184,318647 Checking "robot": = icub (Getting robot name) 184,319783 Checking "left_arm": = on (Getting left arm use flag) 184,319818 Checking "right_arm": = on (Getting right arm use flag) 184,319837 Checking "torso": Getting torso use flag (default on) 184,319853 Checking "speech": = on (Getting speech use flag) 184,319869 Checking "use_network": = off (Getting network enable) 184,319884 Checking "simulation": = off (Getting simulation enable) 184,319898 Checking "traj_time": = 1.0 (Getting trajectory time) 184,319913 Checking "reach_tol": = 0.0100000000000000002082 (Getting reaching tolerance) 184,319929 Checking "eye": = left (Getting the used eye) 184,319944 Checking "idle_tmo": = 5.0 (Getting idle timeout) 184,319959 Checking "thread_period": = 20 (Getting thread period [ms]) 184,319973 Checking "pitch.min": = min -10.0 (Getting minimum value) 184,319988 Checking "pitch.min": = -10.0 (Getting minimum value) 184,320002 Checking "pitch.max": = max 10.0 (Getting maximum value) 184,320016 Checking "pitch.max": = 10.0 (Getting maximum value) 184,320030 Checking "roll.min": Getting minimum value 184,320045 Checking "roll.max": Getting maximum value 184,320059 Checking "yaw.min": Getting minimum value 184,320073 Checking "yaw.max": Getting maximum value 184,320087 Checking "grasp_enable": = on (Getting arm grasp mode) 184,320101 Checking "reach_offset": = reach_offset 0.132184999999999 ... (Getting reaching offset) 184,320116 Checking "reach_offset": = reach_offset 0.132184999999999 ... (Getting reaching offset) 184,320131 Checking "grasp_offset": = grasp_offset 0.132184999999999 ... (Getting grasping offset) 184,320145 Checking "grasp_offset": = grasp_offset 0.132184999999999 ... (Getting grasping offset) 184,320160 Checking "hand_orientation": = hand_orientation 0.0 -0.707106 ... (Getting hand orientation) 184,320175 Checking "hand_orientation": = hand_orientation 0.0 -0.707106 ... (Getting hand orientation) 184,320189 Checking "impedance_velocity_mode": = on (Getting arm impedance-velocity-mode) 184,320204 Checking "impedance_stiffness": = impedance_stiffness 0.40000000 ... (Getting joints stiffness) 184,320219 Checking "impedance_stiffness": = impedance_stiffness 0.40000000 ... (Getting joints stiffness) 184,320234 Checking "impedance_damping": = impedance_damping 0.0020000000 ... (Getting joints damping) 184,320249 Checking "impedance_damping": = impedance_damping 0.0020000000 ... (Getting joints damping) 184,320264 Checking "grasp_enable": = on (Getting arm grasp mode) 184,320281 Checking "reach_offset": = reach_offset 0.077425999999999 ... (Getting reaching offset) 184,320296 Checking "reach_offset": = reach_offset 0.077425999999999 ... (Getting reaching offset) 184,320310 Checking "grasp_offset": = grasp_offset 0.077425999999999 ... (Getting grasping offset) 184,320325 Checking "grasp_offset": = grasp_offset 0.077425999999999 ... (Getting grasping offset) 184,320339 Checking "hand_orientation": = hand_orientation 0.0 -0.707106 ... (Getting hand orientation) 184,320354 Checking "hand_orientation": = hand_orientation 0.0 -0.707106 ... (Getting hand orientation) 184,320369 Checking "impedance_velocity_mode": = on (Getting arm impedance-velocity-mode) 184,320383 Checking "impedance_stiffness": = impedance_stiffness 0.40000000 ... (Getting joints stiffness) 184,320398 Checking "impedance_stiffness": = impedance_stiffness 0.40000000 ... (Getting joints stiffness) 184,320413 Checking "impedance_damping": = impedance_damping 0.0020000000 ... (Getting joints damping) 184,320427 Checking "impedance_damping": = impedance_damping 0.0020000000 ... (Getting joints damping) 184,320442 Checking "poss": = poss -30.0 30.0 0.0 45.0 0.0 0 ... (Getting home poss) 184,320456 Checking "poss": = poss -30.0 30.0 0.0 45.0 0.0 0 ... (Getting home poss) 184,320470 Checking "vels": = vels 10.0 10.0 10.0 10.0 10.0 ... (Getting home vels) 184,320485 Checking "vels": = vels 10.0 10.0 10.0 10.0 10.0 ... (Getting home vels) 184,320499 Checking "hysteresis_thres": = 0.149999999999999994449 (Getting hysteresis threshold) 184,320513 Checking "sphere_radius": = 0.0500000000000000027756 (Getting sphere radius) 184,320527 Checking "sphere_tmo": = 2.0 (Getting sphere timeout) 184,320541 Checking "release_tmo": = 4.0 (Getting release timeout) 184,320555 Checking "open_hand": = open_hand 0.0 0.0 0.0 0.0 0.0 ... (Getting openHand poss) 184,320570 Checking "open_hand": = open_hand 0.0 0.0 0.0 0.0 0.0 ... (Getting openHand poss) 184,320584 Checking "close_hand": = close_hand 20.0 80.0 30.0 20.0 ... (Getting closeHand poss) 184,320599 Checking "close_hand": = close_hand 20.0 80.0 30.0 20.0 ... (Getting closeHand poss) 184,320613 Checking "vels_hand": = vels_hand 20.0 40.0 50.0 50.0 ... (Getting hand vels) 184,320627 Checking "vels_hand": = vels_hand 20.0 40.0 50.0 50.0 ... (Getting hand vels) 184,320641 Port /demoRedBall/trackTarget:i active at tcp://10.0.0.1:10316/ 184,328709 Port /demoRedBall/imdTargetLeft:i active at tcp://10.0.0.1:10317/ 184,328766 Port /demoRedBall/imdTargetRight:i active at tcp://10.0.0.1:10318/ 184,338769 Port /demoRedBall/cmdFace:rpc active at tcp://10.0.0.1:10319/ 184,338810 Port /demoRedBall/gui:o active at tcp://10.0.0.1:10320/ 184,348832 Port /demoRedBall/speech:o active at tcp://10.0.0.1:10321/ 184,348935 Port /demoRedBall/breather/head:rpc active at tcp://10.0.0.1:10322/ 184,358891 Port /demoRedBall/breather/left_arm:rpc active at tcp://10.0.0.1:10323/ 184,358952 Port /demoRedBall/breather/right_arm:rpc active at tcp://10.0.0.1:10324/ 184,368953 Port /demoRedBall/blinker:rpc active at tcp://10.0.0.1:10325/ 184,369010 Port /demoRedBall/lookSkin:rpc active at tcp://10.0.0.1:10326/ 184,379014 Parameters are (device remote_controlboard) (local "/demoRedBall/torso") (remote "/icub/torso") 184,389073 Port /demoRedBall/torso/rpc:o active at tcp://10.0.0.1:10327/ 184,389129 Port /demoRedBall/torso/command:o active at tcp://10.0.0.1:10328/ 184,399135 Port /demoRedBall/torso/stateExt:i active at tcp://10.0.0.1:10329/ 184,399194 Sending output from /demoRedBall/torso/rpc:o to /icub/torso/rpc:i using tcp 184,409235 Sending output from /demoRedBall/torso/command:o to /icub/torso/command:i using udp 184,429354 Receiving input from /icub/torso/stateExt:o to /demoRedBall/torso/stateExt:i using udp 184,439411 Created device . See C++ class RemoteControlBoard for documentation. 184,439465 Parameters are (device remote_controlboard) (local "/demoRedBall/head") (remote "/icub/head") 184,439497 Port /demoRedBall/head/rpc:o active at tcp://10.0.0.1:10330/ 184,449471 Port /demoRedBall/head/command:o active at tcp://10.0.0.1:10331/ 184,449530 Port /demoRedBall/head/stateExt:i active at tcp://10.0.0.1:10333/ 184,459534 Sending output from /demoRedBall/head/rpc:o to /icub/head/rpc:i using tcp 184,459628 Sending output from /demoRedBall/head/command:o to /icub/head/command:i using udp 184,479660 Receiving input from /icub/head/stateExt:o to /demoRedBall/head/stateExt:i using udp 184,489717 Created device . See C++ class RemoteControlBoard for documentation. 184,489770 Parameters are (device remote_controlboard) (local "/demoRedBall/left_arm") (remote "/icub/left_arm") 184,489804 Port /demoRedBall/left_arm/rpc:o active at tcp://10.0.0.1:10334/ 184,499779 Port /demoRedBall/left_arm/command:o active at tcp://10.0.0.1:10335/ 184,499898 Port /demoRedBall/left_arm/stateExt:i active at tcp://10.0.0.1:10336/ 184,509890 Sending output from /demoRedBall/left_arm/rpc:o to /icub/left_arm/rpc:i using tcp 184,519899 Sending output from /demoRedBall/left_arm/command:o to /icub/left_arm/command:i using udp 184,540114 Receiving input from /icub/left_arm/stateExt:o to /demoRedBall/left_arm/stateExt:i using udp 184,550175 Created device . See C++ class RemoteControlBoard for documentation. 184,550250 Parameters are (device remote_controlboard) (local "/demoRedBall/right_arm") (remote "/icub/right_arm") 184,550292 Port /demoRedBall/right_arm/rpc:o active at tcp://10.0.0.1:10337/ 184,550332 Port /demoRedBall/right_arm/command:o active at tcp://10.0.0.1:10338/ 184,560235 Port /demoRedBall/right_arm/stateExt:i active at tcp://10.0.0.1:10339/ 184,600474 Sending output from /demoRedBall/right_arm/rpc:o to /icub/right_arm/rpc:i using tcp 184,610583 Sending output from /demoRedBall/right_arm/command:o to /icub/right_arm/command:i using udp 184,630654 Receiving input from /icub/right_arm/stateExt:o to /demoRedBall/right_arm/stateExt:i using udp 184,630742 Created device . See C++ class RemoteControlBoard for documentation. 184,650777 Parameters are (device cartesiancontrollerclient) (local "/demoRedBall/left_arm/cartesian") (remote "/icub/cartesianController/left_arm") 184,660834 Port /demoRedBall/left_arm/cartesian/command:o active at tcp://10.0.0.1:10340/ 184,660872 Port /demoRedBall/left_arm/cartesian/state:i active at tcp://10.0.0.1:10341/ 184,670893 Port /demoRedBall/left_arm/cartesian/events:i active at tcp://10.0.0.1:10343/ 184,670963 Port /demoRedBall/left_arm/cartesian/rpc:o active at tcp://10.0.0.1:10344/ 184,682090 Sending output from /demoRedBall/left_arm/cartesian/rpc:o to /icub/cartesianController/left_arm/rpc:i using tcp 184,691008 Sending output from /demoRedBall/left_arm/cartesian/command:o to /icub/cartesianController/left_arm/command:i using udp 184,721184 Receiving input from /icub/cartesianController/left_arm/state:o to /demoRedBall/left_arm/cartesian/state:i using udp 184,741337 Receiving input from /icub/cartesianController/left_arm/events:o to /demoRedBall/left_arm/cartesian/events:i using udp 184,741393 Created wrapper . See C++ class ClientCartesianController for documentation. 184,771512 Parameters are (device cartesiancontrollerclient) (local "/demoRedBall/right_arm/cartesian") (remote "/icub/cartesianController/right_arm") 184,771550 Port /demoRedBall/right_arm/cartesian/command:o active at tcp://10.0.0.1:10350/ 184,771568 Port /demoRedBall/right_arm/cartesian/state:i active at tcp://10.0.0.1:10351/ 184,781571 Port /demoRedBall/right_arm/cartesian/events:i active at tcp://10.0.0.1:10352/ 184,781612 Port /demoRedBall/right_arm/cartesian/rpc:o active at tcp://10.0.0.1:10353/ 184,791668 Sending output from /demoRedBall/right_arm/cartesian/rpc:o to /icub/cartesianController/right_arm/rpc:i using tcp 184,801660 Sending output from /demoRedBall/right_arm/cartesian/command:o to /icub/cartesianController/right_arm/command:i using udp 184,821789 Receiving input from /icub/cartesianController/right_arm/state:o to /demoRedBall/right_arm/cartesian/state:i using udp 184,851964 Receiving input from /icub/cartesianController/right_arm/events:o to /demoRedBall/right_arm/cartesian/events:i using udp 184,852036 Created wrapper . See C++ class ClientCartesianController for documentation. 184,902304 Parameters are (device gazecontrollerclient) (local "/demoRedBall/gaze") (remote "/iKinGazeCtrl") 184,902358 Port /demoRedBall/gaze/xd:o active at tcp://10.0.0.1:10354/ 184,912362 Port /demoRedBall/gaze/angles:o active at tcp://10.0.0.1:10355/ 184,912421 Port /demoRedBall/gaze/mono:o active at tcp://10.0.0.1:10356/ 184,922421 Port /demoRedBall/gaze/stereo:o active at tcp://10.0.0.1:10357/ 184,922464 Port /demoRedBall/gaze/x:i active at tcp://10.0.0.1:10358/ 184,932484 Port /demoRedBall/gaze/angles:i active at tcp://10.0.0.1:10359/ 184,932553 Port /demoRedBall/gaze/q:i active at tcp://10.0.0.1:10360/ 184,942545 Port /demoRedBall/gaze/events:i active at tcp://10.0.0.1:10361/ 184,942603 Port /demoRedBall/gaze/rpc active at tcp://10.0.0.1:10362/ 184,952602 Sending output from /demoRedBall/gaze/rpc to /iKinGazeCtrl/rpc using tcp 184,952700 Sending output from /demoRedBall/gaze/xd:o to /iKinGazeCtrl/xd:i using udp 184,952770 Sending output from /demoRedBall/gaze/angles:o to /iKinGazeCtrl/angles:i using udp 184,962707 Sending output from /demoRedBall/gaze/mono:o to /iKinGazeCtrl/mono:i using udp 184,962745 Sending output from /demoRedBall/gaze/stereo:o to /iKinGazeCtrl/stereo:i using udp 184,962760 Receiving input from /iKinGazeCtrl/x:o to /demoRedBall/gaze/x:i using udp 184,962788 Receiving input from /iKinGazeCtrl/angles:o to /demoRedBall/gaze/angles:i using udp 184,972721 Receiving input from /iKinGazeCtrl/q:o to /demoRedBall/gaze/q:i using udp 184,972783 Receiving input from /iKinGazeCtrl/events:o to /demoRedBall/gaze/events:i using udp 184,972814 Created wrapper . See C++ class ClientGazeController for documentation. 185,063274 *** Initializing left_arm controller ... 185,083400 jnt #0 in [-10, 10] deg => ok 185,103525 DOF=( 1 0 1 1 1 1 1 1 1 1) 185,204129 *** Initializing right_arm controller ... 185,224249 jnt #0 in [-10, 10] deg => ok 185,244371 DOF=( 1 0 1 1 1 1 1 1 1 1) 185,244414 stopping control 185,345076 *** Homing torso 185,365197 *** Homing head 185,365241 *** Homing left_arm 185,435622 *** Opening left_hand 186,311514 *** Homing right_arm 186,391974 *** Opening right_hand 186,492600 Port /demoRedBall/rpc active at tcp://10.0.0.1:10363/ 190,639390 Receiving input from /pf3dTracker/data:o to /demoRedBall/trackTarget:i using udp 190,669678 Sending output from /demoRedBall/cmdFace:rpc to /icub/face/emotions/in using tcp 190,699715 Sending output from /demoRedBall/gui:o to /iCubGui/objects using tcp 191,263273 Removing input from /pf3dTracker/data:o to /demoRedBall/trackTarget:i 191,263369 Receiving input from /pf3dTracker/data:o to /demoRedBall/trackTarget:i using udp 191,504644 --- Target timeout => IDLE 191,504690 stopping control 191,605310 *** Homing torso 191,625438 *** Homing head 191,625507 *** Homing left_arm 191,695869 *** Opening left_hand 192,561633 *** Homing right_arm 192,632070 *** Opening right_hand 203,956067 --- Got target => REACHING 215,629249 --- Target timeout => IDLE 215,629267 stopping control 215,739925 *** Homing torso 215,770068 *** Homing head 215,770101 *** Homing left_arm 215,890874 *** Opening left_hand 216,756795 *** Homing right_arm 216,817148 *** Opening right_hand 216,958003 --- Got target => REACHING 242,851020 --- Target timeout => IDLE 242,851031 stopping control 242,951689 *** Homing torso 242,991886 *** Homing head 242,991920 *** Homing left_arm 243,122691 *** Opening left_hand 243,988267 *** Homing right_arm 244,068787 *** Opening right_hand 247,308630 --- Got target => REACHING 277,398081 --- Target timeout => IDLE 277,398127 stopping control 277,498745 *** Homing torso 277,539040 *** Homing head 277,539114 *** Homing left_arm 277,659807 *** Opening left_hand 278,515232 *** Homing right_arm 278,585656 *** Opening right_hand 279,441047 --- Got target => REACHING 284,452950 --- Target timeout => IDLE 284,452961 stopping control 284,553680 *** Homing torso 284,593922 *** Homing head 284,593966 *** Homing left_arm 284,724729 *** Opening left_hand 285,569895 *** Homing right_arm 285,640398 *** Opening right_hand 288,961006 --- Got target => REACHING 303,954659 --- Target timeout => IDLE 303,954668 stopping control 304,065272 *** Homing torso 304,095481 *** Homing head 304,095525 *** Homing left_arm 304,226261 *** Opening left_hand 305,081950 *** Homing right_arm 305,152381 *** Opening right_hand 338,927161 --- Got target => REACHING 348,336039 --- Target timeout => IDLE 348,336049 stopping control 348,436578 *** Homing torso 348,476860 *** Homing head 348,476913 *** Homing left_arm 348,607694 *** Opening left_hand 349,462895 *** Homing right_arm 349,523242 *** Opening right_hand 350,348495 --- Got target => REACHING 350,620258 *** Change arm event triggered 353,629034 --- Timeout elapsed => FORCE STOP and CHANGE ARM 353,629090 stopping control 353,739720 *** Homing left_arm 353,870578 *** Opening left_hand 354,726261 *** Using right_arm 354,726304 *** Stopping right_arm joints 376,591584 --- Target timeout => IDLE 376,591594 stopping control 376,702202 *** Homing torso 376,732388 *** Homing head 376,732434 *** Homing left_arm 376,792785 *** Opening left_hand 377,647948 *** Homing right_arm 377,768641 *** Opening right_hand 576,693207 --- Got target => REACHING 592,901508 --- Hand in position AND Target still => GRASPING 592,901555 --- Target in -0.481953 0.064809 0.186068 592,901596 *** Grasping x=-0.404527 -0.015768 0.139589 592,941981 *** Closing right_hand 597,037195 --- Timeout elapsed => RELEASING 597,037238 *** Opening right_hand 602,128936 --- Timeout elapsed => IDLING 603,466800 --- Target timeout => IDLE 603,466836 stopping control 603,567409 *** Homing torso 603,607659 *** Homing head 603,607683 *** Homing left_arm 603,667947 *** Opening left_hand 604,523031 *** Homing right_arm 604,653855 *** Opening right_hand 616,086574 Removing input from /pf3dTracker/data:o to /demoRedBall/trackTarget:i 616,126904 Removing output from /demoRedBall/cmdFace:rpc to /icub/face/emotions/in 616,136952 Removing output from /demoRedBall/gui:o to /iCubGui/objects 618,332139 [try 1 of 3] Trying to shut down. 618,523230 RFModule closing. 618,543344 stopping control 618,643924 *** Homing torso 618,664044 *** Homing head 618,664076 *** Homing left_arm 618,724388 *** Opening left_hand 619,580352 *** Homing right_arm 619,660968 *** Opening right_hand 619,741527 *** Checking torso home position... 619,862323 *** done 619,862385 *** Checking left_arm home position... 620,043530 *** done 620,043591 *** Checking right_arm home position... 621,674227 *** done 621,795232 Removing output from /demoRedBall/torso/rpc:o to /icub/torso/rpc:i 621,795285 output for route /demoRedBall/torso/command:o->udp->/icub/torso/command:i asking other side to close by out-of-band means 621,805295 Removing output from /demoRedBall/torso/command:o to /icub/torso/command:i 622,077038 Removing input from /icub/torso/stateExt:o to /demoRedBall/torso/stateExt:i 622,087142 Removing output from /demoRedBall/head/rpc:o to /icub/head/rpc:i 622,087298 output for route /demoRedBall/head/command:o->udp->/icub/head/command:i asking other side to close by out-of-band means 622,087353 Removing output from /demoRedBall/head/command:o to /icub/head/command:i 622,369037 Removing input from /icub/head/stateExt:o to /demoRedBall/head/stateExt:i 622,369135 Removing output from /demoRedBall/left_arm/rpc:o to /icub/left_arm/rpc:i 622,369185 output for route /demoRedBall/left_arm/command:o->udp->/icub/left_arm/command:i asking other side to close by out-of-band means 622,379158 Removing output from /demoRedBall/left_arm/command:o to /icub/left_arm/command:i 622,650932 Removing input from /icub/left_arm/stateExt:o to /demoRedBall/left_arm/stateExt:i 622,661062 Removing output from /demoRedBall/right_arm/rpc:o to /icub/right_arm/rpc:i 622,661099 output for route /demoRedBall/right_arm/command:o->udp->/icub/right_arm/command:i asking other side to close by out-of-band means 622,922830 Removing output from /demoRedBall/right_arm/command:o to /icub/right_arm/command:i 623,194575 Removing input from /icub/right_arm/stateExt:o to /demoRedBall/right_arm/stateExt:i 623,194695 output for route /demoRedBall/left_arm/cartesian/command:o->udp->/icub/cartesianController/left_arm/command:i asking other side to close by out-of-band means 623,204746 Removing output from /demoRedBall/left_arm/cartesian/command:o to /icub/cartesianController/left_arm/command:i 623,476492 Removing input from /icub/cartesianController/left_arm/state:o to /demoRedBall/left_arm/cartesian/state:i 623,758391 Removing input from /icub/cartesianController/left_arm/events:o to /demoRedBall/left_arm/cartesian/events:i 623,758693 Removing output from /demoRedBall/left_arm/cartesian/rpc:o to /icub/cartesianController/left_arm/rpc:i 623,768459 output for route /demoRedBall/right_arm/cartesian/command:o->udp->/icub/cartesianController/right_arm/command:i asking other side to close by out-of-band means 624,020272 Removing output from /demoRedBall/right_arm/cartesian/command:o to /icub/cartesianController/right_arm/command:i 624,040393 Removing input from /icub/cartesianController/right_arm/state:o to /demoRedBall/right_arm/cartesian/state:i 624,322209 Removing input from /icub/cartesianController/right_arm/events:o to /demoRedBall/right_arm/cartesian/events:i 624,332347 Removing output from /demoRedBall/right_arm/cartesian/rpc:o to /icub/cartesianController/right_arm/rpc:i 624,332386 output for route /demoRedBall/gaze/xd:o->udp->/iKinGazeCtrl/xd:i asking other side to close by out-of-band means 624,332444 Removing output from /demoRedBall/gaze/xd:o to /iKinGazeCtrl/xd:i 624,332469 output for route /demoRedBall/gaze/angles:o->udp->/iKinGazeCtrl/angles:i asking other side to close by out-of-band means 624,583905 Removing output from /demoRedBall/gaze/angles:o to /iKinGazeCtrl/angles:i 624,583946 output for route /demoRedBall/gaze/mono:o->udp->/iKinGazeCtrl/mono:i asking other side to close by out-of-band means 624,835749 Removing output from /demoRedBall/gaze/mono:o to /iKinGazeCtrl/mono:i 624,845673 output for route /demoRedBall/gaze/stereo:o->udp->/iKinGazeCtrl/stereo:i asking other side to close by out-of-band means 625,097671 Removing output from /demoRedBall/gaze/stereo:o to /iKinGazeCtrl/stereo:i 625,359379 Removing input from /iKinGazeCtrl/x:o to /demoRedBall/gaze/x:i 625,611120 Removing input from /iKinGazeCtrl/angles:o to /demoRedBall/gaze/angles:i 625,872991 Removing input from /iKinGazeCtrl/q:o to /demoRedBall/gaze/q:i 626,124698 Removing input from /iKinGazeCtrl/events:o to /demoRedBall/gaze/events:i 626,134831 Removing output from /demoRedBall/gaze/rpc to /iKinGazeCtrl/rpc 626,154907 RFModule finished.