240 240) (motorNominalCurrents 10000 10000) (motorPeakCurrents 15000 15000) (motorOverloadCurrents 30000 30000) (motorPwmLimit 16000 16000) (hardwareTemperatureLimits 110 110) (warningTemperatureLimits 90 90)"), ("TIMEOUTS" [group] = "(velocity 100 100)"), ("IMPEDANCE" [group] = "(stiffness 30.0 30.0) (damping 0.05 0.05)"), ("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_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (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) (kff 0 0) (kp -15000 -10000) (kd 0 0) (ki -1000 -1000) (maxOutput 15000 12000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -0.65 -0.50)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)"), ("TRQ_PID_OUTPUT_CURR" [group] = "(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp -0 -50) (kd 0 0) (ki -0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.0009 -0.0003) (viscousNeg -0.0009 -0.0003) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -128.81 -160)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0049 0.0049)"), ("KALMAN_FILTER" [group] = "(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)")]
 3.406615 <DEBUG> Parameters are ("2FOC" (AutoCalibration 0 0) (Verbose 0 0) (HasHallSensor 0 0) (TemperatureSensorType PT100 PT100) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 255 206) (MotorPoles 12 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.9") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb9-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName l_ankle_pitch l_ankle_roll) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J -100.0 -160.0) (Gearbox_E2J 64 32) (useMotorSpeedFbk 1 1) (MotorType MOOG_C2900580 MOOG_C2900575) (Verbose 0)) (IMPEDANCE (stiffness 30.0 30.0) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 46.6240000000000023306 25.3129999999999988347) (hardwareJntPosMin -46.6240000000000023306 -25.3129999999999988347) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 43 23) (jntPosMin -43 -23) (jntVelMax 240 240) (motorNominalCurrents 10000 10000) (motorPeakCurrents 15000 15000) (motorOverloadCurrents 30000 30000) (motorPwmLimit 16000 16000) (hardwareTemperatureLimits 110 110) (warningTemperatureLimits 90 90)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp -15000 -10000) (kd 0 0) (ki -1000 -1000) (maxOutput 15000 12000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 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 20))) (JOINTMAPPING (ACTUATOR (type eomc_act_foc foc) (port "CAN1:1:0" "CAN1:2:0")) (ENCODER1 (type amo amo) (port "CONN:P6" "CONN:P7") (position atjoint atjoint) (resolution 16384 -16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port "CAN1:1:0" "CAN1:2:0") (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -0.650000000000000022204 -0.5)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.000899999999999999975367 -0.000299999999999999973719) (viscousNeg -0.000899999999999999975367 -0.000299999999999999973719) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -128.810000000000002274 -160)) (device embObjMotionControl) (id left_leg-eb9-j4_5-mc) (robotName ergoCubSN001)
 3.406646 <DEBUG> eth::parser::print(boardData) for BOARD left_leg-eb9-j4_5
 3.406652 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
 3.406657 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
 3.406662 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/Name =  left_leg-eb9-j4_5
 3.406666 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE
 3.406671 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.9 (left_leg-eb9-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec
 3.406677 <WARNING> kbemf parameter not found for board left_leg-eb9-j4_5 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 -50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos -0.000899999999999999975367 -0.000299999999999999973719) (viscousNeg -0.000899999999999999975367 -0.000299999999999999973719) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau -128.810000000000002274 -160)
 3.426903 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD left_leg-eb9-j4_5 with IP 10.0.1.9 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 3.426924 <INFO> EthResource::askBoardVersion() found BOARD left_leg-eb9-j4_5 @ IP 10.0.1.9 of type ems4 with FW = ver 3.86 built on 2024 Mar 15 12:0
 3.447319 <INFO> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=962s 724m 555u :  CFG: CANdiscovery started the search for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.20.
 3.457541 <DEBUG> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=962s 725m 840u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
 3.498307 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.508533 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.518698 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 3.518720 <INFO> Opening device right_leg-eb6-j0_3-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.6) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb6-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 4) (AxisMap 0 1 2 3) (AxisName "r_hip_pitch" "r_hip_roll" "r_hip_yaw" "r_knee") (AxisType "revolute" "revolute" "revolute" "revolute") (Encoder 182.044 182.044 182.044 182.044) (fullscalePWM 32000 32000 32000 32000) (ampsToSensor 1000.0 1000.0 1000.0 1000.0) (Gearbox_M2J 100.00 -160.00 100.0 100.0) (Gearbox_E2J 64 64 64 64) (useMotorSpeedFbk 1 1 1 1) (MotorType "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" "MOOG_C2900580") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 110.15 111.463 81.078 7.75) (hardwareJntPosMin -44.81 -35 -81.078 -105.23) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0)"), ("2FOC" [group] = "(AutoCalibration 0 0 0 0) (Verbose 0 0 0 0) (HasHallSensor 0 0 0 0) (TemperatureSensorType PT100 PT100 PT100 PT100) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 1 1 1 1) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 170 12 62 89) (MotorPoles 12 8 8 12)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 4) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0)) (JOINTSET_2 (listofjoints 2) (constraint none) (param1 0) (param2 0)) (JOINTSET_3 (listofjoints 3) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 20))) (JOINTMAPPING (ACTUATOR (type foc foc foc foc) (port CAN1:1:0 CAN1:2:0 CAN1:3:0 CAN1:4:0)) (ENCODER1 (type amo amo amo amo) (port CONN:P6 CONN:P8 CONN:P7 CONN:P9) (position atjoint atjoint atjoint atjoint) (resolution -16384 -16384 -16384 16384) (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 3.6 3.6 3.6 3.6))))"), ("LIMITS" [group] = "(jntPosMax 102 108 78 5) (jntPosMin -42 -15 -78 -103) (jntVelMax 240 240 240 240) (motorNominalCurrents 15000 15000 5000 10000) (motorPeakCurrents 20000 20000 10000 15000) (motorOverloadCurrents 30000 30000 15000 20000) (motorPwmLimit 16000 16000 16000 16000) (hardwareTemperatureLimits 110 110 110 110) (warningTemperatureLimits 90 90 90 90)"), ("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_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (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) (kff 0 0 0 0) (kp 5000 -25000 3000 10000) (kd 0 0 0 0) (ki 1500 -5000 200 1500) (maxOutput 12000 12000 12000 16000) (maxInt 1500 5000 2000 2000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 25 25 25 25) (maxInt 1.56 1.56 1.56 1.56) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -0.52 0.46 -0.56 0.68)"), ("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)"), ("TRQ_PID_OUTPUT_CURR" [group] = "(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 100 -150 0.0 350) (kd 0 0 0 0) (ki 10 -25 0 100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (viscousPos 0.0001 -0.0001 0.0005 0.0003) (viscousNeg 0.0001 -0.0001 0.0005 0.0003) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 40 -50 150 110)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.0049 0.0049 0.0049 0.011)"), ("KALMAN_FILTER" [group] = "(kalmanFilterEnabled 1 1 1 1) (x0 0 0 0 0) (x1 0 0 0 0) (x2 0 0 0 0) (Q0 0.0001 0.0001 0.0001 0.0001) (Q1 0.01 0.01 0.01 0.01) (Q2 10 10 10 10) (R 0.001 0.001 0.001 0.001) (P0 0.000099 0.000099 0.000099 0.000099)")]
 3.518769 <DEBUG> Parameters are ("2FOC" (AutoCalibration 0 0 0 0) (Verbose 0 0 0 0) (HasHallSensor 0 0 0 0) (TemperatureSensorType PT100 PT100 PT100 PT100) (HasRotorEncoder 1 1 1 1) (HasRotorEncoderIndex 1 1 1 1) (HasSpeedEncoder 0 0 0 0) (RotorIndexOffset 170 12 62 89) (MotorPoles 12 8 8 12)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8 8 8) (kd 0 0 0 0) (ki 2 2 2 2) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000) (kff 0 0 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 12 12 12 12) (kd 0 0 0 0) (ki 16 16 16 16) (shift 10 10 10 10) (maxOutput 32000 32000 32000 32000) (maxInt 32000 32000 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.6") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb6-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_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_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 100.0 -160.0 100.0 100.0) (Gearbox_E2J 64 64 64 64) (useMotorSpeedFbk 1 1 1 1) (MotorType MOOG_C2900580 MOOG_C2900576 MOOG_C2900576 MOOG_C2900580) (Verbose 0)) (IMPEDANCE (stiffness 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551 0.100000000000000005551) (damping 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756 0.0500000000000000027756)) (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))) (KALMAN_FILTER (kalmanFilterEnabled 1 1 1 1) (x0 0 0 0 0) (x1 0 0 0 0) (x2 0 0 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10 10 10) (R 0.00100000000000000002082 0.00100000000000000002082 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 110.150000000000005684 111.462999999999993861 81.0780000000000029559 7.75) (hardwareJntPosMin -44.8100000000000022737 -35 -81.0780000000000029559 -105.230000000000003979) (rotorPosMin 0 0 0 0) (rotorPosMax 0 0 0 0) (jntPosMax 102 108 78 5) (jntPosMin -42 -15 -78 -103) (jntVelMax 240 240 240 240) (motorNominalCurrents 15000 15000 5000 10000) (motorPeakCurrents 20000 20000 10000 15000) (motorOverloadCurrents 30000 30000 15000 20000) (motorPwmLimit 16000 16000 16000 16000) (hardwareTemperatureLimits 110 110 110 110) (warningTemperatureLimits 90 90 90 90)) (OTHER_CONTROL_PARAMETERS (deadZone 0.00489999999999999984179 0.00489999999999999984179 0.00489999999999999984179 0.0109999999999999993616)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0 0 0) (kp 5000 -25000 3000 10000) (kd 0 0 0 0) (ki 1500 -5000 200 1500) (maxOutput 12000 12000 12000 16000) (maxInt 1500 5000 2000 2000) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0)) (SERVICE (type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 20))) (JOINTMAPPING (ACTUATOR (type foc foc foc foc) (port "CAN1:1:0" "CAN1:2:0" "CAN1:3:0" "CAN1:4:0")) (ENCODER1 (type amo amo amo amo) (port "CONN:P6" "CONN:P8" "CONN:P7" "CONN:P9") (position atjoint atjoint atjoint atjoint) (resolution -16384 -16384 -16384 16384) (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 3.60000000000000008882 3.60000000000000008882 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0 0 0) (kd 0 0 0 0) (ki 0 0 0 0) (maxOutput 25 25 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329 1.56000000000000005329) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (viscousPos 0 0 0 0) (viscousNeg 0 0 0 0) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau -0.520000000000000017764 0.460000000000000019984 -0.560000000000000053291 0.68000000000000004885)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 100 -150 0.0 350) (kd 0 0 0 0) (ki 10 -25 0 100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (viscousPos 0.000100000000000000004792 -0.000100000000000000004792 0.000500000000000000010408 0.000299999999999999973719) (viscousNeg 0.000100000000000000004792 -0.000100000000000000004792 0.000500000000000000010408 0.000299999999999999973719) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 40 -50 150 110)) (device embObjMotionControl) (id right_leg-eb6-j0_3-mc) (robotName ergoCubSN001)
 3.518813 <DEBUG> eth::parser::print(boardData) for BOARD right_leg-eb6-j0_3
 3.528877 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpPort =  12345
 3.528941 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeRXpacket =  768
 3.528949 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS:
 3.528955 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 300 350 350 2
 3.528962 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 3.528967 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.6 (right_leg-eb6-j0_3) with timeout = 0.02 sec and period of missing report = 60 sec
 3.528974 <WARNING> kbemf parameter not found for board right_leg-eb6-j0_3 in bottle TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 100 -150 0.0 350) (kd 0 0 0 0) (ki 10 -25 0 100) (maxOutput 2500 2500 2500 2500) (maxInt 200 200 200 200) (ko 0 0 0 0) (stictionUp 0 0 0 0) (stictionDown 0 0 0 0) (kff 1 1 1 1) (viscousPos 0.000100000000000000004792 -0.000100000000000000004792 0.000500000000000000010408 0.000299999999999999973719) (viscousNeg 0.000100000000000000004792 -0.000100000000000000004792 0.000500000000000000010408 0.000299999999999999973719) (coulombPos 0 0 0 0) (coulombNeg 0 0 0 0) (velocityThres 0 0 0 0) (filterType 0 0 0 0) (ktau 40 -50 150 110)
 3.528986 <DEBUG> EthResource::verifyBoardPresence() found BOARD right_leg-eb6-j0_3 with IP 10.0.1.6 after 0.000951767 seconds
 3.528992 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb6-j0_3 with IP 10.0.1.6 : config mode + cleared all its regulars
 3.539098 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb6-j0_3 with IP 10.0.1.6 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 300 350 350 ) usec and TX rate = 2  every cycle
 3.539116 <INFO> EthResource::askBoardVersion() found BOARD right_leg-eb6-j0_3 @ IP 10.0.1.6 of type ems4 with FW = ver 3.86 built on 2024 Mar 15 12:0
 3.569752 <DEBUG> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=962s 831m 558u : CFG: EOtheEncoderReader can be correctly configured
 3.569791 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=962s 832m 721u : CFG: CANdiscovery has detected  eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms
 3.569799 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=962s 832m 935u : CFG: CANdiscovery has detected  eobrd_foc board in CAN1 addr 4 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms
 3.569805 <INFO> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=962s 833m 45u : CFG: CANdiscovery is OK for 4 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.20. Search time was 0 ms
 3.569811 <DEBUG> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=962s 833m 726u : CFG: EOtheMotionController can correctly configure 2foc-based motion. more info will follow
 3.631131 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.641189 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.661487 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.671709 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.681881 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 3.681903 <INFO> Opening device right_leg-eb7-j4_5-mc with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.7) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb7-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("GENERAL" [group] = "(MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName "r_ankle_pitch" "r_ankle_roll") (AxisType "revolute" "revolute") (Encoder 182.044 182.044) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.0 160.0) (Gearbox_E2J 64 32) (useMotorSpeedFbk 1 1) (MotorType "MOOG_C2900580" "MOOG_C2900575") (Verbose 0)"), ("LIMITS" [group] = "(hardwareJntPosMax 45.94 25.786) (hardwareJntPosMin -45.94 -25.786) (rotorPosMin 0 0) (rotorPosMax 0 0)"), ("2FOC" [group] = "(AutoCalibration 0 0) (Verbose 0 0) (HasHallSensor 0 0) (TemperatureSensorType PT100 PT100) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 175 8) (MotorPoles 12 8)"), ("COUPLINGS" [group] = "(matrixJ2M 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixM2J 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 1.00) (matrixE2J 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00 0.00 0.00 0.00 0.00 1.00 0.00 0.00)"), ("JOINTSET_CFG" [group] = "(numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))"), ("SERVICE" [group] = "(type eomn_serv_MC_foc) (PROPERTIES (ETHBOARD (type ems4)) (CANBOARDS (type foc) (PROTOCOL (major 1) (minor 6)) (FIRMWARE (major 3) (minor 3) (build 20))) (JOINTMAPPING (ACTUATOR (type foc foc) (port CAN1:1:0 CAN1:2:0)) (ENCODER1 (type amo amo) (port CONN:P6 CONN:P7) (position atjoint atjoint) (resolution -16384 16384) (tolerance 0.703 0.703)) (ENCODER2 (type roie roie) (port CAN1:1:0 CAN1:2:0) (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.6 3.6))))"), ("LIMITS" [group] = "(jntPosMax 43 23) (jntPosMin -43 -23) (jntVelMax 240 240) (motorNominalCurrents 10000 10000) (motorPeakCurrents 15000 15000) (motorOverloadCurrents 30000 30000) (motorPwmLimit 16000 16000) (hardwareTemperatureLimits 110 110) (warningTemperatureLimits 90 90)"), ("TIMEOUTS" [group] = "(velocity 100 100)"), ("IMPEDANCE" [group] = "(stiffness 30.0 30.0) (damping 0.05 0.05)"), ("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_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (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) (kff 0 0) (kp 15000 10000) (kd 0 0) (ki 1000 1000) (maxOutput 15000 12000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 0 0)"), ("TRQ_PID_DEFAULT" [group] = "(controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 25 25) (maxInt 1.56 1.56) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 0.72 0.56)"), ("2FOC_CUR_CONTROL" [group] = "(controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)"), ("2FOC_VEL_CONTROL" [group] = "(controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)"), ("TRQ_PID_OUTPUT_CURR" [group] = "(controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0.0009 0.0003) (viscousNeg 0.0009 0.0003) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 128.81 160)"), ("OTHER_CONTROL_PARAMETERS" [group] = "(deadZone 0.011 0.011)"), ("KALMAN_FILTER" [group] = "(kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.0001 0.0001) (Q1 0.01 0.01) (Q2 10 10) (R 0.001 0.001) (P0 0.000099 0.000099)")]
 3.681939 <DEBUG> Parameters are ("2FOC" (AutoCalibration 0 0) (Verbose 0 0) (HasHallSensor 0 0) (TemperatureSensorType PT100 PT100) (HasRotorEncoder 1 1) (HasRotorEncoderIndex 1 1) (HasSpeedEncoder 0 0) (RotorIndexOffset 175 8) (MotorPoles 12 8)) ("2FOC_CUR_CONTROL" (controlLaw low_lev_current) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kp 8 8) (kd 0 0) (ki 2 2) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000) (kff 0 0)) ("2FOC_VEL_CONTROL" (controlLaw low_lev_speed) (fbkControlUnits machine_units) (outputControlUnits machine_units) (kff 0 0) (kp 12 12) (kd 0 0) (ki 16 16) (shift 10 10) (maxOutput 32000 32000) (maxInt 32000 32000)) (CONTROLS (positionControl POS_PID_DEFAULT POS_PID_DEFAULT) (velocityControl POS_PID_DEFAULT POS_PID_DEFAULT) (mixedControl POS_PID_DEFAULT POS_PID_DEFAULT) (torqueControl TRQ_PID_OUTPUT_CURR TRQ_PID_OUTPUT_CURR) (currentPid "2FOC_CUR_CONTROL" "2FOC_CUR_CONTROL") (speedPid "2FOC_VEL_CONTROL" "2FOC_VEL_CONTROL")) (COUPLINGS (matrixJ2M 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixM2J 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 1.0) (matrixE2J 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0)) (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.7") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb7-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.0200000000000000004163) (periodOfMissingReport 60.0)))) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (MotioncontrolVersion 6) (Joints 2) (AxisMap 0 1) (AxisName r_ankle_pitch r_ankle_roll) (AxisType revolute revolute) (Encoder 182.044000000000011141 182.044000000000011141) (fullscalePWM 32000 32000) (ampsToSensor 1000.0 1000.0) (Gearbox_M2J 100.0 160.0) (Gearbox_E2J 64 32) (useMotorSpeedFbk 1 1) (MotorType MOOG_C2900580 MOOG_C2900575) (Verbose 0)) (IMPEDANCE (stiffness 30.0 30.0) (damping 0.0500000000000000027756 0.0500000000000000027756)) (JOINTSET_CFG (numberofsets 2) (JOINTSET_0 (listofjoints 0) (constraint none) (param1 0) (param2 0)) (JOINTSET_1 (listofjoints 1) (constraint none) (param1 0) (param2 0))) (KALMAN_FILTER (kalmanFilterEnabled 1 1) (x0 0 0) (x1 0 0) (x2 0 0) (Q0 0.000100000000000000004792 0.000100000000000000004792) (Q1 0.0100000000000000002082 0.0100000000000000002082) (Q2 10 10) (R 0.00100000000000000002082 0.00100000000000000002082) (P0 9.89999999999999940378e-05 9.89999999999999940378e-05)) (LIMITS (hardwareJntPosMax 45.9399999999999977263 25.7860000000000013642) (hardwareJntPosMin -45.9399999999999977263 -25.7860000000000013642) (rotorPosMin 0 0) (rotorPosMax 0 0) (jntPosMax 43 23) (jntPosMin -43 -23) (jntVelMax 240 240) (motorNominalCurrents 10000 10000) (motorPeakCurrents 15000 15000) (motorOverloadCurrents 30000 30000) (motorPwmLimit 16000 16000) (hardwareTemperatureLimits 110 110) (warningTemperatureLimits 90 90)) (OTHER_CONTROL_PARAMETERS (deadZone 0.0109999999999999993616 0.0109999999999999993616)) (PC104 (PC104IpAddress "10.0.1.104") (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)) (POS_PID_DEFAULT (controlLaw minjerk) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kff 0 0) (kp 15000 10000) (kd 0 0) (ki 1000 1000) (maxOutput 15000 12000) (maxInt 1000 1000) (stictionUp 0 0) (stictionDown 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 20))) (JOINTMAPPING (ACTUATOR (type foc foc) (port "CAN1:1:0" "CAN1:2:0")) (ENCODER1 (type amo amo) (port "CONN:P6" "CONN:P7") (position atjoint atjoint) (resolution -16384 16384) (tolerance 0.702999999999999958256 0.702999999999999958256)) (ENCODER2 (type roie roie) (port "CAN1:1:0" "CAN1:2:0") (position atmotor atmotor) (resolution 14400 14400) (tolerance 3.60000000000000008882 3.60000000000000008882))))) (TIMEOUTS (velocity 100 100)) (TRQ_PID_DEFAULT (controlLaw torque) (outputType pwm) (fbkControlUnits metric_units) (outputControlUnits dutycycle_percent) (kp 0 0) (kd 0 0) (ki 0 0) (maxOutput 25 25) (maxInt 1.56000000000000005329 1.56000000000000005329) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0 0) (viscousNeg 0 0) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 0.719999999999999973355 0.560000000000000053291)) (TRQ_PID_OUTPUT_CURR (controlLaw torque) (outputType current) (fbkControlUnits metric_units) (outputControlUnits machine_units) (kp 0 50) (kd 0 0) (ki 0 0) (maxOutput 2500 2500) (maxInt 200 200) (ko 0 0) (stictionUp 0 0) (stictionDown 0 0) (kff 1 1) (viscousPos 0.000899999999999999975367 0.000299999999999999973719) (viscousNeg 0.000899999999999999975367 0.000299999999999999973719) (coulombPos 0 0) (coulombNeg 0 0) (velocityThres 0 0) (filterType 0 0) (ktau 128.810000000000002274 160)) (device embObjMotionControl) (id right_leg-eb7-j4_5-mc) (robotName ergoCubSN001)
 3.681978 <DEBUG> eth::parser::print(boardData) for BOARD right_leg-eb7-j4_5
 3.681984 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/IpAddress =  10.0.1.7
 3.681989 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/Type =  ems4
 3.681993 <DEBUG> ETH_BOARD/ETH_BOARD_PROPERTIES/maxSizeROP =  384
 3.681998 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/Name =  right_leg-eb7-j4_5
 3.682002 <DEBUG> ETH_BOARD/ETH_BOARD_SETTINGS/RUNNINGMODE/(period, maxTimeOfRXactivity, maxTimeOfDOactivity, maxTimeOfTXactivity, TXrateOfRegularROPs) =  1000 400 300 300 2
 3.682008 <DEBUG> ETH_BOARD/ETH_BOARD_ACTIONS/MONITOR_ITS_PRESENCE/(enabled, timeout, periodOfMissingReport) =  true 0.02 60
 3.682013 <DEBUG> eth::EthMonitorPresence::config(): monitoring of presence is ON for BOARD 10.0.1.7 (right_leg-eb7-j4_5) with timeout = 0.02 sec and period of missing report = 60 sec
 3.692107 <WARNING> kbemf not found. Using fallback where kbemf is set to 0.
 3.692152 <DEBUG> EthResource::verifyBoardPresence() found BOARD right_leg-eb7-j4_5 with IP 10.0.1.7 after 0.00129056 seconds
 3.692170 <DEBUG> EthResource::cleanBoardBehaviour() has cleaned the application in BOARD right_leg-eb7-j4_5 with IP 10.0.1.7 : config mode + cleared all its regulars
 3.702398 <DEBUG> EthResource::setTimingOfRunningCycle() for BOARD right_leg-eb7-j4_5 with IP 10.0.1.7 has succesfully set: cycletime = 1000 usec, RX DO TX = ( 400 300 300 ) usec and TX rate = 2  every cycle
 3.702416 <INFO> EthResource::askBoardVersion() found BOARD right_leg-eb7-j4_5 @ IP 10.0.1.7 of type ems4 with FW = ver 3.86 built on 2024 Mar 15 12:0
 3.733077 <DEBUG> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 5m 439u : CFG: EOtheEncoderReader can be correctly configured
 3.733109 <INFO> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 5m 552u :  CFG: CANdiscovery started the search for 2 eobrd_foc boards on (can1map, can2map) = (0x0006, 0x0000) with target can protocol ver 1.6 and application ver 3.3.20.
 3.733117 <WARNING> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 6m 85u : CFG: CANdiscovery has detected  eobrd_foc board in CAN1 addr 1 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms
 3.733123 <WARNING> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 6m 190u : CFG: CANdiscovery has detected  eobrd_foc board in CAN1 addr 2 with can protocol ver 1.6 and application ver 3.3.26 Search time was 0 ms
 3.733129 <INFO> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 6m 297u : CFG: CANdiscovery is OK for 2 eobrd_foc boards with target can protocol ver 1.6 and application ver 3.3.20. Search time was 0 ms
 3.733135 <DEBUG> embObjMotionControl:serviceVerifyActivate OK!
 3.773956 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.784200 <DEBUG> Converted temperature limit to raw value:1370.520840
 3.804659 <INFO> Created device <embObjMotionControl>. See C++ class yarp::dev::embObjMotionControl for documentation.
 3.804698 <INFO> Opening device left_arm-eb2-j0_1-strain with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.2) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb2-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id l_arm_ft) (board strain2) (location CAN2:13))) (SETTINGS (enabledSensors l_arm_ft) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")]
 3.814823 <INFO> MultipleFTSensors has been created
 3.814842 <INFO> MultipleFTSensors has been created
 3.814848 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.2") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb2-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id l_arm_ft) (board strain2) (location "CAN2:13"))) (SETTINGS (enabledSensors l_arm_ft) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id left_arm-eb2-j0_1-strain) (robotName ergoCubSN001)
 3.814867 <INFO> embObjMultipleFTsensors::open(): preparing ETH resource
 3.814873 <INFO> embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjMultipleFTsensors::open(): browsing xml files which describe the service
 3.814880 <WARNING> ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName
 3.814886 <INFO> embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct
 3.814899 <INFO> embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjMultipleFTsensors::open(): verify and activate the FT service
 3.825008 <INFO> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=963s 96m 617u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 2.3.0.
 3.825029 <INFO> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=963s 97m 664u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.3.0. Search time was 0 ms
 3.825037 <DEBUG> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=963s 103m 615u : CFG: theFTservice is OK
 3.825043 <INFO> embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjMultipleFTsensors::open(): configure the FT service
 3.835230 <INFO> embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up
 3.845451 <INFO> embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjMultipleFTsensors::open(): start the FT service
 3.845469 <INFO> embObjMultipleFTsensors: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjMultipleFTsensors::open(): start streaming of FT data
 3.855627 <INFO> Created device <embObjMultipleFTsensors>. See C++ class yarp::dev::embObjMultipleFTsensors for documentation.
 3.865860 <INFO> Opening device right_arm-eb1-j0_1-strain with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb1-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id r_arm_ft) (board strain2) (location CAN2:13))) (SETTINGS (enabledSensors r_arm_ft) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")]
 3.865891 <INFO> MultipleFTSensors has been created
 3.865898 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb1-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id r_arm_ft) (board strain2) (location "CAN2:13"))) (SETTINGS (enabledSensors r_arm_ft) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id right_arm-eb1-j0_1-strain) (robotName ergoCubSN001)
 3.865914 <INFO> embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjMultipleFTsensors::open(): browsing xml files which describe the service
 3.865920 <WARNING> ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName
 3.865925 <INFO> embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct
 3.865931 <INFO> embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjMultipleFTsensors::open(): verify and activate the FT service
 3.865935 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=963s 139m 289u : CFG: CANdiscovery has detected  eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.3.0 Search time was 0 ms
 3.876093 <DEBUG> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=963s 145m 343u : CFG: theFTservice is OK
 3.876111 <INFO> embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjMultipleFTsensors::open(): configure the FT service
 3.886327 <INFO> embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up
 3.896548 <INFO> embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjMultipleFTsensors::open(): start the FT service
 3.896565 <INFO> embObjMultipleFTsensors: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjMultipleFTsensors::open(): start streaming of FT data
 3.906726 <INFO> Created device <embObjMultipleFTsensors>. See C++ class yarp::dev::embObjMultipleFTsensors for documentation.
 3.906749 <INFO> Opening device left_leg-eb9-j4_5-strain with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.9) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb9-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id l_foot_rear_ft l_foot_front_ft) (board strain2 strain2) (location CAN2:13 CAN2:14))) (SETTINGS (enabledSensors l_foot_rear_ft l_foot_front_ft) (ftPeriod 2 10) (temperaturePeriod 1000 1000) (useCalibration true true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")]
 3.906765 <INFO> MultipleFTSensors has been created
 3.906771 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.9") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb9-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id l_foot_rear_ft l_foot_front_ft) (board strain2 strain2) (location "CAN2:13" "CAN2:14"))) (SETTINGS (enabledSensors l_foot_rear_ft l_foot_front_ft) (ftPeriod 2 10) (temperaturePeriod 1000 1000) (useCalibration true true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id left_leg-eb9-j4_5-strain) (robotName ergoCubSN001)
 3.906787 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9)   embObjMultipleFTsensors::open(): browsing xml files which describe the service
 3.906794 <WARNING> ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName
 3.906800 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9)   embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct
 3.916919 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9)   embObjMultipleFTsensors::open(): verify and activate the FT service
 3.916941 <INFO> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=963s 189m 984u :  CFG: CANdiscovery started the search for 2 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x6000) with target can protocol ver 2.0 and application ver 2.3.0.
 3.916949 <INFO> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=963s 191m 938u : CFG: CANdiscovery has detected  eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.3.0 Search time was 0 ms
 3.916954 <WARNING> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=963s 192m 883u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 419[usec]. Latest previous execution times[usec] (..., Tx=118);(RX=40, DO=194, TX=32);
 3.937195 <DEBUG> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=963s 203m 984u : CFG: theFTservice is OK
 3.937214 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9)   embObjMultipleFTsensors::open(): configure the FT service
 3.957643 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9)   embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up
 3.967801 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9)   embObjMultipleFTsensors::open(): start the FT service
 3.967830 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb9-j4_5 (IP 10.0.1.9)   embObjMultipleFTsensors::open(): start streaming of FT data
 3.998430 <INFO> Created device <embObjMultipleFTsensors>. See C++ class yarp::dev::embObjMultipleFTsensors for documentation.
 3.998467 <INFO> Opening device right_leg-eb7-j4_5-strain with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.7) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb7-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id r_foot_rear_ft r_foot_front_ft) (board strain2 strain2) (location CAN2:13 CAN2:14))) (SETTINGS (enabledSensors r_foot_rear_ft r_foot_front_ft) (ftPeriod 2 10) (temperaturePeriod 1000 1000) (useCalibration true true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")]
 3.998491 <INFO> MultipleFTSensors has been created
 3.998497 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.7") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb7-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id r_foot_rear_ft r_foot_front_ft) (board strain2 strain2) (location "CAN2:13" "CAN2:14"))) (SETTINGS (enabledSensors r_foot_rear_ft r_foot_front_ft) (ftPeriod 2 10) (temperaturePeriod 1000 1000) (useCalibration true true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id right_leg-eb7-j4_5-strain) (robotName ergoCubSN001)
 3.998513 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7)   embObjMultipleFTsensors::open(): browsing xml files which describe the service
 3.998520 <WARNING> ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName
 3.998525 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7)   embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct
 3.998530 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7)   embObjMultipleFTsensors::open(): verify and activate the FT service
 4.008635 <INFO> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 278m 238u :  CFG: CANdiscovery started the search for 2 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x6000) with target can protocol ver 2.0 and application ver 2.3.0.
 4.008656 <INFO> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 280m 191u : CFG: CANdiscovery has detected  eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.3.0 Search time was 0 ms
 4.008663 <INFO> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 280m 299u : CFG: CANdiscovery has detected  eobrd_strain2 board in CAN2 addr 14 with can protocol ver 2.0 and application ver 2.3.0 Search time was 1 ms
 4.008668 <INFO> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 280m 404u : CFG: CANdiscovery is OK for 2 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 2.3.0. Search time was 1 ms
 4.008677 <WARNING> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 281m 137u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 415[usec]. Latest previous execution times[usec] (..., Tx=119);(RX=41, DO=194, TX=32);
 4.018861 <DEBUG> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 292m 238u : CFG: theFTservice is OK
 4.018886 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7)   embObjMultipleFTsensors::open(): configure the FT service
 4.049532 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7)   embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up
 4.049551 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7)   embObjMultipleFTsensors::open(): start the FT service
 4.059754 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb7-j4_5 (IP 10.0.1.7)   embObjMultipleFTsensors::open(): start streaming of FT data
 4.080144 <INFO> Created device <embObjMultipleFTsensors>. See C++ class yarp::dev::embObjMultipleFTsensors for documentation.
 4.080187 <INFO> Opening device left_leg-eb8-j0_3-strain with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.8) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb8-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id l_leg_ft) (board strain2) (location CAN2:13))) (SETTINGS (enabledSensors l_leg_ft) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")]
 4.080204 <INFO> MultipleFTSensors has been created
 4.080209 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.8") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb8-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id l_leg_ft) (board strain2) (location "CAN2:13"))) (SETTINGS (enabledSensors l_leg_ft) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id left_leg-eb8-j0_3-strain) (robotName ergoCubSN001)
 4.080231 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8)   embObjMultipleFTsensors::open(): browsing xml files which describe the service
 4.080238 <WARNING> ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName
 4.080244 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8)   embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct
 4.090363 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8)   embObjMultipleFTsensors::open(): verify and activate the FT service
 4.090381 <INFO> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=963s 364m 539u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 0.0 and application ver 0.0.0.
 4.090388 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=963s 364m 665u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_strain2 boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms
 4.090395 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=963s 365m 437u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 435[usec]. Latest previous execution times[usec] (..., Tx=174);(RX=62, DO=415, TX=97);
 4.100555 <DEBUG> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=963s 370m 554u : CFG: theFTservice is OK
 4.100574 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8)   embObjMultipleFTsensors::open(): configure the FT service
 4.110611 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8)   embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up
 4.110632 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8)   embObjMultipleFTsensors::open(): start the FT service
 4.120899 <INFO> embObjMultipleFTsensors: BOARD left_leg-eb8-j0_3 (IP 10.0.1.8)   embObjMultipleFTsensors::open(): start streaming of FT data
 4.131087 <INFO> Created device <embObjMultipleFTsensors>. See C++ class yarp::dev::embObjMultipleFTsensors for documentation.
 4.131109 <INFO> Opening device right_leg-eb6-j0_3-strain with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.6) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb6-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id r_leg_ft) (board strain2) (location CAN2:13))) (SETTINGS (enabledSensors r_leg_ft) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))")]
 4.131124 <INFO> MultipleFTSensors has been created
 4.131129 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.6") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb6-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_ft) (PROPERTIES (CANBOARDS (type strain2c) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 2) (minor 3) (build 0))) (SENSORS (id r_leg_ft) (board strain2) (location "CAN2:13"))) (SETTINGS (enabledSensors r_leg_ft) (ftPeriod 2) (temperaturePeriod 1000) (useCalibration true)) (CANMONITOR (checkPeriod 100) (reportMode ALL) (ratePeriod 20000))) (device embObjMultipleFTsensors) (id right_leg-eb6-j0_3-strain) (robotName ergoCubSN001)
 4.131143 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6)   embObjMultipleFTsensors::open(): browsing xml files which describe the service
 4.131149 <WARNING> ServiceParserMultipleFt::checkPropertySensors() cannot find PROPERTIES.SENSORS.frameName
 4.131154 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6)   embObjMultipleFTsensors::open(): verify the presence of the board and if its protocol version is correct
 4.141307 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6)   embObjMultipleFTsensors::open(): verify and activate the FT service
 4.141328 <INFO> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=963s 405m 489u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 0.0 and application ver 0.0.0.
 4.141335 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=963s 405m 615u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_strain2 boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms
 4.141342 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=963s 406m 385u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 439[usec]. Latest previous execution times[usec] (..., Tx=81);(RX=64, DO=409, TX=196);
 4.151535 <DEBUG> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=963s 411m 503u : CFG: theFTservice is OK
 4.151552 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6)   embObjMultipleFTsensors::open(): configure the FT service
 4.161770 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6)   embObjMultipleFTsensors::open(): impose the network variable which the ETH bord must stream up
 4.161788 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6)   embObjMultipleFTsensors::open(): start the FT service
 4.171999 <INFO> embObjMultipleFTsensors: BOARD right_leg-eb6-j0_3 (IP 10.0.1.6)   embObjMultipleFTsensors::open(): start streaming of FT data
 4.182230 <INFO> Created device <embObjMultipleFTsensors>. See C++ class yarp::dev::embObjMultipleFTsensors for documentation.
 4.182251 <INFO> Opening device left_leg-FT_remapper with parameters [("robotName" = "ergoCubSN001"), ("SixAxisForceTorqueSensorsNames" = "(l_leg_ft l_foot_rear_ft l_foot_front_ft)"), ("TemperatureSensorsNames" = "(l_leg_ft l_foot_rear_ft l_foot_front_ft)")]
 4.192409 <DEBUG> Parameters are (SixAxisForceTorqueSensorsNames (l_leg_ft l_foot_rear_ft l_foot_front_ft)) (TemperatureSensorsNames (l_leg_ft l_foot_rear_ft l_foot_front_ft)) (device multipleanalogsensorsremapper) (id left_leg-FT_remapper) (robotName ergoCubSN001)
 4.192440 <INFO> Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
 4.192451 <INFO> Opening device right_leg-FT_remapper with parameters [("robotName" = "ergoCubSN001"), ("SixAxisForceTorqueSensorsNames" = "(r_leg_ft r_foot_rear_ft r_foot_front_ft)"), ("TemperatureSensorsNames" = "(r_leg_ft r_foot_rear_ft r_foot_front_ft)")]
 4.192469 <DEBUG> Parameters are (SixAxisForceTorqueSensorsNames (r_leg_ft r_foot_rear_ft r_foot_front_ft)) (TemperatureSensorsNames (r_leg_ft r_foot_rear_ft r_foot_front_ft)) (device multipleanalogsensorsremapper) (id right_leg-FT_remapper) (robotName ergoCubSN001)
 4.192477 <INFO> Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
 4.192484 <INFO> Opening device left_arm-FT_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "2"), ("name" = "/ergocub/left_arm/FT")]
 4.202631 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id left_arm-FT_wrapper) (name "/ergocub/left_arm/FT") (period 2) (robotName ergoCubSN001)
 4.202653 <DEBUG> Open complete
 4.202661 <INFO> Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
 4.202669 <INFO> Opening device right_arm-FT_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "2"), ("name" = "/ergocub/right_arm/FT")]
 4.202676 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id right_arm-FT_wrapper) (name "/ergocub/right_arm/FT") (period 2) (robotName ergoCubSN001)
 4.202688 <DEBUG> Open complete
 4.202694 <INFO> Opening device left_leg-FT_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "2"), ("name" = "/ergocub/left_leg/FT")]
 4.202700 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id left_leg-FT_wrapper) (name "/ergocub/left_leg/FT") (period 2) (robotName ergoCubSN001)
 4.202707 <DEBUG> Open complete
 4.202713 <INFO> Opening device right_leg-FT_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "2"), ("name" = "/ergocub/right_leg/FT")]
 4.202718 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id right_leg-FT_wrapper) (name "/ergocub/right_leg/FT") (period 2) (robotName ergoCubSN001)
 4.202726 <DEBUG> Open complete
 4.202732 <INFO> Opening device head-imuFilter_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/imuFilter")]
 4.202738 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id head-imuFilter_wrapper) (name "/imuFilter") (period 10) (robotName ergoCubSN001)
 4.202745 <DEBUG> Open complete
 4.202752 <INFO> Opening device head-imuFilter with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/imuFilter")]
 4.212853 <DEBUG> Parameters are (device imuFilter) (id head-imuFilter) (name "/imuFilter") (period 10) (robotName ergoCubSN001)
 4.212903 <INFO> Finish PassThroughInertial::open
 4.233207 <INFO> Created device <imuFilter>. See C++ class yarp::dev::ImuFilter for documentation.
 4.233233 <INFO> Opening device head-inertials_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/head/inertials")]
 4.233242 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id head-inertials_wrapper) (name "/ergocub/head/inertials") (period 10) (robotName ergoCubSN001)
 4.233252 <DEBUG> Open complete
 4.233259 <INFO> Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
 4.233267 <INFO> Opening device head-inertial with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("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_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 1) (minor 4) (build 0))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status) (sensorName head_imu_0 head_imu_0 head_imu_0 head_imu_0 head_imu_0) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status) (boardType rfe rfe rfe rfe rfe) (location CAN1:1 CAN1:1 CAN1:1 CAN1:1 CAN1:1))) (SETTINGS (acquisitionRate 10) (enabledSensors rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status))")]
 4.243444 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (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_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type rfe) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 1) (minor 4) (build 0))) (SENSORS (id rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status) (sensorName head_imu_0 head_imu_0 head_imu_0 head_imu_0 head_imu_0) (type eoas_imu_acc eoas_imu_gyr eoas_imu_mag eoas_imu_eul eoas_imu_status) (boardType rfe rfe rfe rfe rfe) (location "CAN1:1" "CAN1:1" "CAN1:1" "CAN1:1" "CAN1:1"))) (SETTINGS (acquisitionRate 10) (enabledSensors rfeimu_acc rfeimu_gyro rfeimu_mag rfeimu_eul rfeimu_status))) (device embObjIMU) (id head-inertial) (robotName ergoCubSN001)
 4.253660 <INFO> from BOARD 10.0.1.21 (head-eb21-j2_3) time=964s 200m 978u :  CFG: CANdiscovery started the search for 1 eobrd_rfe boards on (can1map, can2map) = (0x0002, 0x0000) with target can protocol ver 2.0 and application ver 1.4.0.
 4.253679 <INFO> from BOARD 10.0.1.21 (head-eb21-j2_3) time=964s 201m 945u : CFG: CANdiscovery has detected  eobrd_rfe board in CAN1 addr 1 with can protocol ver 2.0 and application ver 1.4.0 Search time was 0 ms
 4.253686 <INFO> from BOARD 10.0.1.21 (head-eb21-j2_3) time=964s 202m 55u : CFG: CANdiscovery is OK for 1 eobrd_rfe boards with target can protocol ver 2.0 and application ver 1.4.0. Search time was 0 ms
 4.253691 <DEBUG> from BOARD 10.0.1.21 (head-eb21-j2_3) time=964s 202m 186u : CFG: EOtheInertial3 can be correctly configured
 4.253697 <WARNING> from BOARD 10.0.1.21 (head-eb21-j2_3) time=964s 202m 919u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 410[usec]. Latest previous execution times[usec] (..., Tx=22);(RX=207, DO=93, TX=110);
 4.274138 <INFO> Created device <embObjIMU>. See C++ class yarp::dev::embObjIMU for documentation.
 4.274159 <INFO> Opening device waist-inertial with parameters [("robotName" = "ergoCubSN001"), ("serial" = "/dev/ttyS0"), ("xsensmt_period" = "0.01"), ("xsensmt_euler_period" = "0.005"), ("xsensmt_gyro_period" = "0.005"), ("xsensmt_acc_period" = "0.005"), ("xsensmt_mag_period" = "0.01"), ("sensor_name" = "waist_imu_0")]
 4.284322 <DEBUG> Parameters are (device xsensmt) (id waist-inertial) (robotName ergoCubSN001) (sensor_name waist_imu_0) (serial "/dev/ttyS0") (xsensmt_acc_period 0.00500000000000000010408) (xsensmt_euler_period 0.00500000000000000010408) (xsensmt_gyro_period 0.00500000000000000010408) (xsensmt_mag_period 0.0100000000000000002082) (xsensmt_period 0.0100000000000000002082)
 4.284346 <WARNING> xsensmt -  Parameter ' frame_name ' not set. Using default value ' waist_imu_0 ' for this parameter.
 4.284353 <INFO> xsensmt: Opening serial port /dev/ttyS0 with baud rate 115200. The following frequencies are considered. Accelerometer 200.0000 Hz, gyro 200.0000 Hz, magnetometer 100.0000 Hz, euler angle 200.0000 Hz, position 100.0000 Hz, linearVelocity 100.0000 Hz
 4.406747 <INFO> xsensmt: Putting device into configuration mode.
 4.416798 <INFO> xsensmt: Configuring the device MTi-630-8A1G6.
 4.457402 <INFO> xsensmt: Putting device into measurement mode.
 4.477682 <INFO> Created device <xsensmt>. See C++ class yarp::dev::XsensMT for documentation.
 4.477706 <INFO> Opening device waist-inertials_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "5"), ("name" = "/ergocub/waist/inertials")]
 4.477715 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id waist-inertials_wrapper) (name "/ergocub/waist/inertials") (period 5) (robotName ergoCubSN001)
 4.477726 <DEBUG> Open complete
 4.477732 <INFO> Opening device left_arm-eb2-j0_1-inertial with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.2) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb2-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat) (sensorName l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat))")]
 4.477747 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.2") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_arm-eb2-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat) (sensorName l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu l_arm_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors l_arm_ft_acc l_arm_ft_gyro l_arm_ft_eul l_arm_ft_mag l_arm_ft_stat))) (device embObjIMU) (id left_arm-eb2-j0_1-inertial) (robotName ergoCubSN001)
 4.477763 <INFO> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=963s 755m 576u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 0.0 and application ver 0.0.0.
 4.477774 <WARNING> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=963s 755m 695u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_strain2 boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms
 4.477781 <DEBUG> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=963s 755m 835u : CFG: EOtheInertial3 can be correctly configured
 4.477786 <WARNING> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=963s 756m 518u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 519[usec]. Latest previous execution times[usec] (..., Tx=45);(RX=44, DO=140, TX=135);
 4.498214 <INFO> Created device <embObjIMU>. See C++ class yarp::dev::embObjIMU for documentation.
 4.498237 <INFO> Opening device right_arm-eb1-j0_1-inertial with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb1-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat) (sensorName r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat))")]
 4.498253 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb1-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 2) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat) (sensorName r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu r_arm_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors r_arm_ft_acc r_arm_ft_gyro r_arm_ft_eul r_arm_ft_mag r_arm_ft_stat))) (device embObjIMU) (id right_arm-eb1-j0_1-inertial) (robotName ergoCubSN001)
 4.508451 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=963s 775m 305u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 2.0 and application ver 0.0.0.
 4.508473 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=963s 776m 294u : CFG: CANdiscovery has detected  eobrd_strain2 board in CAN2 addr 13 with can protocol ver 2.0 and application ver 2.3.0 Search time was 0 ms
 4.508494 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=963s 776m 399u : CFG: CANdiscovery is OK for 1 eobrd_strain2 boards with target can protocol ver 2.0 and application ver 0.0.0. Search time was 0 ms
 4.508500 <DEBUG> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=963s 776m 538u : CFG: EOtheInertial3 can be correctly configured
 4.508510 <WARNING> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=963s 777m 246u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 431[usec]. Latest previous execution times[usec] (..., Tx=159);(RX=256, DO=141, TX=116);
 4.528882 <INFO> Created device <embObjIMU>. See C++ class yarp::dev::embObjIMU for documentation.
 4.528907 <INFO> Opening device left_leg-eb8-j0_3-inertial with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.8) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb8-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat) (sensorName l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat))")]
 4.528925 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.8") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb8-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat) (sensorName l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu l_leg_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors l_leg_ft_acc l_leg_ft_gyro l_leg_ft_eul l_leg_ft_mag l_leg_ft_stat))) (device embObjIMU) (id left_leg-eb8-j0_3-inertial) (robotName ergoCubSN001)
 4.528941 <INFO> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=963s 805m 501u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 0.0 and application ver 0.0.0.
 4.528947 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=963s 805m 630u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_strain2 boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms
 4.528954 <DEBUG> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=963s 805m 764u : CFG: EOtheInertial3 can be correctly configured
 4.528959 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=963s 806m 501u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 551[usec]. Latest previous execution times[usec] (..., Tx=85);(RX=82, DO=405, TX=179);
 4.528964 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=963s 806m 618u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 413[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=179); (Rx=551, DO=655, ...). Num of CAN frames[CAN1,CAN2]=[1 0]
 4.528970 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=963s 807m 433u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 358[usec]. Latest previous execution times[usec] (..., Tx=179);(RX=551, DO=655, TX=413);
 4.549268 <INFO> Created device <embObjIMU>. See C++ class yarp::dev::embObjIMU for documentation.
 4.549306 <INFO> Opening device right_leg-eb6-j0_3-inertial with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.6) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb6-j0_3") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat) (sensorName r_leg_ft_imu r_leg_ft_imu r_leg_ft_imu r_leg_ft_imu r_leg_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13))) (SETTINGS (acquisitionRate 10) (enabledSensors r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat))")]
 4.559490 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.6") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb6-j0_3) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 300) (maxTimeOfDOactivity 350) (maxTimeOfTXactivity 350) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat) (sensorName r_leg_ft_imu r_leg_ft_imu r_leg_ft_imu r_leg_ft_imu r_leg_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2) (location "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13"))) (SETTINGS (acquisitionRate 10) (enabledSensors r_leg_ft_acc r_leg_ft_gyro r_leg_ft_eul r_leg_ft_mag r_leg_ft_stat))) (device embObjIMU) (id right_leg-eb6-j0_3-inertial) (robotName ergoCubSN001)
 4.559532 <INFO> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=963s 821m 443u :  CFG: CANdiscovery started the search for 1 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x2000) with target can protocol ver 0.0 and application ver 0.0.0.
 4.559541 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=963s 821m 562u : CFG: CANdiscovery is OK but FAKE (without any control on CAN w/ get-fw-version<> message) for 1 eobrd_strain2 boards with target can protocol ver 0.0 and application ver 0.0.0. Search time was 0 ms
 4.559548 <DEBUG> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=963s 821m 701u : CFG: EOtheInertial3 can be correctly configured
 4.559554 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=963s 822m 447u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 545[usec]. Latest previous execution times[usec] (..., Tx=89);(RX=61, DO=409, TX=186);
 4.559560 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=963s 823m 384u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 349[usec]. Latest previous execution times[usec] (..., Tx=186);(RX=545, DO=652, TX=409);
 4.579855 <INFO> Created device <embObjIMU>. See C++ class yarp::dev::embObjIMU for documentation.
 4.579879 <INFO> Opening device left_leg-eb9-j4_5-inertial with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.9) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_leg-eb9-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat) (sensorName l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2) (location CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14))) (SETTINGS (acquisitionRate 10) (enabledSensors l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat))")]
 4.579905 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.9") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name left_leg-eb9-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat) (sensorName l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu l_foot_front_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2) (location "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:14" "CAN2:14" "CAN2:14" "CAN2:14" "CAN2:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors l_foot_rear_ft_acc l_foot_rear_ft_gyro l_foot_rear_ft_eul l_foot_rear_ft_mag l_foot_rear_ft_stat l_foot_front_ft_acc l_foot_front_ft_gyro l_foot_front_ft_eul l_foot_front_ft_mag l_foot_front_ft_stat))) (device embObjIMU) (id left_leg-eb9-j4_5-inertial) (robotName ergoCubSN001)
 4.579923 <INFO> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=963s 855m 945u :  CFG: CANdiscovery started the search for 2 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x6000) with target can protocol ver 0.0 and application ver 0.0.0.
 4.589909 <WARNING> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=963s 856m 885u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 536[usec]. Latest previous execution times[usec] (..., Tx=114);(RX=62, DO=198, TX=32);
 4.610420 <INFO> Created device <embObjIMU>. See C++ class yarp::dev::embObjIMU for documentation.
 4.610442 <INFO> Opening device right_leg-eb7-j4_5-inertial with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.7) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_leg-eb7-j4_5") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat) (sensorName r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2) (location CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:13 CAN2:14 CAN2:14 CAN2:14 CAN2:14 CAN2:14))) (SETTINGS (acquisitionRate 10) (enabledSensors r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat))")]
 4.610461 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.7") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_leg-eb7-j4_5) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_inertials3) (PROPERTIES (CANBOARDS (type eobrd_strain2) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat) (sensorName r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu r_foot_front_ft_imu) (type eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status eoas_imu_acc eoas_imu_gyr eoas_imu_eul eoas_imu_mag eoas_imu_status) (boardType strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2 strain2) (location "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:13" "CAN2:14" "CAN2:14" "CAN2:14" "CAN2:14" "CAN2:14"))) (SETTINGS (acquisitionRate 10) (enabledSensors r_foot_rear_ft_acc r_foot_rear_ft_gyro r_foot_rear_ft_eul r_foot_rear_ft_mag r_foot_rear_ft_stat r_foot_front_ft_acc r_foot_front_ft_gyro r_foot_front_ft_eul r_foot_front_ft_mag r_foot_front_ft_stat))) (device embObjIMU) (id right_leg-eb7-j4_5-inertial) (robotName ergoCubSN001)
 4.610479 <INFO> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 884m 203u :  CFG: CANdiscovery started the search for 2 eobrd_strain2 boards on (can1map, can2map) = (0x0000, 0x6000) with target can protocol ver 0.0 and application ver 0.0.0.
 4.610485 <WARNING> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=963s 885m 137u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 536[usec]. Latest previous execution times[usec] (..., Tx=114);(RX=70, DO=197, TX=32);
 4.630718 <INFO> Created device <embObjIMU>. See C++ class yarp::dev::embObjIMU for documentation.
 4.630740 <INFO> Opening device left_arm-imu_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/left_arm/imu")]
 4.630752 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id left_arm-imu_wrapper) (name "/ergocub/left_arm/imu") (period 10) (robotName ergoCubSN001)
 4.630762 <DEBUG> Open complete
 4.630769 <INFO> Opening device right_arm-imu_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/right_arm/imu")]
 4.630775 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id right_arm-imu_wrapper) (name "/ergocub/right_arm/imu") (period 10) (robotName ergoCubSN001)
 4.630783 <INFO> Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
 4.630790 <INFO> Opening device left_leg-imu_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/left_leg/imu")]
 4.630796 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id left_leg-imu_wrapper) (name "/ergocub/left_leg/imu") (period 10) (robotName ergoCubSN001)
 4.630803 <INFO> Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
 4.630810 <INFO> Opening device right_leg-imu_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/right_leg/imu")]
 4.630815 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id right_leg-imu_wrapper) (name "/ergocub/right_leg/imu") (period 10) (robotName ergoCubSN001)
 4.630823 <INFO> Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
 4.630830 <INFO> Opening device left_foot-imu_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/left_foot_heel_tiptoe/imu")]
 4.630836 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id left_foot-imu_wrapper) (name "/ergocub/left_foot_heel_tiptoe/imu") (period 10) (robotName ergoCubSN001)
 4.630843 <INFO> Created wrapper <multipleanalogsensorsserver>. See C++ class MultipleAnalogSensorsServer for documentation.
 4.630850 <INFO> Opening device right_foot-imu_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergocub/right_foot_heel_tiptoe/imu")]
 4.630856 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id right_foot-imu_wrapper) (name "/ergocub/right_foot_heel_tiptoe/imu") (period 10) (robotName ergoCubSN001)
 4.630863 <INFO> Opening device alljoints-inertials_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "10"), ("name" = "/ergoCubSN001/alljoints/inertials")]
 4.630869 <DEBUG> Parameters are (device multipleanalogsensorsserver) (id alljoints-inertials_wrapper) (name "/ergoCubSN001/alljoints/inertials") (period 10) (robotName ergoCubSN001)
 4.630876 <INFO> Opening device alljoints-inertials_remapper with parameters [("robotName" = "ergoCubSN001"), ("OrientationSensorsNames" = "(head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu waist_imu_0)")]
 4.630883 <DEBUG> Parameters are (OrientationSensorsNames (head_imu_0 l_arm_ft_imu l_leg_ft_imu l_foot_rear_ft_imu l_foot_front_ft_imu r_arm_ft_imu r_leg_ft_imu r_foot_rear_ft_imu r_foot_front_ft_imu waist_imu_0)) (device multipleanalogsensorsremapper) (id alljoints-inertials_remapper) (robotName ergoCubSN001)
 4.630892 <INFO> Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
 4.630899 <INFO> Opening device battery_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "1.0"), ("name" = "/ergocub/battery/bat")]
 4.640944 <DEBUG> Parameters are (device battery_nws_yarp) (id battery_wrapper) (name "/ergocub/battery/bat") (period 1.0) (robotName ergoCubSN001)
 4.640993 <INFO> Using period: 1 s
 4.671274 <INFO> Created wrapper <battery_nws_yarp>. See C++ class Battery_nws_yarp for documentation.
 4.671301 <INFO> Opening device battery_bat with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.1) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "right_arm-eb1-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_battery) (PROPERTIES (CANBOARDS (type bat) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id battery1) (board bat) (location CAN2:2))) (SETTINGS (enabledSensors battery1) (acquisitionRate 1000))")]
 4.691532 <INFO> CanBatterySensors has been created
 4.691551 <INFO> CanBatterySensors has been created
 4.691557 <DEBUG> Parameters are (DEBUG (embBoardsConnected 1)) (ETH_BOARD (ETH_BOARD_PROPERTIES (IpAddress "10.0.1.1") (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name right_arm-eb1-j0_1) (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (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 2)) (SERVICE (type eomn_serv_AS_battery) (PROPERTIES (CANBOARDS (type bat) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id battery1) (board bat) (location "CAN2:2"))) (SETTINGS (enabledSensors battery1) (acquisitionRate 1000))) (device embObjBattery) (id battery_bat) (robotName ergoCubSN001)
 4.691574 <INFO> embObjBattery: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjBattery::open(): browsing xml files which describe the service
 4.691586 <INFO> embObjBattery: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjBattery::open(): verify the presence of the board and if its protocol version is correct
 4.691592 <DEBUG> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=963s 961m 392u : CFG: theBATservice is OK
 4.701744 <INFO> embObjBattery: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjBattery::open(): impose the network variable which the ETH bord must stream up
 4.701764 <INFO> embObjBattery: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjBattery::open(): start the FT service
 4.701771 <INFO> embObjBattery: BOARD right_arm-eb1-j0_1 (IP 10.0.1.1)   embObjBattery::open(): start streaming of FT data
 4.722162 <INFO> Created device <embObjBattery>. See C++ class yarp::dev::embObjBattery for documentation.
 4.722197 <INFO> Opening device battery_wrapper with parameters [("robotName" = "ergoCubSN001"), ("period" = "1.0"), ("name" = "/ergocub/battery/bms")]
 4.722206 <DEBUG> Parameters are (device battery_nws_yarp) (id battery_wrapper) (name "/ergocub/battery/bms") (period 1.0) (robotName ergoCubSN001)
 4.722216 <INFO> Using period: 1 s
 4.722223 <DEBUG> CAN DATA NOT YET AVAILABLE
 4.752566 <INFO> Created wrapper <battery_nws_yarp>. See C++ class Battery_nws_yarp for documentation.
 4.752604 <INFO> Opening device battery_bms with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("PC104" [group] = "(PC104IpAddress 10.0.1.104) (PC104IpPort 12345) (PC104TXrate 1) (PC104RXrate 2)"), ("DEBUG" [group] = "(embBoardsConnected 1)"), ("ETH_BOARD" [group] = "(ETH_BOARD_PROPERTIES (IpAddress 10.0.1.2) (IpPort 12345) (Type ems4) (maxSizeRXpacket 768) (maxSizeROP 384)) (ETH_BOARD_SETTINGS (Name "left_arm-eb2-j0_1") (RUNNINGMODE (period 1000) (maxTimeOfRXactivity 400) (maxTimeOfDOactivity 300) (maxTimeOfTXactivity 300) (TXrateOfRegularROPs 2))) (ETH_BOARD_ACTIONS (MONITOR_ITS_PRESENCE (enabled true) (timeout 0.020) (periodOfMissingReport 60.0)))"), ("SERVICE" [group] = "(type eomn_serv_AS_battery) (PROPERTIES (CANBOARDS (type bms) (PROTOCOL (major 0) (minor 0)) (FIRMWARE (major 0) (minor 0) (build 0))) (SENSORS (id battery1) (board bms) (location CAN2:2))) (SETTINGS (enabledSensors battery1) (acquisitionRate 1000))")]
 4.752621 <INFO> CanBatterySensors has been created
 4.752627 <INFO> embObjBattery: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjBattery::open(): browsing xml files which describe the service
 4.752634 <INFO> embObjBattery: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjBattery::open(): verify the presence of the board and if its protocol version is correct
 4.752640 <DEBUG> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=964s 33m 662u : CFG: theBATservice is OK
 4.772848 <INFO> embObjBattery: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjBattery::open(): impose the network variable which the ETH bord must stream up
 4.772927 <INFO> embObjBattery: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjBattery::open(): start the FT service
 4.772933 <INFO> embObjBattery: BOARD left_arm-eb2-j0_1 (IP 10.0.1.2)   embObjBattery::open(): start streaming of FT data
 4.793181 <INFO> Created device <embObjBattery>. See C++ class yarp::dev::embObjBattery for documentation.
 4.793230 <DEBUG> CAN DATA NOT YET AVAILABLE
 4.803359 <DEBUG> Parameters are (CALIBRATION (calibrationType 12 12 12) (calibration1 48803 22272 26900) (calibration2 0 0 0) (calibration3 0 0 0) (calibration4 0 0 0) (calibration5 0 0 0) (calibrationZero 0 0 0) (calibrationDelta -0.938999999999999945821 2.91699999999999981526 0) (startupPosition 0 0 0) (startupVelocity 10 10 10) (startupMaxPwm 5500 5500 5500) (startupPosThreshold 2 2 2)) (CALIB_ORDER (0) (1) (2)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 3) (deviceName Torso_Calibrator)) (HOME (positionHome 0 -20 0) (velocityHome 10 10 10)) (device parametricCalibratorEth) (id torso-calibrator) (robotName ergoCubSN001)
 4.803385 <INFO> Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
 4.803395 <INFO> Opening device left_leg-calibrator with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 6) (deviceName Left_Leg_Calibrator)"), ("HOME" [group] = "(positionHome 0.00 5.00 0.00 0.00 0.00 0.00) (velocityHome 10.00 10.00 10.00 10.00 10.00 10.00)"), ("CALIBRATION" [group] = "(calibrationType 10 10 10 10 10 10) (calibration1 -5500 4000 -2500 -5000 2500 -3000) (calibration2 0.0 0.0 0 0 0 0) (calibration3 0.0 0.0 0 0 0 0) (calibration4 0.0 0.0 0 0 0 0) (calibration5 0.0 0.0 0 0 0 0) (calibrationZero 110.15 111.04 81.419 7.75 -46.624 25.626) (calibrationDelta 0 0 0 0 0 0) (startupPosition 90 80 0 -95 0 0) (startupVelocity 10.0 10.0 10.0 10 10 10) (startupMaxPwm 8000 8000 8000 8000 12000 8000) (startupPosThreshold 2 2 2 2 2 2)"), ("CALIB_ORDER" = "(2) (4) (5) (3) (0) (1)")]
 4.803408 <DEBUG> Parameters are (CALIBRATION (calibrationType 10 10 10 10 10 10) (calibration1 -5500 4000 -2500 -5000 2500 -3000) (calibration2 0.0 0.0 0 0 0 0) (calibration3 0.0 0.0 0 0 0 0) (calibration4 0.0 0.0 0 0 0 0) (calibration5 0.0 0.0 0 0 0 0) (calibrationZero 110.150000000000005684 111.040000000000006253 81.4189999999999969305 7.75 -46.6240000000000023306 25.6260000000000012221) (calibrationDelta 0 0 0 0 0 0) (startupPosition 90 80 0 -95 0 0) (startupVelocity 10.0 10.0 10.0 10 10 10) (startupMaxPwm 8000 8000 8000 8000 12000 8000) (startupPosThreshold 2 2 2 2 2 2)) (CALIB_ORDER (2) (4) (5) (3) (0) (1)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 6) (deviceName Left_Leg_Calibrator)) (HOME (positionHome 0.0 5.0 0.0 0.0 0.0 0.0) (velocityHome 10.0 10.0 10.0 10.0 10.0 10.0)) (device parametricCalibratorEth) (id left_leg-calibrator) (robotName ergoCubSN001)
 4.803419 <INFO> Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
 4.803427 <INFO> Opening device right_leg-calibrator with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 6) (deviceName Right_Leg_Calibrator)"), ("HOME" [group] = "(positionHome 0.00 5.00 0.00 0.00 0.00 0.00) (velocityHome 10.00 10.00 10.00 10.00 10.00 10.00)"), ("CALIBRATION" [group] = "(calibrationType 10 10 10 10 10 10) (calibration1 5500 -4000 2500 5000 -2500 3000) (calibration2 0.0 0.0 0 0 0 0) (calibration3 0.0 0.0 0 0 0 0) (calibration4 0.0 0.0 0 0 0 0) (calibration5 0.0 0.0 0 0 0 0) (calibrationZero 110.15 111.139 80.798 7.75 -45.942 25.676) (calibrationDelta 0 0 0 0 0 0) (startupPosition 90 80 0 -95 0 0) (startupVelocity 10.0 10.0 10.0 10 10 10) (startupMaxPwm 8000 8000 8000 8000 12000 8000) (startupPosThreshold 2 2 2 2 2 2)"), ("CALIB_ORDER" = "(4) (5) (2) (3) (0) (1)")]
 4.803437 <DEBUG> Parameters are (CALIBRATION (calibrationType 10 10 10 10 10 10) (calibration1 5500 -4000 2500 5000 -2500 3000) (calibration2 0.0 0.0 0 0 0 0) (calibration3 0.0 0.0 0 0 0 0) (calibration4 0.0 0.0 0 0 0 0) (calibration5 0.0 0.0 0 0 0 0) (calibrationZero 110.150000000000005684 111.138999999999995794 80.798000000000001819 7.75 -45.9420000000000001705 25.67599999999999838) (calibrationDelta 0 0 0 0 0 0) (startupPosition 90 80 0 -95 0 0) (startupVelocity 10.0 10.0 10.0 10 10 10) (startupMaxPwm 8000 8000 8000 8000 12000 8000) (startupPosThreshold 2 2 2 2 2 2)) (CALIB_ORDER (4) (5) (2) (3) (0) (1)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 6) (deviceName Right_Leg_Calibrator)) (HOME (positionHome 0.0 5.0 0.0 0.0 0.0 0.0) (velocityHome 10.0 10.0 10.0 10.0 10.0 10.0)) (device parametricCalibratorEth) (id right_leg-calibrator) (robotName ergoCubSN001)
 4.803448 <INFO> Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
 4.803456 <INFO> Opening device left_arm-calibrator with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 13) (deviceName Left_Arm_Calibrator)"), ("HOME" [group] = "(positionHome 5 30 0 10 0 0 0 0.00 15.00 5.00 5.00 5.00 5.00) (velocityHome 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00)"), ("CALIBRATION" [group] = "(calibrationType 10 10 10 10 12 12 12 12 14 12 14 14 14) (calibration1 4000 -3000 -3000 4000 27080 5487 831 0 300 0 300 300 300) (calibration2 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibration3 0 0 0 0 0 0 0 0 0 0 0 0 1) (calibration4 0 0 0 0 0 0 0 0 0 0 32768 0 0) (calibration5 0 0 0 0 0 0 0 0 6850 0 48450 37450 56800) (calibrationZero 35 -15 -52 -5 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0) (startupVelocity 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100 100.0 100.0) (startupMaxPwm 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 2 2 2 5 5 5 5 5 5)"), ("CALIB_ORDER" = "(4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12)")]
 4.803471 <DEBUG> Parameters are (CALIBRATION (calibrationType 10 10 10 10 12 12 12 12 14 12 14 14 14) (calibration1 4000 -3000 -3000 4000 27080 5487 831 0 300 0 300 300 300) (calibration2 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibration3 0 0 0 0 0 0 0 0 0 0 0 0 1) (calibration4 0 0 0 0 0 0 0 0 0 0 32768 0 0) (calibration5 0 0 0 0 0 0 0 0 6850 0 48450 37450 56800) (calibrationZero 35 -15 -52 -5 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0) (startupVelocity 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100 100.0 100.0) (startupMaxPwm 8000 8000 8000 8000 16000 16000 16000 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 2 2 2 5 5 5 5 5 5)) (CALIB_ORDER (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 13) (deviceName Left_Arm_Calibrator)) (HOME (positionHome 5 30 0 10 0 0 0 0.0 15.0 5.0 5.0 5.0 5.0) (velocityHome 10 10 10 10 10 10 10 40.0 40.0 40.0 40.0 40.0 40.0)) (device parametricCalibratorEth) (id left_arm-calibrator) (robotName ergoCubSN001)
 4.803484 <INFO> Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
 4.803491 <INFO> Opening device right_arm-calibrator with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 13) (deviceName Right_Arm_Calibrator)"), ("HOME" [group] = "(positionHome 5 30 0 10 0 0 0 0.00 5.00 5.00 5.00 5.00 5.00) (velocityHome 10 10 10 10 10 10 10 40.00 40.00 40.00 40.00 40.00 40.00)"), ("CALIBRATION" [group] = "(calibrationType 10 10 10 10 12 12 12 12 14 12 14 14 14) (calibration1 -4000 3000 3000 -4000 17592 14298 16562 0 300 0 300 300 300) (calibration2 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibration3 0 0 0 0 0 0 0 0 0 0 1 0 0) (calibration4 0 0 0 0 0 0 0 0 0 0 32768 0 0) (calibration5 0 0 0 0 0 0 0 0 25030 0 1230 20000 18350) (calibrationZero 35 -15 -52 -5 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0) (startupVelocity 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100.0 100.0 100.0) (startupMaxPwm 8000 8000 8000 12000 16000 16000 16000 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 2 2 2 5 5 5 5 5 5)"), ("CALIB_ORDER" = "(4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12)")]
 4.803503 <DEBUG> Parameters are (CALIBRATION (calibrationType 10 10 10 10 12 12 12 12 14 12 14 14 14) (calibration1 -4000 3000 3000 -4000 17592 14298 16562 0 300 0 300 300 300) (calibration2 0 0 0 0 0 0 0 0 0 0 0 0 0) (calibration3 0 0 0 0 0 0 0 0 0 0 1 0 0) (calibration4 0 0 0 0 0 0 0 0 0 0 32768 0 0) (calibration5 0 0 0 0 0 0 0 0 25030 0 1230 20000 18350) (calibrationZero 35 -15 -52 -5 0 0 0 0 0 0 0 0 0) (calibrationDelta 0 0 0 0 0 0 0 0 0 0 0 0 0) (startupPosition 34 50 -10 90 0.0 0.0 0.0 0.0 15.0 5.0 5.0 5.0 5.0) (startupVelocity 10.0 10.0 10.0 10.0 10.0 10.0 10.0 100.0 100.0 100.0 100.0 100.0 100.0) (startupMaxPwm 8000 8000 8000 12000 16000 16000 16000 0 0 0 0 0 0) (startupPosThreshold 2 2 2 2 2 2 2 5 5 5 5 5 5)) (CALIB_ORDER (4 5 6) (3) (2) (0) (1) (7 8) (9) (10 11 12)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 13) (deviceName Right_Arm_Calibrator)) (HOME (positionHome 5 30 0 10 0 0 0 0.0 5.0 5.0 5.0 5.0 5.0) (velocityHome 10 10 10 10 10 10 10 40.0 40.0 40.0 40.0 40.0 40.0)) (device parametricCalibratorEth) (id right_arm-calibrator) (robotName ergoCubSN001)
 4.803515 <INFO> Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
 4.803522 <INFO> Opening device head-calibrator with parameters [("robotName" = "ergoCubSN001"), ("GENERAL" [group] = "(skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false)"), ("GENERAL" [group] = "(joints 4) (deviceName HeadV3_Calibrator)"), ("HOME" [group] = "(positionHome 15 0 0 0) (velocityHome 10 10 10 10)"), ("CALIBRATION" [group] = "(calibrationType 12 12 12 12) (calibration1 62951 -44411 13160 28977) (calibration2 0 0 0 0) (calibration3 0 0 0 0) (calibration4 0 0 0 0) (calibration5 0 0 0 0) (calibrationZero 0.0 0.0 0.0 0.0) (calibrationDelta 4.0 0.0 0.0 0.0) (startupPosition 0.0 0.0 0.0 0.0) (startupVelocity 10 10 20.0 20.0) (startupMaxPwm 1000 1000 1000 1000) (startupPosThreshold 90 90 2 2)"), ("CALIB_ORDER" = "(0 1 2) (3)")]
 4.803532 <DEBUG> Parameters are (CALIBRATION (calibrationType 12 12 12 12) (calibration1 62951 -44411 13160 28977) (calibration2 0 0 0 0) (calibration3 0 0 0 0) (calibration4 0 0 0 0) (calibration5 0 0 0 0) (calibrationZero 0.0 0.0 0.0 0.0) (calibrationDelta 4.0 0.0 0.0 0.0) (startupPosition 0.0 0.0 0.0 0.0) (startupVelocity 10 10 20.0 20.0) (startupMaxPwm 1000 1000 1000 1000) (startupPosThreshold 90 90 2 2)) (CALIB_ORDER (0 1 2) (3)) (GENERAL (skipCalibration false) (useRawEncoderData false) (useLimitedPWM false) (verbose false) (joints 4) (deviceName HeadV3_Calibrator)) (HOME (positionHome 15 0 0 0) (velocityHome 10 10 10 10)) (device parametricCalibratorEth) (id head-calibrator) (robotName ergoCubSN001)
 4.803543 <INFO> Created device <parametricCalibratorEth>. See C++ class yarp::dev::parametricCalibratorEth for documentation.
 4.803550 <INFO> Opening device wholebodydynamics with parameters [("robotName" = "ergoCubSN001"), ("axesNames" = "(torso_pitch,torso_roll,torso_yaw,neck_pitch, neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll)"), ("modelFile" = "model.urdf"), ("fixedFrameGravity" = "(0,0,-9.81)"), ("defaultContactFrames" = "(l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)"), ("imuFrameName" = "waist_imu_0"), ("publishOnROS" = "true"), ("forceTorqueEstimateConfidence" = "2"), ("useJointVelocity" = "true"), ("useJointAcceleration" = "false"), ("streamFilteredFT" = "true"), ("imuFilterCutoffInHz" = "3.0"), ("forceTorqueFilterCutoffInHz" = "3.0"), ("jointVelFilterCutoffInHz" = "3.0"), ("jointAccFilterCutoffInHz" = "3.0"), ("devicePeriodInSeconds" = "0.002"), ("useSkinForContacts" = "false"), ("publishNetExternalWrenches" = "true"), ("HW_USE_MAS_IMU" [group] = "(accelerometer waist_imu_0) (gyroscope waist_imu_0)"), ("multipleAnalogSensorsNames" [group] = "(SixAxisForceTorqueSensorsNames (l_leg_ft, l_foot_front_ft, l_foot_rear_ft, r_leg_ft, r_foot_front_ft, r_foot_rear_ft, r_arm_ft, l_arm_ft))"), ("GRAVITY_COMPENSATION" [group] = "(enableGravityCompensation true) (gravityCompensationBaseLink root_link) (gravityCompensationAxesNames (torso_pitch,torso_roll,torso_yaw,neck_pitch,neck_roll,neck_yaw,l_shoulder_pitch,l_shoulder_roll,l_shoulder_yaw,r_shoulder_pitch,r_shoulder_roll,r_shoulder_yaw,l_hip_pitch,l_hip_roll,l_hip_yaw,l_knee,l_ankle_pitch,l_ankle_roll,r_hip_pitch,r_hip_roll,r_hip_yaw,r_knee,r_ankle_pitch,r_ankle_roll))"), ("WBD_OUTPUT_EXTERNAL_WRENCH_PORTS" [group] = "(/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o (l_foot_front,l_sole,l_sole)) (/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o (l_foot_rear,l_sole,l_sole)) (/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o (r_foot_front,r_sole,r_sole)) (/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o (r_foot_rear,r_sole,r_sole))")]
 4.823684 <DEBUG> Parameters are (GRAVITY_COMPENSATION (enableGravityCompensation true) (gravityCompensationBaseLink root_link) (gravityCompensationAxesNames (torso_pitch torso_roll torso_yaw neck_pitch neck_roll neck_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw r_shoulder_pitch r_shoulder_roll r_shoulder_yaw l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll))) (HW_USE_MAS_IMU (accelerometer waist_imu_0) (gyroscope waist_imu_0)) (WBD_OUTPUT_EXTERNAL_WRENCH_PORTS ("/wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o" (l_foot_front l_sole l_sole)) ("/wholeBodyDynamics/left_foot_rear/cartesianEndEffectorWrench:o" (l_foot_rear l_sole l_sole)) ("/wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o" (r_foot_front r_sole r_sole)) ("/wholeBodyDynamics/right_foot_rear/cartesianEndEffectorWrench:o" (r_foot_rear r_sole r_sole))) (axesNames (torso_pitch torso_roll torso_yaw neck_pitch neck_roll neck_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw r_shoulder_pitch r_shoulder_roll r_shoulder_yaw l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll)) (defaultContactFrames (l_hand_palm r_hand_palm root_link l_foot_front l_foot_rear r_foot_front r_foot_rear l_upper_leg r_upper_leg)) (device wholebodydynamics) (devicePeriodInSeconds 0.00200000000000000004163) (fixedFrameGravity (0 0 -9.81000000000000049738)) (forceTorqueEstimateConfidence 2) (forceTorqueFilterCutoffInHz 3.0) (id wholebodydynamics) (imuFilterCutoffInHz 3.0) (imuFrameName waist_imu_0) (jointAccFilterCutoffInHz 3.0) (jointVelFilterCutoffInHz 3.0) (modelFile model.urdf) (multipleAnalogSensorsNames (SixAxisForceTorqueSensorsNames (l_leg_ft l_foot_front_ft l_foot_rear_ft r_leg_ft r_foot_front_ft r_foot_rear_ft r_arm_ft l_arm_ft))) (publishNetExternalWrenches true) (publishOnROS true) (robotName ergoCubSN001) (streamFilteredFT true) (useJointAcceleration false) (useJointVelocity true) (useSkinForContacts false)
 4.823722 <INFO> wholeBodyDynamics : Loading model from  /usr/local/src/robot/robotology-superbuild/build/install/share/ergoCub/robots/ergoCubSN001/model.urdf
 4.833871 <DEBUG> wholeBodyDynamics Statistics: Estimator opened in  0.00865459 s.
 4.833891 <WARNING> wholeBodyDynamics: estimateVelocityAccelerationOptionName bool parameter missing, please specify it.
 4.833898 <WARNING> wholeBodyDynamics: setting estimateVelocityAccelerationOptionName to the default value of true, but this is a deprecated behaviour that will be removed in the future.
 4.833905 <INFO> wholeBodyDynamics : Using the following filter cutoff frequencies,
 4.833910 <INFO> wholeBodyDynamics: imuFilterCutoffInHz:  3  Hz.
 4.833915 <INFO> wholeBodyDynamics: jointVelFilterCutoffInHz:  3  Hz.
 4.833919 <DEBUG> wholeBodyDynamics Statistics: Settings loaded in  0.00134516 s.
 4.854252 <DEBUG> wholeBodyDynamics Statistics: Opening settings port.
 4.864444 <DEBUG> wholeBodyDynamics Statistics: Opening remapper control board.
 4.864492 <DEBUG> Parameters are (axesNames (torso_pitch torso_roll torso_yaw neck_pitch neck_roll neck_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw r_shoulder_pitch r_shoulder_roll r_shoulder_yaw l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll)) (device controlboardremapper)
 4.864507 <INFO> Created device <controlboardremapper>. See C++ class ControlBoardRemapper for documentation.
 4.864517 <DEBUG> wholeBodyDynamics Statistics: Remapper control board opened in  0.000220299 s.
 4.874635 <DEBUG> Parameters are (axesNames (torso_pitch torso_roll torso_yaw neck_pitch neck_roll neck_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw r_shoulder_pitch r_shoulder_roll r_shoulder_yaw l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll)) (device virtualAnalogRemapper)
 4.874660 <INFO> Created device <virtualAnalogRemapper>. See C++ class yarp::dev::VirtualAnalogRemapper for documentation.
 4.874670 <DEBUG> wholeBodyDynamics Statistics: Remapper virtual sensors opened in  0.0105176 s.
 4.874676 <DEBUG> wholeBodyDynamics Statistics: Contact frames opened in  0.000353813 s.
 4.904997 <DEBUG> First Status are:
  STATUS_BAT:
	eoas_bat_status_hsm_mosfet_normal
	eoas_bat_status_hsm_normal
	eoas_bat_status_hsm_voltage_power_good
	eoas_bat_status_hsm_status_on
	eoas_bat_status_motor_regulator_normal
	eoas_bat_status_motor_on
	eoas_bat_status_board_regulator_normal
	eoas_bat_status_board_on
	eoas_bat_status_btn_2_stable_op
	eoas_bat_status_btn_1_stable_op
 
 4.955759 <DEBUG> wholeBodyDynamics Statistics: Opening multiple analog sensors remapper.
 4.955780 <DEBUG> Parameters are (SixAxisForceTorqueSensorsNames (l_leg_ft l_foot_front_ft l_foot_rear_ft r_leg_ft r_foot_front_ft r_foot_rear_ft r_arm_ft l_arm_ft)) (device multipleanalogsensorsremapper)
 4.955797 <INFO> Created device <multipleanalogsensorsremapper>. See C++ class MultipleAnalogSensorsRemapper for documentation.
 4.955806 <DEBUG> wholeBodyDynamics Statistics: Multiple analog sensors remapper opened in  0.00026679 s.
 4.955813 <INFO> wholeBodyDynamics: creating port name and opening port for   l_arm_ft
 4.976040 <INFO> wholeBodyDynamics: creating port name and opening port for   l_foot_front_ft
 4.996365 <INFO> wholeBodyDynamics: creating port name and opening port for   l_foot_rear_ft
 5.016605 <INFO> wholeBodyDynamics: creating port name and opening port for   l_leg_ft
 5.036757 <INFO> wholeBodyDynamics: creating port name and opening port for   r_arm_ft
 5.046935 <INFO> wholeBodyDynamics: creating port name and opening port for   r_foot_front_ft
 5.067181 <INFO> wholeBodyDynamics: creating port name and opening port for   r_foot_rear_ft
 5.077282 <INFO> wholeBodyDynamics: creating port name and opening port for   r_leg_ft
 5.097520 <DEBUG> wholeBodyDynamics Statistics: Filtered FT ports opened in  0.143138 s.
 5.097540 <INFO> Created device <wholebodydynamics>. See C++ class yarp::dev::WholeBodyDynamicsDevice for documentation.
 5.097551 <INFO> Entering action level 4 of phase startup
 5.097557 <INFO> Executing attach action, level 4 on device left_leg-eb9-j4_5-jtcvc with parameters [("networks" = "(left_leg_joints2)"), ("left_leg_joints2" = "left_leg-eb9-j4_5-mc")]
 5.097564 <INFO> left_leg-eb9-j4_5-jtcvc is not an IWrapper. Trying IMultipleWrapper
 5.097569 <WARNING> COUPLING MATRIX option not found in configuration file
 5.107698 <INFO> All actions for action level 4 of startup phase started. Waiting for unfinished actions.
 5.107717 <INFO> All actions for action level 4 of startup phase finished.
 5.107723 <INFO> Executing attach action, level 5 on device right_hand_as_wrapper4 with parameters [("networks" = "(posRightHand4)"), ("posRightHand4" = "right_hand-pos4")]
 5.117882 <INFO> Executing attach action, level 5 on device left_hand_as_wrapper4 with parameters [("networks" = "(posLeftHand4)"), ("posLeftHand4" = "left_hand-pos4")]
 5.138216 <INFO> Executing attach action, level 5 on device right_hand_as_wrapper2 with parameters [("networks" = "(posRightHand2)"), ("posRightHand2" = "right_hand-pos2")]
 5.158456 <INFO> Executing attach action, level 5 on device left_hand_as_wrapper2 with parameters [("networks" = "(posLeftHand2)"), ("posLeftHand2" = "left_hand-pos2")]
 5.168576 <INFO> Executing attach action, level 5 on device left_leg-mc_remapper with parameters [("networks" = "(left_leg_joints1 left_leg_joints2)"), ("left_leg_joints1" = "left_leg-eb8-j0_3-mc"), ("left_leg_joints2" = "left_leg-eb9-j4_5-jtcvc")]
 5.168600 <INFO> Executing attach action, level 5 on device right_leg-mc_remapper with parameters [("networks" = "(right_leg_joints1 right_leg_joints2)"), ("right_leg_joints1" = "right_leg-eb6-j0_3-mc"), ("right_leg_joints2" = "right_leg-eb7-j4_5-mc")]
 5.168609 <INFO> Executing attach action, level 5 on device right_arm-mc_remapper with parameters [("networks" = "(right_arm_joints1 right_arm_joints2 right_arm_joints3 right_arm_joints4 right_arm_joints5)"), ("right_arm_joints1" = "right_arm-eb1-j0_1-mc"), ("right_arm_joints2" = "right_arm-eb3-j2_3-mc"), ("right_arm_joints3" = "right_arm-eb30-j4_6-mc"), ("right_arm_joints4" = "right_arm-eb22-j7_10-mc"), ("right_arm_joints5" = "right_arm-eb24-j11_12-mc")]
 5.168620 <INFO> Executing attach action, level 5 on device left_arm-mc_remapper with parameters [("networks" = "(left_arm_joints1 left_arm_joints2 left_arm_joints3 left_arm_joints4 left_arm_joints5)"), ("left_arm_joints1" = "left_arm-eb2-j0_1-mc"), ("left_arm_joints2" = "left_arm-eb4-j2_3-mc"), ("left_arm_joints3" = "left_arm-eb31-j4_6-mc"), ("left_arm_joints4" = "left_arm-eb23-j7_10-mc"), ("left_arm_joints5" = "left_arm-eb25-j11_12-mc")]
 5.168628 <INFO> Executing attach action, level 5 on device torso-mc_remapper with parameters [("networks" = "(torso_joints)"), ("torso_joints" = "torso-eb5-j0_2-mc")]
 5.168634 <INFO> torso-mc_remapper is not an IWrapper. Trying IMultipleWrapper
 5.168639 <INFO> Executing attach action, level 5 on device head-mc_remapper with parameters [("networks" = "(head_joints1 head_joints2)"), ("head_joints1" = "head-eb20-j0_1-mc"), ("head_joints2" = "head-eb21-j2_3-mc")]
 5.168647 <INFO> Executing attach action, level 5 on device left_leg-FT_remapper with parameters [("networks" = "(left_leg-eb8-j0_3-strain left_leg-eb9-j4_5-strain)"), ("left_leg-eb8-j0_3-strain" = "left_leg-eb8-j0_3-strain"), ("left_leg-eb9-j4_5-strain" = "left_leg-eb9-j4_5-strain")]
 5.168658 <INFO> Executing attach action, level 5 on device right_leg-FT_remapper with parameters [("networks" = "(right_leg-eb6-j0_3-strain right_leg-eb7-j4_5-strain)"), ("right_leg-eb6-j0_3-strain" = "right_leg-eb6-j0_3-strain"), ("right_leg-eb7-j4_5-strain" = "right_leg-eb7-j4_5-strain")]
 5.168664 <INFO> Executing attach action, level 5 on device left_arm-FT_wrapper with parameters [("networks" = "(FirstStrain)"), ("FirstStrain" = "left_arm-eb2-j0_1-strain")]
 5.168669 <INFO> left_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.198876 <DEBUG> Attach complete
 5.198902 <INFO> right_arm-FT_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.229328 <DEBUG> Attach complete
 5.229364 <INFO> head-imuFilter is not an IWrapper. Trying IMultipleWrapper
 5.229372 <INFO> PassThroughInertial: attach finished with success
 5.229378 <INFO> Executing attach action, level 5 on device head-inertials_wrapper with parameters [("networks" = "(SetOfIMUs)"), ("SetOfIMUs" = "head-inertial")]
 5.229386 <INFO> head-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.270051 <DEBUG> Attach complete
 5.270073 <INFO> waist-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.280160 <ERROR> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=964s 553m 131u : SYS: a service has detected that some CAN boards have stopped transmission. Type of service category is eomn_serv_category_battery. Lost CAN boards are on (can1map, can2map) = ([  ], [ 2 ]).
 5.300540 <DEBUG> Attach complete
 5.300568 <INFO> left_arm-imu_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.330862 <DEBUG> Attach complete
 5.330883 <INFO> right_arm-imu_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.361296 <DEBUG> Attach complete
 5.361318 <INFO> left_leg-imu_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.391806 <DEBUG> Attach complete
 5.391835 <INFO> right_leg-imu_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.432527 <DEBUG> Attach complete
 5.432555 <INFO> left_foot-imu_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.462954 <DEBUG> Attach complete
 5.462976 <INFO> right_foot-imu_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.493499 <DEBUG> Attach complete
 5.493520 <INFO> Executing attach action, level 5 on device battery_wrapper with parameters [("networks" = "(battery)"), ("battery" = "battery_bat")]
 5.493529 <INFO> Executing attach action, level 5 on device battery_wrapper with parameters [("networks" = "(battery)"), ("battery" = "battery_bms")]
 5.493535 <INFO> All actions for action level 5 of startup phase started. Waiting for unfinished actions.
 5.493540 <INFO> All actions for action level 5 of startup phase finished.
 5.493549 <INFO> Entering action level 6 of phase startup
 5.493554 <INFO> head-imuFilter_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.493559 <DEBUG> system executed command echo CRITICAL WARNING: battery charge reached critical level 5%, but the emergency shutodown is currently disabled! | wall  with return value: 0
 5.523945 <DEBUG> Attach complete
 5.523976 <INFO> All actions for action level 6 of startup phase finished.
 5.523983 <INFO> Executing attach action, level 10 on device left_leg-mc_nws_yarp with parameters [("device" = "left_leg-mc_remapper")]
 5.523990 <INFO> Executing attach action, level 10 on device right_leg-mc_nws_yarp with parameters [("device" = "right_leg-mc_remapper")]
 5.523996 <INFO> Executing attach action, level 10 on device right_arm-mc_nws_yarp with parameters [("device" = "right_arm-mc_remapper")]
 5.524002 <INFO> Executing attach action, level 10 on device left_arm-mc_nws_yarp with parameters [("device" = "left_arm-mc_remapper")]
 5.524007 <INFO> Executing attach action, level 10 on device torso-mc_nws_yarp with parameters [("device" = "torso-mc_remapper")]
 5.524016 <INFO> Executing attach action, level 10 on device head-mc_nws_yarp with parameters [("device" = "head-mc_remapper")]
 5.524021 <INFO> Executing attach action, level 10 on device head-mc-slow_nws_yarp with parameters [("device" = "head-mc_remapper")]
 5.524026 <INFO> Executing attach action, level 10 on device left_leg-FT_wrapper with parameters [("networks" = "(left_leg-FT_remapper)"), ("left_leg-FT_remapper" = "left_leg-FT_remapper")]
 5.524033 <INFO> left_leg-FT_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.564616 <DEBUG> Attach complete
 5.564644 <INFO> right_leg-FT_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.595090 <DEBUG> Attach complete
 5.595118 <INFO> alljoints-inertials_wrapper is not an IWrapper. Trying IMultipleWrapper
 5.625497 <DEBUG> Attach complete
 5.625520 <WARNING> Device  torso-eb5-j0_2-mc is not implementing a yarp::dev::IRemoteCalibrator, therefore it cannot attach to a Calibrator device. 
                                                      Please verify that the target of calibrate action is a controlBoard_nws_yarp device.                                                       This doesn't prevent the yarprobotinterface to correctly operate, but no remote calibration and homing will be available
 5.625529 <DEBUG> torso-calibrator starting calibration of device torso-eb5-j0_2-mc
 5.625540 <INFO> Torso_Calibrator : starting calibration
 5.625545 <DEBUG> Torso_Calibrator : Joints calibration order: 0 1 2
 5.625550 <DEBUG> left_leg-calibrator starting calibration of device left_leg-mc_remapper
 5.625555 <DEBUG> Left_Leg_Calibrator : Joints calibration order: 2 4 5 3 0 1
 5.625559 <DEBUG> right_leg-calibrator starting calibration of device right_leg-mc_remapper
 5.625564 <INFO> Right_Leg_Calibrator : starting calibration
 5.625569 <DEBUG> Right_Leg_Calibrator : Joints calibration order: 4 5 2 3 0 1
 5.625573 <DEBUG> left_arm-calibrator starting calibration of device left_arm-mc_remapper
 5.625578 <INFO> Left_Arm_Calibrator : starting calibration
 5.625582 <DEBUG> Left_Arm_Calibrator : Joints calibration order: 4 5 6 3 2 0 1 7 8 9 10 11 12
 5.625588 <DEBUG> right_arm-calibrator starting calibration of device right_arm-mc_remapper
 5.625593 <INFO> Right_Arm_Calibrator : starting calibration
 5.625597 <DEBUG> Right_Arm_Calibrator : Joints calibration order: 4 5 6 3 2 0 1 7 8 9 10 11 12
 5.625602 <DEBUG> head-calibrator starting calibration of device head-mc_remapper
 5.625607 <INFO> HeadV3_Calibrator : starting calibration
 5.625611 <DEBUG> HeadV3_Calibrator : Joints calibration order: 0 1 2 3
 5.625615 <DEBUG> Left_Arm_Calibrator : joint  4  has max_output already limited to a safe value:  16000
 5.635679 <DEBUG> Left_Arm_Calibrator : joint  5  has max_output already limited to a safe value:  16000
 5.645866 <DEBUG> Right_Arm_Calibrator : joint  6  has max_output already limited to a safe value:  16000
 5.645888 <DEBUG> Left_Arm_Calibrator : joint  6  has max_output already limited to a safe value:  16000
 5.727684 <DEBUG> Right_Leg_Calibrator : Calling calibrateJoint on joint  4 : type  10  with params:  -2500 0 0 0 0
 5.727722 <DEBUG> Left_Leg_Calibrator : Calling calibrateJoint on joint  2 : type  10  with params:  -2500 0 0 0 0
 5.727729 <DEBUG> from BOARD 10.0.1.5 (torso-eb5-j0_2) time=965s 0m 449u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 0: offset=16035 zero=32597 
 5.737882 <DEBUG> HeadV3_Calibrator : Calling calibrateJoint on joint  0 : type  12  with params:  62951 0 0 0 0
 5.737909 <DEBUG> HeadV3_Calibrator : Calling calibrateJoint on joint  2 : type  12  with params:  13160 0 0 0 0
 5.737916 <DEBUG> from BOARD 10.0.1.21 (head-eb21-j2_3) time=965s 687m 974u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 0: offset=45928 zero=32768 
 5.737921 <DEBUG> from BOARD 10.0.1.20 (head-eb20-j0_1) time=965s 689m 500u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 0: offset=30183 zero=33496 
 5.737927 <DEBUG> from BOARD 10.0.1.20 (head-eb20-j0_1) time=965s 689m 649u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 1: offset=11643 zero=-32768 
 5.737932 <DEBUG> from BOARD 10.0.1.20 (head-eb20-j0_1) time=965s 689m 923u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 5.737937 <DEBUG> from BOARD 10.0.1.20 (head-eb20-j0_1) time=965s 690m 32u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 5.737949 <DEBUG> Right_Arm_Calibrator : Calling calibrateJoint on joint  4 : type  12  with params:  17592 0 0 0 0
 5.737954 <DEBUG> Right_Arm_Calibrator : Calling calibrateJoint on joint  6 : type  12  with params:  16562 0 0 0 0
 5.748043 <DEBUG> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 13m 327u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 0: offset=2416 zero=16384 
 5.748064 <DEBUG> from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=964s 822m 875u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 0: offset=21392 zero=16384 
 5.748071 <DEBUG> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 13m 436u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 1: offset=61364 zero=16384 
 5.748077 <DEBUG> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 13m 542u :  src LOCAL, adr 2,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 2: offset=356 zero=16384 
 5.748082 <DEBUG> from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=964s 823m 96u :  src LOCAL, adr 2,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 2: offset=34430 zero=16384 
 5.748087 <DEBUG> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 13m 764u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0009 par64 0x0000000000000009) -> DEBUG: tag01  SET CONTROLMODE
 5.748092 <DEBUG> from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=964s 823m 308u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0009 par64 0x0000000000000009) -> DEBUG: tag01  SET CONTROLMODE
 5.748098 <DEBUG> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 13m 835u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0009 par64 0x0000000000000009) -> DEBUG: tag01  SET CONTROLMODE
 5.748106 <DEBUG> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 13m 914u :  src LOCAL, adr 2,(code 0x04000001, par16 0x0009 par64 0x0000000000000009) -> DEBUG: tag01  SET CONTROLMODE
 5.748110 <WARNING> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 14m 621u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 336[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=49, DO=85, TX=14); (Rx=390, ...);
 5.748116 <DEBUG> from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=964s 823m 459u :  src LOCAL, adr 2,(code 0x04000001, par16 0x0009 par64 0x0000000000000009) -> DEBUG: tag01  SET CONTROLMODE
 5.748121 <WARNING> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 14m 696u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 630[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=14); (Rx=390, DO=336, ...). Num of CAN frames[CAN1,CAN2]=[7 0]
 5.748127 <WARNING> from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=964s 824m 680u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 72[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=19); (Rx=396, DO=333, ...). Num of CAN frames[CAN1,CAN2]=[7 0]
 5.748132 <DEBUG> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 15m 53u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  ...PARKING DONE
 5.748137 <WARNING> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 15m 297u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 527[usec]. Latest previous execution times[usec] (..., Tx=14);(RX=390, DO=336, TX=630);
 5.758277 <DEBUG> from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=964s 825m 46u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  ...PARKING DONE
 5.758297 <WARNING> from BOARD 10.0.1.30 (right_arm-eb30-j4_6) time=965s 15m 377u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 485[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=390, DO=336, TX=630); (Rx=527, ...);
 5.829831 <DEBUG> Right_Leg_Calibrator : set 1 j 4 : Calibrating... enc values AFTER calib:  -2.2577
 5.829877 <DEBUG> Left_Leg_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  3.55958
 5.829884 <DEBUG> HeadV3_Calibrator : set 1 j 0 : Calibrating... enc values AFTER calib:  15.0074
 5.829889 <DEBUG> HeadV3_Calibrator : set 1 j 2 : Calibrating... enc values AFTER calib:  0.192261
 5.840022 <DEBUG> HeadV3_Calibrator : calib joint  0 ended
 5.840060 <DEBUG> HeadV3_Calibrator : calib joint  1 ended
 5.840066 <DEBUG> Left_Arm_Calibrator : set 1 j 4 : Calibrating... enc values AFTER calib:  0
 5.840072 <DEBUG> Right_Arm_Calibrator : set 1 j 6 : Calibrating... enc values AFTER calib:  0
 5.840077 <DEBUG> HeadV3_Calibrator : calib joint  2 ended
 5.840081 <DEBUG> HeadV3_Calibrator : set 1 : Calibration ended, going to zero!
 5.850204 <DEBUG> Right_Arm_Calibrator : calib joint  4 ended
 5.850233 <DEBUG> Left_Arm_Calibrator : calib joint  4 ended
 5.850239 <DEBUG> Right_Arm_Calibrator : calib joint  5 ended
 5.850244 <DEBUG> Left_Arm_Calibrator : calib joint  5 ended
 5.850248 <DEBUG> Right_Arm_Calibrator : calib joint  6 ended
 5.860446 <DEBUG> Left_Arm_Calibrator : calib joint  6 ended
 6.340823 <DEBUG> HeadV3_Calibrator : Sending positionMove to joint 0  (desired pos:  0 desired speed:  10  )
 6.351045 <DEBUG> Right_Arm_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  10  )
 6.351074 <DEBUG> Right_Arm_Calibrator : Sending positionMove to joint 6  (desired pos:  0 desired speed:  10  )
 6.361300 <DEBUG> Left_Arm_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  10  )
 6.361342 <DEBUG> Left_Arm_Calibrator : Sending positionMove to joint 6  (desired pos:  0 desired speed:  10  )
 7.352447 <DEBUG> HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 3.560 des: 0.000 -> delta: 3.560 threshold: 90.000 output: 707.000 mode: pos
 7.362552 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 2.000 output: 4.000 mode: pos
 7.362588 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.000 des: 0.000 -> delta: 0.000 threshold: 2.000 output: -4.000 mode: pos
 7.362595 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.000 over: 2.000
 7.372602 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 5 completed with delta: 0.000 over: 2.000
 7.372624 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 0.000 over: 2.000
 7.372630 <DEBUG> Right_Arm_Calibrator : joint  3  has max_output already limited to a safe value:  8000
 7.372635 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 6 completed with delta: 0.000 over: 2.000
 7.372641 <DEBUG> Left_Arm_Calibrator : joint  3  has max_output already limited to a safe value:  8000
 7.474746 <DEBUG> Right_Arm_Calibrator : Calling calibrateJoint on joint  3 : type  10  with params:  -4000 0 0 0 0
 7.474792 <DEBUG> Left_Arm_Calibrator : Calling calibrateJoint on joint  3 : type  10  with params:  4000 0 0 0 0
 7.576916 <DEBUG> Right_Arm_Calibrator : set 2 j 3 : Calibrating... enc values AFTER calib:  -6.56435
 7.576958 <DEBUG> Left_Arm_Calibrator : set 2 j 3 : Calibrating... enc values AFTER calib:  6.62477
 7.853290 <DEBUG> HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: -0.967 des: 0.000 -> delta: 0.967 threshold: 90.000 output: 364.000 mode: pos
 7.853333 <DEBUG> HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -0.022 des: 0.000 -> delta: 0.022 threshold: 90.000 output: -8.000 mode: pos
 7.853340 <DEBUG> HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.192 des: 0.000 -> delta: 0.192 threshold: 2.000 output: -144.000 mode: pos
 7.955394 <DEBUG> HeadV3_Calibrator : Calling calibrateJoint on joint  3 : type  12  with params:  28977 0 0 0 0
 7.965559 <DEBUG> from BOARD 10.0.1.21 (head-eb21-j2_3) time=967s 913m 974u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 1: offset=61745 zero=32768 
 7.965584 <DEBUG> from BOARD 10.0.1.21 (head-eb21-j2_3) time=967s 914m 399u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 8.057643 <DEBUG> HeadV3_Calibrator : set 2 j 3 : Calibrating... enc values AFTER calib:  -0.0549318
 8.057692 <DEBUG> HeadV3_Calibrator : calib joint  3 ended
 8.415221 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=967s 685m 436u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 410[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=79, DO=407, TX=89); (Rx=62, ...);
 8.567847 <DEBUG> HeadV3_Calibrator : Sending positionMove to joint 3  (desired pos:  0 desired speed:  20  )
 8.690534 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=967s 953m 385u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 403[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=74, DO=408, TX=93); (Rx=82, ...);
 9.570226 <DEBUG> HeadV3_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -0.055 des: 0.000 -> delta: 0.055 threshold: 2.000 output: 0.000 mode: pos
 13.417063 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=972s 686m 436u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 413[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=128, DO=411, TX=195); (Rx=65, ...);
 13.693619 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=972s 954m 386u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 404[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=82, DO=403, TX=187); (Rx=64, ...);
 13.939362 <DEBUG> from BOARD 10.0.1.5 (torso-eb5-j0_2) time=973s 211m 6u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 14.706482 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=973s 977m 848u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_battery. CAN boards are on (can1map, can2map) = ([  ], [ 2 ])
 14.859470 <DEBUG> Torso_Calibrator : set 1 : Calibration ended, going to zero!
 15.063698 <WARNING> Provided non-increasing time vector
 15.135051 <WARNING> Provided non-increasing time vector
 15.155213 <WARNING> Provided non-increasing time vector
 15.277794 <ERROR> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=974s 554m 130u : SYS: a service has detected that some CAN boards are still not transmitting. Type of service category is eomn_serv_category_battery. Lost CAN boards are on (can1map, can2map) = ([  ] , [ 2 ]). Total disappearance time: 10000 [ms]
 15.359251 <DEBUG> Torso_Calibrator : Sending positionMove to joint 0  (desired pos:  0 desired speed:  10  )
 15.451036 <WARNING> from BOARD 10.0.1.25 (left_arm-eb25-j11_12) time=975s 411m 436u :  MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. (Joint=l_index_add (NIB=1), encoderPort=0)
 15.593772 <DEBUG> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=974s 866m 715u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 15.859879 <DEBUG> Right_Leg_Calibrator : calib joint  4 ended
 16.361249 <DEBUG> Right_Leg_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  10  )
 16.361291 <DEBUG> Torso_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 0.049 des: 0.000 -> delta: 0.049 threshold: 2.000 output: -551.000 mode: pos
 16.453264 <WARNING> from BOARD 10.0.1.25 (left_arm-eb25-j11_12) time=976s 411m 436u :  MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. (Joint=l_index_add (NIB=1), encoderPort=0)
 16.473501 <DEBUG> Torso_Calibrator : Calling calibrateJoint on joint  1 : type  12  with params:  22272 0 0 0 0
 16.473548 <DEBUG> from BOARD 10.0.1.5 (torso-eb5-j0_2) time=975s 741m 451u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 1: offset=55040 zero=33299 
 16.565064 <DEBUG> Torso_Calibrator : set 2 j 1 : Calibrating... enc values AFTER calib:  10.7776
 16.983336 <DEBUG> from BOARD 10.0.1.4 (left_arm-eb4-j2_3) time=976s 253m 537u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 17.361756 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -42.786 des: 0.000 -> delta: 42.786 threshold: 2.000 output: 1845.000 mode: pos
 17.412648 <DEBUG> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=976s 682m 122u :  src LOCAL, adr 2,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 17.606958 <DEBUG> Left_Arm_Calibrator : calib joint  3 ended
 17.862741 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -36.936 des: 0.000 -> delta: 36.936 threshold: 2.000 output: 2589.000 mode: pos
 17.872926 <DEBUG> Left_Leg_Calibrator : set 1 : Calibration ended, going to zero!
 18.108233 <DEBUG> Left_Arm_Calibrator : Sending positionMove to joint 3  (desired pos:  90 desired speed:  10  )
 18.364031 <DEBUG> Left_Leg_Calibrator : Sending positionMove to joint 2  (desired pos:  0 desired speed:  10  )
 18.374212 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -28.619 des: 0.000 -> delta: 28.619 threshold: 2.000 output: 3096.000 mode: pos
 18.414908 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=977s 687m 437u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 419[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=79, DO=413, TX=92); (Rx=62, ...);
 18.690086 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=977s 955m 386u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 407[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=61, DO=409, TX=90); (Rx=81, ...);
 18.873979 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -19.287 des: 0.000 -> delta: 19.287 threshold: 2.000 output: 3204.000 mode: pos
 19.109346 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -4.642 des: 90.000 -> delta: 94.642 threshold: 2.000 output: -141.000 mode: pos
 19.375087 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 80.459 des: 0.000 -> delta: 80.459 threshold: 2.000 output: 751.000 mode: pos
 19.375129 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -10.618 des: 0.000 -> delta: 10.618 threshold: 2.000 output: 2806.000 mode: pos
 19.446650 <WARNING> Provided non-increasing time vector
 19.497558 <WARNING> Provided non-increasing time vector
 19.548675 <WARNING> Provided non-increasing time vector
 19.599560 <WARNING> Provided non-increasing time vector
 19.609798 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -2.730 des: 90.000 -> delta: 92.730 threshold: 2.000 output: -549.000 mode: pos
 19.650642 <WARNING> Provided non-increasing time vector
 19.701716 <WARNING> Provided non-increasing time vector
 19.875640 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 77.965 des: 0.000 -> delta: 77.965 threshold: 2.000 output: 989.000 mode: pos
 19.875683 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -4.197 des: 0.000 -> delta: 4.197 threshold: 2.000 output: 1887.000 mode: pos
 20.111220 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.813 des: 90.000 -> delta: 89.187 threshold: 2.000 output: -712.000 mode: pos
 20.376952 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 73.718 des: 0.000 -> delta: 73.718 threshold: 2.000 output: 1209.000 mode: pos
 20.387178 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.807 des: 0.000 -> delta: 0.807 threshold: 2.000 output: 1070.000 mode: pos
 20.621859 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 5.801 des: 90.000 -> delta: 84.199 threshold: 2.000 output: -890.000 mode: pos
 20.877350 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 67.742 des: 0.000 -> delta: 67.742 threshold: 2.000 output: 1402.000 mode: pos
 20.887546 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.027 des: 0.000 -> delta: 0.027 threshold: 2.000 output: 779.000 mode: pos
 21.122618 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 12.145 des: 90.000 -> delta: 77.855 threshold: 2.000 output: -1185.000 mode: pos
 21.388432 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 60.200 des: 0.000 -> delta: 60.200 threshold: 2.000 output: 1537.000 mode: pos
 21.388501 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.027 des: 0.000 -> delta: 0.027 threshold: 2.000 output: 649.000 mode: pos
 21.388508 <DEBUG> Right_Leg_Calibrator : set 1 : Reached zero position!
 21.490595 <DEBUG> Right_Leg_Calibrator : Calling calibrateJoint on joint  5 : type  10  with params:  3000 0 0 0 0
 21.592606 <DEBUG> Right_Leg_Calibrator : set 2 j 5 : Calibrating... enc values AFTER calib:  6.30617
 21.623433 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 19.847 des: 90.000 -> delta: 70.153 threshold: 2.000 output: -1327.000 mode: pos
 21.889802 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 51.575 des: 0.000 -> delta: 51.575 threshold: 2.000 output: 1656.000 mode: pos
 22.124957 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 28.471 des: 90.000 -> delta: 61.529 threshold: 2.000 output: -1438.000 mode: pos
 22.390838 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 42.248 des: 0.000 -> delta: 42.248 threshold: 2.000 output: 1685.000 mode: pos
 22.625670 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 37.441 des: 90.000 -> delta: 52.559 threshold: 2.000 output: -1646.000 mode: pos
 22.891412 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 32.893 des: 0.000 -> delta: 32.893 threshold: 2.000 output: 1708.000 mode: pos
 23.136818 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 46.791 des: 90.000 -> delta: 43.209 threshold: 2.000 output: -1738.000 mode: pos
 23.392708 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 23.961 des: 0.000 -> delta: 23.961 threshold: 2.000 output: 1593.000 mode: pos
 23.412987 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=982s 688m 436u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 414[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=92, DO=416, TX=198); (Rx=82, ...);
 23.638140 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 55.964 des: 90.000 -> delta: 34.036 threshold: 2.000 output: -1769.000 mode: pos
 23.689156 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=982s 956m 389u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 407[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=73, DO=406, TX=188); (Rx=70, ...);
 23.842512 <INFO> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=983s 123m 118u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 13 ])
 23.893248 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=983s 166m 844u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 13 ])
 23.903305 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 16.046 des: 0.000 -> delta: 16.046 threshold: 2.000 output: 1452.000 mode: pos
 23.964511 <INFO> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=983s 240m 487u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 1314 ])
 24.025394 <DEBUG> from BOARD 10.0.1.3 (right_arm-eb3-j2_3) time=983s 283m 906u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 24.056057 <INFO> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=983s 328m 752u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 1314 ])
 24.117214 <INFO> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=983s 393m 145u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 13 ])
 24.137616 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 64.457 des: 90.000 -> delta: 25.543 threshold: 2.000 output: -1815.000 mode: pos
 24.168274 <INFO> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=983s 434m 84u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 13 ])
 24.403344 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 9.580 des: 0.000 -> delta: 9.580 threshold: 2.000 output: 1237.000 mode: pos
 24.627934 <DEBUG> Right_Arm_Calibrator : calib joint  3 ended
 24.638159 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 72.027 des: 90.000 -> delta: 17.973 threshold: 2.000 output: -1832.000 mode: pos
 24.709363 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=983s 978m 848u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_battery. CAN boards are on (can1map, can2map) = ([  ], [ 2 ])
 24.902929 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 4.801 des: 0.000 -> delta: 4.801 threshold: 2.000 output: 1071.000 mode: pos
 24.953928 <WARNING> Provided non-increasing time vector
 25.004778 <WARNING> Provided non-increasing time vector
 25.066115 <WARNING> Provided non-increasing time vector
 25.127356 <DEBUG> Right_Arm_Calibrator : Sending positionMove to joint 3  (desired pos:  90 desired speed:  10  )
 25.127398 <WARNING> Provided non-increasing time vector
 25.147626 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 78.410 des: 90.000 -> delta: 11.590 threshold: 2.000 output: -1730.000 mode: pos
 25.198674 <WARNING> Provided non-increasing time vector
 25.259851 <WARNING> Provided non-increasing time vector
 25.280110 <ERROR> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=984s 555m 126u : SYS: a service has detected that some CAN boards are still not transmitting. Type of service category is eomn_serv_category_battery. Lost CAN boards are on (can1map, can2map) = ([  ] , [ 2 ]). Total disappearance time: 20001 [ms]
 25.413286 <DEBUG> from BOARD 10.0.1.5 (torso-eb5-j0_2) time=984s 681m 14u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 25.413328 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 1.780 des: 0.000 -> delta: 1.780 threshold: 2.000 output: 804.000 mode: pos
 25.597484 <DEBUG> Torso_Calibrator : calib joint  1 ended
 25.648393 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 83.364 des: 90.000 -> delta: 6.636 threshold: 2.000 output: -1613.000 mode: pos
 25.689202 <WARNING> Provided non-increasing time vector
 25.914009 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.363 des: 0.000 -> delta: 0.363 threshold: 2.000 output: 629.000 mode: pos
 26.098063 <DEBUG> Torso_Calibrator : Sending positionMove to joint 1  (desired pos:  0 desired speed:  10  )
 26.128610 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -4.631 des: 90.000 -> delta: 94.631 threshold: 2.000 output: 63.000 mode: pos
 26.148937 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 86.748 des: 90.000 -> delta: 3.252 threshold: 2.000 output: -1522.000 mode: pos
 26.414840 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 0.060 des: 0.000 -> delta: 0.060 threshold: 2.000 output: 630.000 mode: pos
 26.628796 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: -2.856 des: 90.000 -> delta: 92.856 threshold: 2.000 output: 640.000 mode: pos
 26.659056 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 88.687 des: 90.000 -> delta: 1.313 threshold: 2.000 output: -1485.000 mode: pos
 26.914471 <DEBUG> Left_Leg_Calibrator : set 1 : Reached zero position!
 27.026755 <DEBUG> Left_Leg_Calibrator : Calling calibrateJoint on joint  4 : type  10  with params:  2500 0 0 0 0
 27.098372 <DEBUG> Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 1.296 des: 0.000 -> delta: 1.296 threshold: 2.000 output: -3021.000 mode: pos
 27.118702 <DEBUG> Left_Leg_Calibrator : set 2 j 4 : Calibrating... enc values AFTER calib:  4.27369
 27.138984 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 0.786 des: 90.000 -> delta: 89.214 threshold: 2.000 output: 751.000 mode: pos
 27.159344 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 89.445 des: 90.000 -> delta: 0.555 threshold: 2.000 output: -1454.000 mode: pos
 27.599211 <DEBUG> Torso_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: 0.143 des: 0.000 -> delta: 0.143 threshold: 2.000 output: -2397.000 mode: pos
 27.650335 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 5.773 des: 90.000 -> delta: 84.227 threshold: 2.000 output: 946.000 mode: pos
 27.670798 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 89.511 des: 90.000 -> delta: 0.489 threshold: 2.000 output: -1490.000 mode: pos
 27.670821 <DEBUG> Left_Arm_Calibrator : set 2 : Reached zero position!
 27.670828 <DEBUG> Left_Arm_Calibrator : joint  2  has max_output already limited to a safe value:  8000
 27.701028 <DEBUG> Torso_Calibrator : Calling calibrateJoint on joint  2 : type  12  with params:  26900 0 0 0 0
 27.701078 <DEBUG> from BOARD 10.0.1.5 (torso-eb5-j0_2) time=986s 974m 451u :  src LOCAL, adr 2,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01  CALIB 12 j 2: offset=59668 zero=32768 
 27.762213 <DEBUG> Left_Arm_Calibrator : Calling calibrateJoint on joint  2 : type  10  with params:  -3000 0 0 0 0
 27.802897 <DEBUG> Torso_Calibrator : set 3 j 2 : Calibrating... enc values AFTER calib:  0.0219727
 27.864136 <DEBUG> Left_Arm_Calibrator : set 3 j 2 : Calibrating... enc values AFTER calib:  5.61952
 28.140767 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 12.299 des: 90.000 -> delta: 77.701 threshold: 2.000 output: 1073.000 mode: pos
 28.417148 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=987s 689m 436u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 414[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=105, DO=410, TX=95); (Rx=88, ...);
 28.641820 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 20.182 des: 90.000 -> delta: 69.818 threshold: 2.000 output: 992.000 mode: pos
 28.692911 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=987s 957m 386u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 406[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=81, DO=406, TX=87); (Rx=64, ...);
 29.019861 <WARNING> Provided non-increasing time vector
 29.040271 <WARNING> Provided non-increasing time vector
 29.060714 <WARNING> Provided non-increasing time vector
 29.111636 <WARNING> Provided non-increasing time vector
 29.142174 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 28.592 des: 90.000 -> delta: 61.408 threshold: 2.000 output: 1406.000 mode: pos
 29.653495 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 37.821 des: 90.000 -> delta: 52.179 threshold: 2.000 output: 1592.000 mode: pos
 29.909168 <DEBUG> from BOARD 10.0.1.4 (left_arm-eb4-j2_3) time=989s 183m 491u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 30.154479 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 47.296 des: 90.000 -> delta: 42.704 threshold: 2.000 output: 1654.000 mode: pos
 30.420136 <DEBUG> from BOARD 10.0.1.5 (torso-eb5-j0_2) time=989s 689m 28u :  src LOCAL, adr 2,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 30.654377 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 56.486 des: 90.000 -> delta: 33.514 threshold: 2.000 output: 1795.000 mode: pos
 30.674827 <WARNING> Provided non-increasing time vector
 30.746487 <WARNING> Provided non-increasing time vector
 30.807792 <WARNING> Provided non-increasing time vector
 30.807814 <DEBUG> Torso_Calibrator : calib joint  2 ended
 30.807827 <DEBUG> Torso_Calibrator : set 3 : Calibration ended, going to zero!
 30.858764 <WARNING> Provided non-increasing time vector
 30.868972 <DEBUG> Left_Arm_Calibrator : set 3 : Calibration ended, going to zero!
 30.909534 <WARNING> Provided non-increasing time vector
 30.960634 <WARNING> Provided non-increasing time vector
 31.011584 <WARNING> Provided non-increasing time vector
 31.154675 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 65.220 des: 90.000 -> delta: 24.780 threshold: 2.000 output: 1698.000 mode: pos
 31.308236 <DEBUG> Torso_Calibrator : Sending positionMove to joint 2  (desired pos:  0 desired speed:  10  )
 31.368927 <DEBUG> Left_Arm_Calibrator : Sending positionMove to joint 2  (desired pos:  -10 desired speed:  10  )
 31.665112 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 72.779 des: 90.000 -> delta: 17.221 threshold: 2.000 output: 1776.000 mode: pos
 32.166445 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 79.206 des: 90.000 -> delta: 10.794 threshold: 2.000 output: 1660.000 mode: pos
 32.319446 <DEBUG> Torso_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -0.077 des: 0.000 -> delta: 0.077 threshold: 2.000 output: -168.000 mode: pos
 32.319490 <DEBUG> torso-calibrator finished calibration of device torso-eb5-j0_2-mc
 32.370240 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -49.016 des: -10.000 -> delta: 39.016 threshold: 2.000 output: 888.000 mode: pos
 32.676539 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 84.013 des: 90.000 -> delta: 5.987 threshold: 2.000 output: 1672.000 mode: pos
 32.881085 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -42.473 des: -10.000 -> delta: 32.473 threshold: 2.000 output: 1333.000 mode: pos
 33.044254 <WARNING> Provided non-increasing time vector
 33.176870 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 87.413 des: 90.000 -> delta: 2.587 threshold: 2.000 output: 1531.000 mode: pos
 33.381439 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -33.442 des: -10.000 -> delta: 23.442 threshold: 2.000 output: 1444.000 mode: pos
 33.422366 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=992s 690m 436u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 419[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=79, DO=423, TX=199); (Rx=111, ...);
 33.678214 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 89.418 des: 90.000 -> delta: 0.582 threshold: 2.000 output: 1360.000 mode: pos
 33.698581 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=992s 958m 385u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 407[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=61, DO=406, TX=190); (Rx=79, ...);
 33.821008 <DEBUG> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=993s 99m 758u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 33.882455 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -23.890 des: -10.000 -> delta: 13.890 threshold: 2.000 output: 1294.000 mode: pos
 34.076556 <WARNING> Provided non-increasing time vector
 34.127615 <WARNING> Provided non-increasing time vector
 34.178546 <WARNING> Provided non-increasing time vector
 34.178573 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 89.940 des: 90.000 -> delta: 0.060 threshold: 2.000 output: 1507.000 mode: pos
 34.219150 <WARNING> Provided non-increasing time vector
 34.270107 <WARNING> Provided non-increasing time vector
 34.310763 <WARNING> Provided non-increasing time vector
 34.361830 <WARNING> Provided non-increasing time vector
 34.382056 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -16.079 des: -10.000 -> delta: 6.079 threshold: 2.000 output: 1109.000 mode: pos
 34.524815 <WARNING> Provided non-increasing time vector
 34.636306 <DEBUG> Right_Leg_Calibrator : calib joint  5 ended
 34.677046 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 3 curr: 90.055 des: 90.000 -> delta: 0.055 threshold: 2.000 output: 1467.000 mode: pos
 34.677092 <DEBUG> Right_Arm_Calibrator : set 2 : Reached zero position!
 34.677099 <DEBUG> Right_Arm_Calibrator : joint  2  has max_output already limited to a safe value:  8000
 34.707541 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=993s 979m 848u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_battery. CAN boards are on (can1map, can2map) = ([  ], [ 2 ])
 34.778812 <DEBUG> Right_Arm_Calibrator : Calling calibrateJoint on joint  2 : type  10  with params:  3000 0 0 0 0
 34.880664 <DEBUG> Right_Arm_Calibrator : set 3 j 2 : Calibrating... enc values AFTER calib:  -5.57558
 34.890760 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -11.173 des: -10.000 -> delta: 1.173 threshold: 2.000 output: 740.000 mode: pos
 35.135504 <DEBUG> Right_Leg_Calibrator : Sending positionMove to joint 5  (desired pos:  0 desired speed:  10  )
 35.278507 <ERROR> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=994s 556m 126u : SYS: a service has detected that some CAN boards are still not transmitting. Type of service category is eomn_serv_category_battery. Lost CAN boards are on (can1map, can2map) = ([  ] , [ 2 ]). Total disappearance time: 30002 [ms]
 35.390568 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -9.652 des: -10.000 -> delta: 0.348 threshold: 2.000 output: 511.000 mode: pos
 35.902158 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -9.652 des: -10.000 -> delta: 0.348 threshold: 2.000 output: 368.000 mode: pos
 35.902201 <DEBUG> Left_Arm_Calibrator : joint  0  has max_output already limited to a safe value:  8000
 36.003974 <DEBUG> Left_Arm_Calibrator : Calling calibrateJoint on joint  0 : type  10  with params:  4000 0 0 0 0
 36.106090 <DEBUG> Left_Arm_Calibrator : set 4 j 0 : Calibrating... enc values AFTER calib:  0
 36.136832 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 18.243 des: 0.000 -> delta: 18.243 threshold: 2.000 output: -1883.000 mode: pos
 36.208301 <WARNING> Provided non-increasing time vector
 36.392464 <WARNING> Provided non-increasing time vector
 36.636992 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 9.064 des: 0.000 -> delta: 9.064 threshold: 2.000 output: -2075.000 mode: pos
 37.138186 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 2.032 des: 0.000 -> delta: 2.032 threshold: 2.000 output: -1219.000 mode: pos
 37.649630 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 5 curr: 0.016 des: 0.000 -> delta: 0.016 threshold: 2.000 output: -293.000 mode: pos
 38.151221 <DEBUG> Right_Leg_Calibrator : set 2 : Reached zero position!
 38.253529 <DEBUG> Right_Leg_Calibrator : Calling calibrateJoint on joint  2 : type  10  with params:  2500 0 0 0 0
 38.355829 <DEBUG> Right_Leg_Calibrator : set 3 j 2 : Calibrating... enc values AFTER calib:  -5.54262
 38.416926 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=997s 691m 437u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 413[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=82, DO=413, TX=92); (Rx=62, ...);
 38.692626 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=997s 959m 386u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 407[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=61, DO=412, TX=91); (Rx=81, ...);
 39.787511 <WARNING> Provided non-increasing time vector
 39.838532 <WARNING> Provided non-increasing time vector
 40.135305 <WARNING> Provided non-increasing time vector
 40.196406 <WARNING> Provided non-increasing time vector
 40.574782 <ERROR> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=999s 847m 850u : SYS: a service has detected that some CAN boards have stopped transmission. Type of service category is eomn_serv_category_battery. Lost CAN boards are on (can1map, can2map) = ([  ], [ 2 ]).
 40.829486 <WARNING> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=1000s 98m 851u : SYS: a service has recovered all CAN boards that were not transmitting. Type of service category is eomn_serv_category_battery. CAN boards are on (can1map, can2map) = ([  ], [ 2 ]). Total retrieving time: 251 [ms]
 42.333169 <DEBUG> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=1001s 600m 461u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 43.181823 <DEBUG> Left_Leg_Calibrator : calib joint  4 ended
 43.417011 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=1002s 692m 437u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 412[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=82, DO=410, TX=192); (Rx=67, ...);
 43.682909 <DEBUG> Left_Leg_Calibrator : Sending positionMove to joint 4  (desired pos:  0 desired speed:  10  )
 43.693020 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=1002s 960m 386u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 410[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=79, DO=404, TX=188); (Rx=61, ...);
 43.846253 <INFO> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=1003s 123m 120u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 13 ])
 43.897192 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=1003s 167m 845u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 13 ])
 43.968714 <INFO> from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=1003s 240m 498u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 1314 ])
 44.050255 <INFO> from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=1003s 328m 750u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 1314 ])
 44.121788 <INFO> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=1003s 394m 148u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 13 ])
 44.172988 <INFO> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=1003s 434m 94u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([  ], [ 13 ])
 44.684665 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -43.561 des: 0.000 -> delta: 43.561 threshold: 2.000 output: -2281.000 mode: pos
 45.185412 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -37.799 des: 0.000 -> delta: 37.799 threshold: 2.000 output: -2825.000 mode: pos
 45.277237 <ERROR> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=1004s 556m 130u : SYS: a service has detected that some CAN boards are still not transmitting. Type of service category is eomn_serv_category_battery. Lost CAN boards are on (can1map, can2map) = ([  ] , [ 2 ]). Total disappearance time: 40002 [ms]
 45.696858 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -29.619 des: 0.000 -> delta: 29.619 threshold: 2.000 output: -3677.000 mode: pos
 45.911675 <WARNING> Provided non-increasing time vector
 45.952526 <WARNING> Provided non-increasing time vector
 46.197665 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -20.242 des: 0.000 -> delta: 20.242 threshold: 2.000 output: -3416.000 mode: pos
 46.698776 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -11.519 des: 0.000 -> delta: 11.519 threshold: 2.000 output: -3452.000 mode: pos
 47.199158 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -4.790 des: 0.000 -> delta: 4.790 threshold: 2.000 output: -2367.000 mode: pos
 47.710825 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -1.082 des: 0.000 -> delta: 1.082 threshold: 2.000 output: -1623.000 mode: pos
 48.211880 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 curr: -0.033 des: 0.000 -> delta: 0.033 threshold: 2.000 output: -797.000 mode: pos
 48.426522 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=1007s 693m 438u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 414[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=62, DO=416, TX=96); (Rx=82, ...);
 48.702701 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=1007s 961m 391u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 410[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=73, DO=404, TX=89); (Rx=70, ...);
 48.712776 <DEBUG> Left_Leg_Calibrator: checkGoneToZeroThreshold: joint: 4 completed with delta: 0.011 over: 2.000
 48.814831 <DEBUG> Left_Leg_Calibrator : Calling calibrateJoint on joint  5 : type  10  with params:  -3000 0 0 0 0
 48.917039 <DEBUG> Left_Leg_Calibrator : set 3 j 5 : Calibrating... enc values AFTER calib:  -5.28444
 49.121045 <WARNING> Provided non-increasing time vector
 49.172199 <WARNING> Provided non-increasing time vector
 49.192631 <DEBUG> from BOARD 10.0.1.3 (right_arm-eb3-j2_3) time=1008s 457m 861u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 49.192665 <WARNING> Provided non-increasing time vector
 49.243612 <WARNING> Provided non-increasing time vector
 49.335555 <DEBUG> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=1008s 616m 80u :  src LOCAL, adr 0,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 49.929469 <DEBUG> Right_Arm_Calibrator : calib joint  2 ended
 50.144243 <DEBUG> Left_Arm_Calibrator : calib joint  0 ended
 50.430861 <DEBUG> Right_Arm_Calibrator : Sending positionMove to joint 2  (desired pos:  -10 desired speed:  10  )
 50.644525 <DEBUG> Left_Arm_Calibrator : Sending positionMove to joint 0  (desired pos:  34 desired speed:  10  )
 50.826773 <INFO> from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=1010s 99m 848u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_battery. CAN boards are on (can1map, can2map) = ([  ], [ 2 ])
 50.918116 <WARNING> Provided non-increasing time vector
 50.989025 <WARNING> Provided non-increasing time vector
 51.049865 <WARNING> Provided non-increasing time vector
 51.070214 <WARNING> Provided non-increasing time vector
 51.120646 <WARNING> Provided non-increasing time vector
 51.437059 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -49.082 des: -10.000 -> delta: 39.082 threshold: 2.000 output: -1091.000 mode: pos
 51.651909 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 0 curr: 35.003 des: 34.000 -> delta: 1.003 threshold: 2.000 output: -4949.000 mode: pos
 51.651947 <DEBUG> Left_Arm_Calibrator : joint  1  has max_output already limited to a safe value:  8000
 51.754187 <DEBUG> Left_Arm_Calibrator : Calling calibrateJoint on joint  1 : type  10  with params:  -3000 0 0 0 0
 51.845976 <DEBUG> Left_Arm_Calibrator : set 5 j 1 : Calibrating... enc values AFTER calib:  1.15357
 51.938030 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -42.451 des: -10.000 -> delta: 32.451 threshold: 2.000 output: -1438.000 mode: pos
 52.439777 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -33.393 des: -10.000 -> delta: 23.393 threshold: 2.000 output: -1518.000 mode: pos
 52.755977 <DEBUG> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=1012s 32m 136u :  src LOCAL, adr 1,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 52.857850 <DEBUG> Left_Arm_Calibrator : calib joint  1 ended
 52.949866 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -23.928 des: -10.000 -> delta: 13.928 threshold: 2.000 output: -1500.000 mode: pos
 53.102633 <DEBUG> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=1012s 363m 60u :  src LOCAL, adr 2,(code 0x04000001, par16 0x0001 par64 0x0000000000000001) -> DEBUG: tag01  SET CONTROLMODE
 53.102672 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=1012s 363m 391u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 350[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=97); (Rx=128, DO=550, ...). Num of CAN frames[CAN1,CAN2]=[2 0]
 53.163707 <ERROR> from BOARD 10.0.1.21 (head-eb21-j2_3) time=1013s 117m 407u :  MC: overcurrent. The motor has been turned off to prevent it from being damaged by an impulsive spike of current. (Joint=neck_yaw (NIB=0))
 53.358155 <DEBUG> Left_Arm_Calibrator : Sending positionMove to joint 1  (desired pos:  50 desired speed:  10  )
 53.398997 <DEBUG> Right_Leg_Calibrator : calib joint  2 ended
 53.419427 <WARNING> from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=1012s 694m 437u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 416[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=82, DO=410, TX=196); (Rx=63, ...);
 53.450123 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -15.903 des: -10.000 -> delta: 5.903 threshold: 2.000 output: -1182.000 mode: pos
 53.695820 <WARNING> from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=1012s 962m 387u :  SYS: the DO phase of the control loop has last more than wanted. DO execution time 419[usec]. Latest previous execution times[usec] (..., Tx=N/A);(RX=79, DO=410, TX=191); (Rx=61, ...);
 53.889889 <DEBUG> Right_Leg_Calibrator : Sending positionMove to joint 2  (desired pos:  0 desired speed:  10  )
 53.951254 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -11.030 des: -10.000 -> delta: 1.030 threshold: 2.000 output: -781.000 mode: pos
 54.349938 <WARNING> Provided non-increasing time vector
 54.360196 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -11.140 des: 50.000 -> delta: 61.140 threshold: 2.000 output: -3993.000 mode: pos
 54.400763 <WARNING> Provided non-increasing time vector
 54.451766 <WARNING> from BOARD 10.0.1.25 (left_arm-eb25-j11_12) time=1014s 411m 437u :  MC: AEA encoder has spikes. There is impulsive noise in the measures of the magnetic position sensor of the joint. (Joint=l_index_add (NIB=1), encoderPort=0)
 54.451788 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -9.536 des: -10.000 -> delta: 0.464 threshold: 2.000 output: -542.000 mode: pos
 54.461955 <WARNING> Provided non-increasing time vector
 54.502662 <WARNING> Provided non-increasing time vector
 54.553461 <WARNING> Provided non-increasing time vector
 54.604552 <WARNING> Provided non-increasing time vector
 54.868890 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -9.844 des: 50.000 -> delta: 59.844 threshold: 2.000 output: -1632.000 mode: pos
 54.899306 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 79.810 des: 0.000 -> delta: 79.810 threshold: 2.000 output: -779.000 mode: pos
 54.960337 <DEBUG> Right_Arm_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: -9.520 des: -10.000 -> delta: 0.480 threshold: 2.000 output: -319.000 mode: pos
 54.960366 <DEBUG> Right_Arm_Calibrator : joint  0  has max_output already limited to a safe value:  8000
 55.062292 <DEBUG> Right_Arm_Calibrator : Calling calibrateJoint on joint  0 : type  10  with params:  -4000 0 0 0 0
 55.164076 <DEBUG> Right_Arm_Calibrator : set 4 j 0 : Calibrating... enc values AFTER calib:  5.235
 55.275928 <ERROR> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=1014s 556m 138u : SYS: a service has detected that some CAN boards are still not transmitting. Type of service category is eomn_serv_category_battery. Lost CAN boards are on (can1map, can2map) = ([  ] , [ 2 ]). Total disappearance time: 50003 [ms]
 55.367743 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -7.778 des: 50.000 -> delta: 57.778 threshold: 2.000 output: 2984.000 mode: pos
 55.398079 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 77.278 des: 0.000 -> delta: 77.278 threshold: 2.000 output: -977.000 mode: pos
 55.867954 <DEBUG> 
 55.908718 <DEBUG> Right_Leg_Calibrator: checkGoneToZeroThreshold: joint: 2 curr: 72.999 des: 0.000 -> delta: 72.999 threshold: 2.000 output: -1223.000 mode: pos
 55.939260 <WARNING> Left_Leg_Calibrator : calibration aborted
 55.939277 <DEBUG> Left_Leg_Calibrator : calib joint  5 ended
 55.939290 <ERROR> Left_Leg_Calibrator : calibration has been aborted!I'm going to disable all joints...
 55.939296 <DEBUG> right_leg-calibrator killing calibration of device right_leg-mc_remapper
 55.939302 <DEBUG> Right_Leg_Calibrator : Quitting calibrate
 56.061615 <WARNING> Provided non-increasing time vector
 56.245420 <WARNING> Provided non-increasing time vector
 56.306777 <WARNING> Provided non-increasing time vector
 56.367848 <WARNING> Provided non-increasing time vector
 56.377904 <DEBUG> Left_Arm_Calibrator: checkGoneToZeroThreshold: joint: 1 curr: -7.811 des: 50.000 -> delta: 57.811 threshold: 2.000 output: 8000.000 mode: pos
 56.408589 <ERROR> Right_Leg_Calibrator : calibration has been aborted!I'm going to disable all joints...
 56.408610 <DEBUG> left_arm-calibrator killing calibration of device left_arm-mc_remapper
 56.500401 <WARNING> Provided non-increasing time vector
 56.561288 <WARNING> Provided non-increasing time vector
 56.592024 <ERROR> from BOARD 10.0.1.2 (left_arm-eb2-j0_1) time=1015s 870m 132u :  MC: 2FOC quadrature encoder dirty. The number of thicks in a complete revolution of the motor was lower than expected, the optical disks need to be cleaned. (Joint=l_shoulder_roll (NIB=1), Raw_quad_encoder_value=0)
 56.877655 <ERROR> Left_Arm_Calibrator : calibration has been aborted!I'm going to disable all joints...
 56.877687 <DEBUG> Right_Arm_Calibrator : Quitting calibrate
 57.163734 <WARNING> Right_Arm_Calibrator : calibration aborted
 57.511031 <WARNING> Interrupt # 2 # received.