ARMAR6 Unit does not start
Error logs as follows,
start_unit
raw_socket was build: Mon Jan 16 16:33:12 2023
raw_socket: setsockopt SO_RCVTIMEO
raw_socket: setsockopt SO_SNDTIMEO
raw_socket: setsockopt SO_DONTROUTE
raw_socket: try to setenv ARMARX_LD_LIBRARY_PATH
ARGUMENT 1/5: /Armar6Unit_run
ARGUMENT 2/5: 3
ARGUMENT 3/5: /home/armar-user/code/armarx_integration/robots/armar6/rt/build/bin/Armar6Unit_run
ARGUMENT 4/5: --Ice.Config=/home/armar-user/code/armarx_integration/robots/armar6/rt/build/../scenarios/Armar6Unit/config/Armar6Unit.cfg,/home/armar-user/code/armarx_integration/robots/armar6/rt/build/../scenarios/Armar6UnitOnly/config/global.cfg
ARGUMENT 5/5: NULL
executing /home/armar-user/code/armarx_integration/robots/armar6/rt/build/bin/Armar6Unit_run
[2374][14:03:53.434][][Application::run(int, char**)]: startup delay: 0 seconds
[2515][14:03:53.664][Armar6Unit][control::ethercat::RTUtility::elevateThreadPriority(...)]: Elevating priority of thread #2515 to 49
[2515][14:03:53.664][Armar6Unit][control::ethercat::RTUtility::elevateThreadPriority(...)]: Priority before: 0
[2515][14:03:53.664][Armar6Unit][control::ethercat::RTUtility::elevateThreadPriority(...)]: Successfully elevated priority of thread #2515 to new priority 49
[2517][14:03:53.667][Armar6Unit][Armar6Unit]: Starting initialization of RobotUnitModule 'Armar6Unit
[2517][14:03:54.509][Armar6Unit][Armar6Unit]: Loaded robot:
Project :
Name : Armar6
Robot file : /home/armar-user/code/armarx_integration/robots/armar6/rt/data/armar6_rt/robotmodel/Armar6-SH/Armar6-SH.xml
RobotNodeSet : RealRobot
NodeNames : Vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >>(23):
(0): TorsoJoint
(1): ArmL1_Cla1
(2): ArmL2_Sho1
(3): ArmL3_Sho2
(4): ArmL4_Sho3
(5): ArmL5_Elb1
(6): ArmL6_Elb2
(7): ArmL7_Wri1
(8): ArmL8_Wri2
(9): ArmR1_Cla1
(10): ArmR2_Sho1
(11): ArmR3_Sho2
(12): ArmR4_Sho3
(13): ArmR5_Elb1
(14): ArmR6_Elb2
(15): ArmR7_Wri1
(16): ArmR8_Wri2
(17): Neck_2_Pitch
(18): Neck_1_Yaw
(19): RightHandThumb
(20): RightHandFingers
(21): LeftHandThumb
(22): LeftHandFingers
[2517][14:03:55.606][Armar6Unit][Armar6Unit]: Offering topic with name: 'RobotUnitListenerTopic'
[2517][14:03:55.606][Armar6Unit][Armar6Unit]: Offering topic with name: 'DebugDrawerUpdates'
[2517][14:03:55.606][Armar6Unit][Armar6Unit]: Offering topic with name: 'DebugObserver'
[2630][14:03:55.608][Armar6Unit][RobotUnitObserver]: starting worker thread
[2635][14:03:55.608][Armar6Unit][RobotUnitObserver]: observer worker->start
[2517][14:03:55.695][Armar6Unit][ArmarXManager]: Adding object with custom name: EmergencyStopMaster
[2641][14:03:55.696][Armar6Unit][ManagedIceObject::offeringTopic(...)]: Offering topic with name: 'EmergencyStop'
[2641][14:03:55.698][Armar6Unit][IceManager]: Topic EmergencyStop created
[2517][14:03:55.703][Armar6Unit][Armar6Unit]: Armar6Unit initializing now.
[2517][14:03:55.703][Armar6Unit][Armar6Unit]: Using bus config at `armar6_rt/HardwareConfig/Armar6Bus.xml`.
[2517][14:03:55.704][Armar6Unit][MultiNodeRapidXMLReader armarx::control::ethercat::RTUnit::ReadHardwareConfigFile(...)]: Read the hw config from /home/armar-user/code/armarx_integration/robots/armar6/rt/data/armar6_rt/HardwareConfig/Armar6Bus.xml
[2517][14:03:55.704][Armar6Unit][MultiNodeRapidXMLReader armarx::control::ethercat::RTUnit::ReadHardwareConfigFile(...)]: Reading file `/home/armar-user/code/armarx_integration/robots/armar6/rt/data/armar6_rt/HardwareConfig/Armar6Bus.xml`
[2517][14:03:55.708][Armar6Unit][Armar6Unit]: Locking memory
[2517][14:03:56.539][Armar6Unit][Armar6Unit]: RTUnit initializing now
[2517][14:03:56.543][Armar6Unit][Armar6Unit]: Initializing RTLogging with the following parameters: rtLoggingTimestepMs: 10 messageBufferSize: 10485 messageBufferMaxSize: 167772 messageBufferNumberEntries: 200 messageBufferMaxNumberEntries: 1600 rtLoggingBacklogRetentionTime: 6 rtLoggingBacklogMaxSize: 5000 rtLoggingBacklogEnabled: 0 numberOfEntriesToLog: 1
[2517][14:03:56.543][Armar6Unit][Armar6Unit]: switching state from RobotUnitState::InitializingComponent to RobotUnitState::InitializingDevices
[2517][14:03:56.544][Armar6Unit][IceManager]: Topic RobotUnitListenerTopic created
[2517][14:03:56.545][Armar6Unit][IceManager]: Topic DebugDrawerUpdates created
[2517][14:03:56.545][Armar6Unit][IceManager]: Topic DebugObserver created
[2517][14:03:56.546][Armar6Unit][Armar6Unit]: Armar6Unit connects now.
[2517][14:03:56.546][Armar6Unit][Armar6Unit]: starting control task
[2687][14:03:56.550][Armar6Unit][Armar6Unit]: Control task running
[2687][14:03:56.550][Armar6Unit][Armar6Unit]: Control task running
[2687][14:03:56.550][Armar6Unit][Armar6Unit]: startBackupLogging()
[2687][14:03:56.554][Armar6Unit][ethercat::Bus]: Using socketFileDescriptor 3 to open raw socket
[2687][14:03:56.554][Armar6Unit][ethercat::Bus]: Started SOEM with socketFileDescriptor: 3
[2515][14:03:57.538][Armar6Unit][control::ethercat::BusIO::handleNextRequest(...)]: ChangeStateRequest - duration: 1.613 ms
[2687][14:03:57.538][Armar6Unit][ethercat::Bus]: 45 slaves found and set from Init to PreOp
[2687][14:03:59.088][Armar6Unit][devices::ethercat::ft_sensor_board::armar6::Device::Device(...)]: FT L Hand mass: 0.985765
[2687][14:03:59.088][Armar6Unit][devices::ethercat::ft_sensor_board::armar6::Device::Device(...)]: FT LcomLocationLocal: 6.72461
88.612
-21.1127 comLocationLocalJeff: 6.7246
88.6119
-21.1127
[2687][14:03:59.088][Armar6Unit][devices::ethercat::ft_sensor_board::armar6::Device::Device(...)]: FT LtransformationToParent: -0.529919 -0.848048 0
0.848049 -0.52992 0
-3.55271e-15 1.77636e-15 1
[2687][14:03:59.088][Armar6Unit][devices::ethercat::ft_sensor_board::armar6::Device::Device(...)]: FT R Hand mass: 0.9271
[2687][14:03:59.088][Armar6Unit][devices::ethercat::ft_sensor_board::armar6::Device::Device(...)]: FT RcomLocationLocal: 9.99999
-1.99999
121.8 comLocationLocalJeff: 10
-2.00001
121.8
[2687][14:03:59.088][Armar6Unit][devices::ethercat::ft_sensor_board::armar6::Device::Device(...)]: FT RtransformationToParent: -0.529919 -0.848048 3.55272e-15
0.848049 -0.52992 0
-7.10543e-15 -1.77636e-15 1
[2687][14:03:59.089][Armar6Unit][ethercat::Bus]: Devices were created
[2747][14:03:59.142][Armar6Unit][EtherCAT Slave #1]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (Platform)
SlaveIndex: 0x1 (1)
[2747][14:03:59.145][Armar6Unit][EtherCAT Slave #1]: [SlaveError] Done checking errors.
Name: ElmoGold (Platform)
SlaveIndex: 0x1 (1)
[2747][14:03:59.200][Armar6Unit][EtherCAT Slave #2]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (Platform)
SlaveIndex: 0x2 (2)
[2747][14:03:59.203][Armar6Unit][EtherCAT Slave #2]: [SlaveError] Done checking errors.
Name: ElmoGold (Platform)
SlaveIndex: 0x2 (2)
[2747][14:03:59.257][Armar6Unit][EtherCAT Slave #3]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (Platform)
SlaveIndex: 0x3 (3)
[2747][14:03:59.260][Armar6Unit][EtherCAT Slave #3]: [SlaveError] Done checking errors.
Name: ElmoGold (Platform)
SlaveIndex: 0x3 (3)
[2747][14:03:59.313][Armar6Unit][EtherCAT Slave #4]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (Platform)
SlaveIndex: 0x4 (4)
[2747][14:03:59.316][Armar6Unit][EtherCAT Slave #4]: [SlaveError] Done checking errors.
Name: ElmoGold (Platform)
SlaveIndex: 0x4 (4)
[2747][14:03:59.369][Armar6Unit][EtherCAT Slave #5]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (TorsoJoint)
SlaveIndex: 0x5 (5)
[2747][14:03:59.372][Armar6Unit][EtherCAT Slave #5]: [SlaveError] Done checking errors.
Name: ElmoGold (TorsoJoint)
SlaveIndex: 0x5 (5)
[2747][14:03:59.426][Armar6Unit][EtherCAT Slave #7]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmL1_Cla1)
SlaveIndex: 0x7 (7)
[2747][14:03:59.429][Armar6Unit][EtherCAT Slave #7]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmL1_Cla1)
SlaveIndex: 0x7 (7)
[2747][14:03:59.482][Armar6Unit][EtherCAT Slave #9]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmL2_Sho1)
SlaveIndex: 0x9 (9)
[2747][14:03:59.485][Armar6Unit][EtherCAT Slave #9]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmL2_Sho1)
SlaveIndex: 0x9 (9)
[2747][14:03:59.537][Armar6Unit][EtherCAT Slave #11]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmL3_Sho2)
SlaveIndex: 0xb (11)
[2747][14:03:59.540][Armar6Unit][EtherCAT Slave #11]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmL3_Sho2)
SlaveIndex: 0xb (11)
[2747][14:03:59.593][Armar6Unit][EtherCAT Slave #13]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmL4_Sho3)
SlaveIndex: 0xd (13)
[2747][14:03:59.596][Armar6Unit][EtherCAT Slave #13]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmL4_Sho3)
SlaveIndex: 0xd (13)
[2747][14:03:59.649][Armar6Unit][EtherCAT Slave #15]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmL5_Elb1)
SlaveIndex: 0xf (15)
[2747][14:03:59.652][Armar6Unit][EtherCAT Slave #15]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmL5_Elb1)
SlaveIndex: 0xf (15)
[2747][14:03:59.705][Armar6Unit][EtherCAT Slave #17]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmL6_Elb2)
SlaveIndex: 0x11 (17)
[2747][14:03:59.708][Armar6Unit][EtherCAT Slave #17]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmL6_Elb2)
SlaveIndex: 0x11 (17)
[2747][14:03:59.760][Armar6Unit][EtherCAT Slave #19]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmL7_Wri1)
SlaveIndex: 0x13 (19)
[2747][14:03:59.763][Armar6Unit][EtherCAT Slave #19]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmL7_Wri1)
SlaveIndex: 0x13 (19)
[2747][14:03:59.815][Armar6Unit][EtherCAT Slave #21]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmL8_Wri2)
SlaveIndex: 0x15 (21)
[2747][14:03:59.818][Armar6Unit][EtherCAT Slave #21]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmL8_Wri2)
SlaveIndex: 0x15 (21)
[2747][14:03:59.871][Armar6Unit][EtherCAT Slave #28]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmR1_Cla1)
SlaveIndex: 0x1c (28)
[2747][14:03:59.874][Armar6Unit][EtherCAT Slave #28]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmR1_Cla1)
SlaveIndex: 0x1c (28)
[2747][14:03:59.927][Armar6Unit][EtherCAT Slave #30]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmR2_Sho1)
SlaveIndex: 0x1e (30)
[2747][14:03:59.930][Armar6Unit][EtherCAT Slave #30]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmR2_Sho1)
SlaveIndex: 0x1e (30)
[2747][14:03:59.982][Armar6Unit][EtherCAT Slave #32]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmR3_Sho2)
SlaveIndex: 0x20 (32)
[2747][14:03:59.985][Armar6Unit][EtherCAT Slave #32]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmR3_Sho2)
SlaveIndex: 0x20 (32)
[2747][14:04:00.037][Armar6Unit][EtherCAT Slave #34]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmR4_Sho3)
SlaveIndex: 0x22 (34)
[2747][14:04:00.040][Armar6Unit][EtherCAT Slave #34]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmR4_Sho3)
SlaveIndex: 0x22 (34)
[2747][14:04:00.092][Armar6Unit][EtherCAT Slave #36]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmR5_Elb1)
SlaveIndex: 0x24 (36)
[2747][14:04:00.095][Armar6Unit][EtherCAT Slave #36]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmR5_Elb1)
SlaveIndex: 0x24 (36)
[2747][14:04:00.148][Armar6Unit][EtherCAT Slave #38]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmR6_Elb2)
SlaveIndex: 0x26 (38)
[2747][14:04:00.151][Armar6Unit][EtherCAT Slave #38]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmR6_Elb2)
SlaveIndex: 0x26 (38)
[2747][14:04:00.205][Armar6Unit][EtherCAT Slave #40]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmR7_Wri1)
SlaveIndex: 0x28 (40)
[2747][14:04:00.208][Armar6Unit][EtherCAT Slave #40]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmR7_Wri1)
SlaveIndex: 0x28 (40)
[2747][14:04:00.260][Armar6Unit][EtherCAT Slave #42]: [SlaveError] Checking for errors from erlier executions.
Name: ElmoGold (ArmR8_Wri2)
SlaveIndex: 0x2a (42)
[2747][14:04:00.263][Armar6Unit][EtherCAT Slave #42]: [SlaveError] Done checking errors.
Name: ElmoGold (ArmR8_Wri2)
SlaveIndex: 0x2a (42)
[2687][14:04:03.550][Armar6Unit][ethercat::Bus]: Checking mapping for slave 1 name: ElmoGold (Platform)
[2687][14:04:03.556][Armar6Unit][ethercat::Bus]: Checking mapping for slave 2 name: ElmoGold (Platform)
[2687][14:04:03.562][Armar6Unit][ethercat::Bus]: Checking mapping for slave 3 name: ElmoGold (Platform)
[2687][14:04:03.567][Armar6Unit][ethercat::Bus]: Checking mapping for slave 4 name: ElmoGold (Platform)
[2687][14:04:03.573][Armar6Unit][ethercat::Bus]: Checking mapping for slave 5 name: ElmoGold (TorsoJoint)
[2687][14:04:03.579][Armar6Unit][ethercat::Bus]: Checking mapping for slave 6 name: EtherCATHub (unknown)
[2687][14:04:03.579][Armar6Unit][ethercat::Bus]: No mapping needed for EtherCATHub (unknown)
[2687][14:04:03.579][Armar6Unit][ethercat::Bus]: Checking mapping for slave 7 name: ElmoGold (ArmL1_Cla1)
[2687][14:04:03.585][Armar6Unit][ethercat::Bus]: Checking mapping for slave 8 name: Armar6SensorBoard (ArmL1_Cla1)
[2687][14:04:03.585][Armar6Unit][ethercat::Bus]: Checking mapping for slave 9 name: ElmoGold (ArmL2_Sho1)
[2687][14:04:03.591][Armar6Unit][ethercat::Bus]: Checking mapping for slave 10 name: Armar6SensorBoard (ArmL2_Sho1)
[2687][14:04:03.591][Armar6Unit][ethercat::Bus]: Checking mapping for slave 11 name: ElmoGold (ArmL3_Sho2)
[2687][14:04:03.597][Armar6Unit][ethercat::Bus]: Checking mapping for slave 12 name: Armar6SensorBoard (ArmL3_Sho2)
[2687][14:04:03.597][Armar6Unit][ethercat::Bus]: Checking mapping for slave 13 name: ElmoGold (ArmL4_Sho3)
[2687][14:04:03.602][Armar6Unit][ethercat::Bus]: Checking mapping for slave 14 name: Armar6SensorBoard (ArmL4_Sho3)
[2687][14:04:03.602][Armar6Unit][ethercat::Bus]: Checking mapping for slave 15 name: ElmoGold (ArmL5_Elb1)
[2687][14:04:03.608][Armar6Unit][ethercat::Bus]: Checking mapping for slave 16 name: Armar6SensorBoard (ArmL5_Elb1)
[2687][14:04:03.608][Armar6Unit][ethercat::Bus]: Checking mapping for slave 17 name: ElmoGold (ArmL6_Elb2)
[2687][14:04:03.615][Armar6Unit][ethercat::Bus]: Checking mapping for slave 18 name: Armar6SensorBoard (ArmL6_Elb2)
[2687][14:04:03.615][Armar6Unit][ethercat::Bus]: Checking mapping for slave 19 name: ElmoGold (ArmL7_Wri1)
[2687][14:04:03.621][Armar6Unit][ethercat::Bus]: Checking mapping for slave 20 name: Armar6SensorBoard (ArmL7_Wri1)
[2687][14:04:03.621][Armar6Unit][ethercat::Bus]: Checking mapping for slave 21 name: ElmoGold (ArmL8_Wri2)
[2687][14:04:03.626][Armar6Unit][ethercat::Bus]: Checking mapping for slave 22 name: Armar6SensorBoard (ArmL8_Wri2)
[2687][14:04:03.626][Armar6Unit][ethercat::Bus]: Checking mapping for slave 23 name: Armar6FTSensorBoard (FT L)
[2687][14:04:03.626][Armar6Unit][ethercat::Bus]: Checking mapping for slave 24 name: Armar6HandV2 (LeftHand)
[2687][14:04:03.627][Armar6Unit][ethercat::Bus]: Checking mapping for slave 25 name: EtherCATHub (unknown)
[2687][14:04:03.627][Armar6Unit][ethercat::Bus]: No mapping needed for EtherCATHub (unknown)
[2687][14:04:03.627][Armar6Unit][ethercat::Bus]: Checking mapping for slave 26 name: HeadBoardArmar7de (Neck_1_Yaw)
[2687][14:04:03.627][Armar6Unit][ethercat::Bus]: Checking mapping for slave 27 name: HeadBoardArmar7de (Neck_2_Pitch)
[2687][14:04:03.627][Armar6Unit][ethercat::Bus]: Checking mapping for slave 28 name: ElmoGold (ArmR1_Cla1)
[2687][14:04:03.632][Armar6Unit][ethercat::Bus]: Checking mapping for slave 29 name: Armar6SensorBoard (ArmR1_Cla1)
[2687][14:04:03.632][Armar6Unit][ethercat::Bus]: Checking mapping for slave 30 name: ElmoGold (ArmR2_Sho1)
[2687][14:04:03.638][Armar6Unit][ethercat::Bus]: Checking mapping for slave 31 name: Armar6SensorBoard (ArmR2_Sho1)
[2687][14:04:03.638][Armar6Unit][ethercat::Bus]: Checking mapping for slave 32 name: ElmoGold (ArmR3_Sho2)
[2687][14:04:03.644][Armar6Unit][ethercat::Bus]: Checking mapping for slave 33 name: Armar6SensorBoard (ArmR3_Sho2)
[2687][14:04:03.644][Armar6Unit][ethercat::Bus]: Checking mapping for slave 34 name: ElmoGold (ArmR4_Sho3)
[2687][14:04:03.650][Armar6Unit][ethercat::Bus]: Checking mapping for slave 35 name: Armar6SensorBoard (ArmR4_Sho3)
[2687][14:04:03.650][Armar6Unit][ethercat::Bus]: Checking mapping for slave 36 name: ElmoGold (ArmR5_Elb1)
[2687][14:04:03.655][Armar6Unit][ethercat::Bus]: Checking mapping for slave 37 name: Armar6SensorBoard (ArmR5_Elb1)
[2687][14:04:03.655][Armar6Unit][ethercat::Bus]: Checking mapping for slave 38 name: ElmoGold (ArmR6_Elb2)
[2687][14:04:03.661][Armar6Unit][ethercat::Bus]: Checking mapping for slave 39 name: Armar6SensorBoard (ArmR6_Elb2)
[2687][14:04:03.661][Armar6Unit][ethercat::Bus]: Checking mapping for slave 40 name: ElmoGold (ArmR7_Wri1)
[2687][14:04:03.667][Armar6Unit][ethercat::Bus]: Checking mapping for slave 41 name: Armar6SensorBoard (ArmR7_Wri1)
[2687][14:04:03.667][Armar6Unit][ethercat::Bus]: Checking mapping for slave 42 name: ElmoGold (ArmR8_Wri2)
[2687][14:04:03.673][Armar6Unit][ethercat::Bus]: Checking mapping for slave 43 name: Armar6SensorBoard (ArmR8_Wri2)
[2687][14:04:03.673][Armar6Unit][ethercat::Bus]: Checking mapping for slave 44 name: Armar6FTSensorBoard (FT R)
[2687][14:04:03.673][Armar6Unit][ethercat::Bus]: Checking mapping for slave 45 name: Armar6HandV2 (RightHand)
[2687][14:04:03.673][Armar6Unit][ethercat::Bus]: IOmapping done, size: 2240 - all Slaves are in SAFE-OP now
[2687][14:04:03.673][Armar6Unit][ethercat::ft_sensor_board::armar6::Device::postSwitchToSafeOp(...)]: Creating FTSensorData for device FT L of slave with id 23
OutputPtrs = 0x7f4a53173738
OutputPtrs = 0x7f4a531732f8
[2687][14:04:03.673][Armar6Unit][ethercat::ft_sensor_board::armar6::Device::postSwitchToSafeOp(...)]: Creating FTSensorData for device FT R of slave with id 44
OutputPtrs = 0x7f4a53173a20
OutputPtrs = 0x7f4a53173438
[2687][14:04:03.674][Armar6Unit][ethercat::hand::armar6_v2::DataConfig&, devices::ethercat::hand::armar6_v2::SlaveOut*, devices::ethercat::hand::armar6_v2::SlaveIn*, bool)(...)]: maxPwmTag : 82
[2687][14:04:03.674][Armar6Unit][ethercat::hand::armar6_v2::DataConfig&, devices::ethercat::hand::armar6_v2::SlaveOut*, devices::ethercat::hand::armar6_v2::SlaveIn*, bool)(...)]: maxPwmTag : 82
[2687][14:04:03.674][Armar6Unit][ethercat::hand::armar6_v2::DataConfig&, devices::ethercat::hand::armar6_v2::SlaveOut*, devices::ethercat::hand::armar6_v2::SlaveIn*, bool)(...)]: maxPwmTag : 82
[2687][14:04:03.674][Armar6Unit][ethercat::hand::armar6_v2::DataConfig&, devices::ethercat::hand::armar6_v2::SlaveOut*, devices::ethercat::hand::armar6_v2::SlaveIn*, bool)(...)]: maxPwmTag : 82
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added ControlDevice ArmL1_Cla1
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added ControlDevice ArmL1_Cla1
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added SensorDevice ArmL1_Cla1 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added ControlDevice ArmL2_Sho1
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added ControlDevice ArmL2_Sho1
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added SensorDevice ArmL2_Sho1 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added ControlDevice ArmL3_Sho2
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added ControlDevice ArmL3_Sho2
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added SensorDevice ArmL3_Sho2 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added ControlDevice ArmL4_Sho3
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added ControlDevice ArmL4_Sho3
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added SensorDevice ArmL4_Sho3 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added ControlDevice ArmL5_Elb1
[2687][14:04:03.674][Armar6Unit][Armar6Unit]: added ControlDevice ArmL5_Elb1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmL5_Elb1 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmL6_Elb2
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmL6_Elb2
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmL6_Elb2 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmL7_Wri1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmL7_Wri1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmL7_Wri1 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmL8_Wri2
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmL8_Wri2
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmL8_Wri2 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR1_Cla1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR1_Cla1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmR1_Cla1 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR2_Sho1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR2_Sho1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmR2_Sho1 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR3_Sho2
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR3_Sho2
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmR3_Sho2 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR4_Sho3
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR4_Sho3
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmR4_Sho3 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR5_Elb1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR5_Elb1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmR5_Elb1 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR6_Elb2
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR6_Elb2
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmR6_Elb2 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR7_Wri1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR7_Wri1
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmR7_Wri1 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR8_Wri2
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice ArmR8_Wri2
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice ArmR8_Wri2 (valuetype = devices::ethercat::sensor_actor_unit::armar6::SensorValueArmar6Actuator)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice FT L (valuetype = devices::ethercat::ft_sensor_board::armar6::FTSensorDataValue)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice FT R (valuetype = devices::ethercat::ft_sensor_board::armar6::FTSensorDataValue)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice LeftHandThumb
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice LeftHandThumb
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice LeftHandThumb (valuetype = devices::ethercat::hand::armar6_v2::SensorDataValue)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice LeftHandFingers
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice LeftHandFingers
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice LeftHandFingers (valuetype = devices::ethercat::hand::armar6_v2::SensorDataValue)
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice Neck_1_Yaw
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added ControlDevice Neck_1_Yaw
[2687][14:04:03.675][Armar6Unit][Armar6Unit]: added SensorDevice Neck_1_Yaw (valuetype = devices::ethercat::head_board::armar7de::HeadBoardSensorValue)
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice Neck_1_YawLed
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice Neck_1_YawLed
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice Neck_2_Pitch
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice Neck_2_Pitch
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added SensorDevice Neck_2_Pitch (valuetype = devices::ethercat::head_board::armar7de::HeadBoardSensorValue)
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice Neck_2_PitchLed
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice Neck_2_PitchLed
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice Platform
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice Platform
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added SensorDevice Platform (valuetype = devices::ethercat::platform::armar6_mecanum::SensorValueHolonomicPlatformWithWheels)
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice RightHandThumb
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice RightHandThumb
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added SensorDevice RightHandThumb (valuetype = devices::ethercat::hand::armar6_v2::SensorDataValue)
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice RightHandFingers
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice RightHandFingers
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added SensorDevice RightHandFingers (valuetype = devices::ethercat::hand::armar6_v2::SensorDataValue)
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice TorsoJoint
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added ControlDevice TorsoJoint
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: added SensorDevice TorsoJoint (valuetype = devices::ethercat::torso::armar6_prismatic::TorsoJointSensorValue)
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: EtherCAT bus is started
[2687][14:04:03.676][Armar6Unit][Armar6Unit]: initBus finished with: true
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: added SensorDevice RTThreadTimings (valuetype = armarx::SensorValueRTThreadTimings)
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: added SensorDevice GlobalRobotPoseCorrectionSensorDevice (valuetype = armarx::SensorValueGlobalPoseCorrection)
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: added SensorDevice GlobalRobotLocalizationSensorDevice (valuetype = armarx::SensorValueGlobalRobotPose)
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: switching state from RobotUnitState::InitializingDevices to RobotUnitState::InitializingUnits
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Index L 1 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Index L 2 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Index L 3 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Index R 1 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Index R 2 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Index R 3 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Middle L 1 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Middle L 2 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Middle L 3 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Middle R 1 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Middle R 2 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Middle R 3 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Pinky L 1 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Pinky L 2 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Pinky L 3 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Pinky R 1 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Pinky R 2 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Pinky R 3 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Ring L 1 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Ring L 2 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Ring L 3 Joint
[3085][14:04:03.681][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Ring R 1 Joint
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Ring R 2 Joint
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Ring R 3 Joint
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Thumb L 1 Joint
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Thumb L 2 Joint
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Thumb R 1 Joint
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Thumb R 2 Joint
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: VirtualCentralGaze
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: VirtualCentralGazeDepthCamera
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: X_Platform
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Y_Platform
[3085][14:04:03.682][Armar6Unit][Armar6Unit]: No SensorDevice for RobotNode: Yaw_Platform
[2687][14:04:03.682][Armar6Unit][Armar6Unit]: Waiting for unit initialization!
[3085][14:04:03.718][Armar6Unit][Armar6Unit]: RTLogging activated. Using 1100 buffers (buffersize = 8727 bytes)
[3085][14:04:03.719][Armar6Unit][Armar6Unit]: initializing default units
[3085][14:04:03.719][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL1_Cla1_ControlMode_Position1DoF
[3085][14:04:03.720][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL1_Cla1_ControlMode_Velocity1DoF
[3085][14:04:03.720][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL1_Cla1_ControlMode_Torque1DoF
[3085][14:04:03.721][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL2_Sho1_ControlMode_Position1DoF
[3085][14:04:03.722][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL2_Sho1_ControlMode_Velocity1DoF
[3085][14:04:03.722][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL2_Sho1_ControlMode_Torque1DoF
[3085][14:04:03.723][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL3_Sho2_ControlMode_Position1DoF
[3085][14:04:03.724][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL3_Sho2_ControlMode_Velocity1DoF
[3085][14:04:03.724][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL3_Sho2_ControlMode_Torque1DoF
[3085][14:04:03.725][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL4_Sho3_ControlMode_Position1DoF
[3085][14:04:03.725][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL4_Sho3_ControlMode_Velocity1DoF
[3085][14:04:03.726][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL4_Sho3_ControlMode_Torque1DoF
[3085][14:04:03.726][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL5_Elb1_ControlMode_Position1DoF
[3085][14:04:03.727][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL5_Elb1_ControlMode_Velocity1DoF
[3085][14:04:03.728][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL5_Elb1_ControlMode_Torque1DoF
[3085][14:04:03.728][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL6_Elb2_ControlMode_Position1DoF
[3085][14:04:03.729][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL6_Elb2_ControlMode_Velocity1DoF
[3085][14:04:03.729][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL6_Elb2_ControlMode_Torque1DoF
[3085][14:04:03.730][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL7_Wri1_ControlMode_Position1DoF
[3085][14:04:03.730][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL7_Wri1_ControlMode_Velocity1DoF
[3085][14:04:03.733][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL7_Wri1_ControlMode_Torque1DoF
[3085][14:04:03.733][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL8_Wri2_ControlMode_Position1DoF
[3085][14:04:03.734][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL8_Wri2_ControlMode_Velocity1DoF
[3085][14:04:03.734][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmL8_Wri2_ControlMode_Torque1DoF
[3085][14:04:03.735][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR1_Cla1_ControlMode_Position1DoF
[3085][14:04:03.735][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR1_Cla1_ControlMode_Velocity1DoF
[3085][14:04:03.736][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR1_Cla1_ControlMode_Torque1DoF
[3085][14:04:03.737][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR2_Sho1_ControlMode_Position1DoF
[3085][14:04:03.737][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR2_Sho1_ControlMode_Velocity1DoF
[3085][14:04:03.738][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR2_Sho1_ControlMode_Torque1DoF
[3085][14:04:03.739][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR3_Sho2_ControlMode_Position1DoF
[3085][14:04:03.740][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR3_Sho2_ControlMode_Velocity1DoF
[3085][14:04:03.740][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR3_Sho2_ControlMode_Torque1DoF
[3085][14:04:03.741][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR4_Sho3_ControlMode_Position1DoF
[3085][14:04:03.741][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR4_Sho3_ControlMode_Velocity1DoF
[3085][14:04:03.742][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR4_Sho3_ControlMode_Torque1DoF
[3085][14:04:03.744][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR5_Elb1_ControlMode_Position1DoF
[3085][14:04:03.745][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR5_Elb1_ControlMode_Velocity1DoF
[3085][14:04:03.750][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR5_Elb1_ControlMode_Torque1DoF
[3085][14:04:03.751][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR6_Elb2_ControlMode_Position1DoF
[3085][14:04:03.751][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR6_Elb2_ControlMode_Velocity1DoF
[3085][14:04:03.752][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR6_Elb2_ControlMode_Torque1DoF
[3085][14:04:03.755][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR7_Wri1_ControlMode_Position1DoF
[3085][14:04:03.756][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR7_Wri1_ControlMode_Velocity1DoF
[3085][14:04:03.757][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR7_Wri1_ControlMode_Torque1DoF
[3085][14:04:03.757][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR8_Wri2_ControlMode_Position1DoF
[3085][14:04:03.758][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR8_Wri2_ControlMode_Velocity1DoF
[3085][14:04:03.758][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_ArmR8_Wri2_ControlMode_Torque1DoF
[3085][14:04:03.759][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_LeftHandThumb_ControlMode_Position1DoF
[3085][14:04:03.760][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_LeftHandFingers_ControlMode_Position1DoF
[3085][14:04:03.760][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_Neck_1_Yaw_ControlMode_Position1DoF
[3085][14:04:03.761][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_Neck_1_Yaw_ControlMode_Velocity1DoF
[3085][14:04:03.762][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_Neck_2_Pitch_ControlMode_Position1DoF
[3085][14:04:03.762][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_Neck_2_Pitch_ControlMode_Velocity1DoF
[3085][14:04:03.767][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_RightHandThumb_ControlMode_Position1DoF
[3085][14:04:03.767][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_RightHandFingers_ControlMode_Position1DoF
[3085][14:04:03.768][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_TorsoJoint_ControlMode_Position1DoF
[3085][14:04:03.772][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_NJointKU_PTCtrl_TorsoJoint_ControlMode_Velocity1DoF
[3085][14:04:03.773][Armar6Unit][Armar6Unit]: Found 23 joint devices - adding KinematicUnit
[3085][14:04:03.784][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_Armar6PlatformUnit_VelPTContoller
[3085][14:04:03.785][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_Armar6PlatformUnit_RelativePositionContoller
[3085][14:04:03.786][Armar6Unit][ArmarXManager]: Adding object with custom name: Armar6Unit_Armar6PlatformUnit_GlobalPositionContoller
[3085][14:04:03.792][Armar6Unit][Armar6Unit]: initializing default units...done! 73469 us
[3085][14:04:03.792][Armar6Unit][Armar6Unit]: Setting up custom Units
[3085][14:04:03.795][Armar6Unit][Armar6Unit]: Setting up custom Units...DONE
[3085][14:04:03.795][Armar6Unit][Armar6Unit]: Setting up custom Units
[3085][14:04:03.795][Armar6Unit][Armar6Unit]: switching state from RobotUnitState::InitializingUnits to RobotUnitState::InitializingControlThread
[3085][14:04:03.795][Armar6Unit][Armar6Unit]: Finishing setting up custom Units...DONE
[3085][14:04:03.795][Armar6Unit][Armar6Unit]: Sleeping a moment to let everything settle in
[2625][14:04:03.893][Armar6Unit][InertialMeasurementUnit]: Offering topic with name: 'IMUValues'
[2625][14:04:03.894][Armar6Unit][IceManager]: Topic IMUValues created
[2625][14:04:03.894][Armar6Unit][InertialMeasurementUnit]: Devices with IMUs: Map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, unsigned long>(16):
ArmL1_Cla1: 0
ArmL2_Sho1: 1
ArmL3_Sho2: 2
ArmL4_Sho3: 3
ArmL5_Elb1: 4
ArmL6_Elb2: 5
ArmL7_Wri1: 6
ArmL8_Wri2: 7
ArmR1_Cla1: 8
ArmR2_Sho1: 9
ArmR3_Sho2: 10
ArmR4_Sho3: 11
ArmR5_Elb1: 12
ArmR6_Elb2: 13
ArmR7_Wri1: 14
ArmR8_Wri2: 15
[2623][14:04:03.936][Armar6Unit][RightHandUnit]: Offering topic with name: 'Hand_R_EEFState'
[2623][14:04:03.936][Armar6Unit][ObjectScheduler]: All dependencies of 'RightHandUnit' resolved!
[2623][14:04:03.937][Armar6Unit][RightHandUnit]: setting report topic to Hand_R_EEFState
[2623][14:04:03.937][Armar6Unit][IceManager]: Topic Hand_R_EEFState created
[2623][14:04:03.938][Armar6Unit][ArmarXManager]: Adding object with custom name: Hand_R_EEF_NJointKITHandV2ShapeController
[2628][14:04:03.978][Armar6Unit][LeftHandUnit]: Offering topic with name: 'Hand_L_EEFState'
[2628][14:04:03.978][Armar6Unit][ObjectScheduler]: All dependencies of 'LeftHandUnit' resolved!
[2628][14:04:03.979][Armar6Unit][LeftHandUnit]: setting report topic to Hand_L_EEFState
[2628][14:04:03.980][Armar6Unit][IceManager]: Topic Hand_L_EEFState created
[2628][14:04:03.980][Armar6Unit][ArmarXManager]: Adding object with custom name: Hand_L_EEF_NJointKITHandV2ShapeController
[2687][14:04:04.296][Armar6Unit][Armar6Unit]: RobotUnit is now ready
[2687][14:04:04.296][Armar6Unit][Armar6Unit]: starting rt logging with timestep 10
[2687][14:04:04.296][Armar6Unit][Armar6Unit]: switching state from RobotUnitState::InitializingControlThread to RobotUnitState::Running
[2687][14:04:04.297][Armar6Unit][Armar6Unit]: starting publisher with timestep 10
[2687][14:04:04.297][Armar6Unit][control::ethercat::RTUtility::pinThreadToCPU(...)]: Pinning thread #2687 to CPU #0
[3133][14:04:04.297][Armar6Unit][Armar6Unit]: Self collision checker: entered selfCollisionAvoidanceTask
[2687][14:04:04.297][Armar6Unit][control::ethercat::RTUtility::pinThreadToCPU(...)]: Successfully pinned thread #2687 to CPU #0
[2687][14:04:04.297][Armar6Unit][control::ethercat::RTUtility::elevateThreadPriority(...)]: Elevating priority of thread #2687 to 49
[2687][14:04:04.297][Armar6Unit][control::ethercat::RTUtility::elevateThreadPriority(...)]: Priority before: 0
[2687][14:04:04.297][Armar6Unit][control::ethercat::RTUtility::elevateThreadPriority(...)]: Successfully elevated priority of thread #2687 to new priority 49
[2687][14:04:04.297][Armar6Unit][control::ethercat::RTUtility::startLowLatencyMode(...)]: Starting low latency mode by writing 0 to /dev/cpu_dma_latency and keeping the file open
[2635][14:04:04.298][Armar6Unit][RobotUnitObserver]: Creating datafields for channel Additional
[2687][14:04:04.297][Armar6Unit][control::ethercat::RTUtility::startLowLatencyMode(...)]: open /dev/cpu_dma_latency failed: Permission denied
[3132][14:04:04.297][Armar6Unit][Armar6Unit]: armarx::RobotUnit::publish: Some activated JointControllers are reported to be nullptr! (did you forget to call rtSwitchControllerSetup()?)
[2515][14:04:04.302][Armar6Unit][control::ethercat::BusIO::handleNextRequest(...)]: ChangeStateRequest - duration: 2.707 ms
[2687][14:04:04.302][Armar6Unit][ethercat::Bus]: All slaves in op!
[2687][14:04:04.303][Armar6Unit][Armar6HandV2 (unknown)]: KITHandV2Slave Name: Armar6HandV2 (LeftHand)
VendorID: 0x7bc (1980)
ProductCode: 0x404 (1028)
RevisionNumber: 0x2 (2)
SerialNumber: 0x0 (0)
SlaveIndex: 0x18 (24) is ready
[2687][14:04:04.303][Armar6Unit][Armar6HandV2 (unknown)]: KITHandV2Slave Name: Armar6HandV2 (RightHand)
VendorID: 0x7bc (1980)
ProductCode: 0x403 (1027)
RevisionNumber: 0x2 (2)
SerialNumber: 0x0 (0)
SlaveIndex: 0x2d (45) is ready
[2687][14:04:04.303][Armar6Unit][ethercat::Bus]: Waiting for 21/45 slaves to get ready: ElmoGold (Platform) (idx: 1), ElmoGold (Platform) (idx: 2), ElmoGold (Platform) (idx: 3), ElmoGold (Platform) (idx: 4), ElmoGold (TorsoJoint) (idx: 5), ElmoGold (ArmL1_Cla1) (idx: 7), ElmoGold (ArmL2_Sho1) (idx: 9), ElmoGold (ArmL3_Sho2) (idx: 11), ElmoGold (ArmL4_Sho3) (idx: 13), ElmoGold (ArmL5_Elb1) (idx: 15), ElmoGold (ArmL6_Elb2) (idx: 17), ElmoGold (ArmL7_Wri1) (idx: 19), ElmoGold (ArmL8_Wri2) (idx: 21), ElmoGold (ArmR1_Cla1) (idx: 28), ElmoGold (ArmR2_Sho1) (idx: 30), ElmoGold (ArmR3_Sho2) (idx: 32), ElmoGold (ArmR4_Sho3) (idx: 34), ElmoGold (ArmR5_Elb1) (idx: 36), ElmoGold (ArmR6_Elb2) (idx: 38), ElmoGold (ArmR7_Wri1) (idx: 40), ElmoGold (ArmR8_Wri2) (idx: 42),
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #7]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL1_Cla1)
SlaveIndex: 0x7 (7)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #9]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL2_Sho1)
SlaveIndex: 0x9 (9)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #11]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL3_Sho2)
SlaveIndex: 0xb (11)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #19]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL7_Wri1)
SlaveIndex: 0x13 (19)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #21]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL8_Wri2)
SlaveIndex: 0x15 (21)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #28]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR1_Cla1)
SlaveIndex: 0x1c (28)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #32]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR3_Sho2)
SlaveIndex: 0x20 (32)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #36]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR5_Elb1)
SlaveIndex: 0x24 (36)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #38]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR6_Elb2)
SlaveIndex: 0x26 (38)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #40]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR7_Wri1)
SlaveIndex: 0x28 (40)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #42]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR8_Wri2)
SlaveIndex: 0x2a (42)
[2747][14:04:04.305][Armar6Unit][EtherCAT Slave #17]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL6_Elb2)
SlaveIndex: 0x11 (17)
[3138][14:04:04.355][Armar6Unit][Armar6Unit]: Logging thread started
[2517][14:04:04.356][Armar6Unit][IceManager]: Topic AggregatedRobotHealthTopic created
[2517][14:04:04.356][Armar6Unit][IceManager]: Subscribed to topic AggregatedRobotHealthTopic
[2687][14:04:05.303][Armar6Unit][ethercat::Bus]: Waiting for 16/45 slaves to get ready: ElmoGold (ArmL1_Cla1) (idx: 7), ElmoGold (ArmL2_Sho1) (idx: 9), ElmoGold (ArmL3_Sho2) (idx: 11), ElmoGold (ArmL4_Sho3) (idx: 13), ElmoGold (ArmL5_Elb1) (idx: 15), ElmoGold (ArmL6_Elb2) (idx: 17), ElmoGold (ArmL7_Wri1) (idx: 19), ElmoGold (ArmL8_Wri2) (idx: 21), ElmoGold (ArmR1_Cla1) (idx: 28), ElmoGold (ArmR2_Sho1) (idx: 30), ElmoGold (ArmR3_Sho2) (idx: 32), ElmoGold (ArmR4_Sho3) (idx: 34), ElmoGold (ArmR5_Elb1) (idx: 36), ElmoGold (ArmR6_Elb2) (idx: 38), ElmoGold (ArmR7_Wri1) (idx: 40), ElmoGold (ArmR8_Wri2) (idx: 42),
[3132][14:04:05.303][Armar6Unit][Armar6Unit]: armarx::RobotUnit::publish: Last sensor value update is 1.00674 seconds ago!
[2747][14:04:05.305][Armar6Unit][EtherCAT Slave #7]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL1_Cla1)
SlaveIndex: 0x7 (7)
[2747][14:04:05.305][Armar6Unit][EtherCAT Slave #9]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL2_Sho1)
SlaveIndex: 0x9 (9)
[2747][14:04:05.305][Armar6Unit][EtherCAT Slave #11]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL3_Sho2)
SlaveIndex: 0xb (11)
[2747][14:04:05.305][Armar6Unit][EtherCAT Slave #17]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL6_Elb2)
SlaveIndex: 0x11 (17)
[2747][14:04:05.306][Armar6Unit][EtherCAT Slave #19]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL7_Wri1)
SlaveIndex: 0x13 (19)
[2747][14:04:05.306][Armar6Unit][EtherCAT Slave #21]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL8_Wri2)
SlaveIndex: 0x15 (21)
[2747][14:04:05.306][Armar6Unit][EtherCAT Slave #28]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR1_Cla1)
SlaveIndex: 0x1c (28)
[2747][14:04:05.306][Armar6Unit][EtherCAT Slave #32]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR3_Sho2)
SlaveIndex: 0x20 (32)
[2747][14:04:05.306][Armar6Unit][EtherCAT Slave #36]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR5_Elb1)
SlaveIndex: 0x24 (36)
[2747][14:04:05.306][Armar6Unit][EtherCAT Slave #38]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR6_Elb2)
SlaveIndex: 0x26 (38)
[2747][14:04:05.307][Armar6Unit][EtherCAT Slave #40]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR7_Wri1)
SlaveIndex: 0x28 (40)
[2747][14:04:05.307][Armar6Unit][EtherCAT Slave #42]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR8_Wri2)
SlaveIndex: 0x2a (42)
[2626][14:04:05.870][Armar6Unit][TrajectoryPlayer]: Offering topic with name: 'DebugDrawerUpdates'
[2626][14:04:05.871][Armar6Unit][ObjectScheduler]: ManagedIceObject 'TrajectoryPlayer' still waiting for:
Armar6KinematicUnit
[2624][14:04:05.922][Armar6Unit][Armar6KinematicUnit]: Offering topic with name: 'RealRobotState'
[2624][14:04:05.922][Armar6Unit][Armar6KinematicUnit]: Offering topic with name: 'SkillProviderTopic'
[2624][14:04:05.923][Armar6Unit][Armar6KinematicUnit]: setting report topic to RealRobotState
[2624][14:04:05.923][Armar6Unit][IceManager]: Topic RealRobotState created
[2624][14:04:05.924][Armar6Unit][IceManager]: Topic SkillProviderTopic created
[2629][14:04:05.970][Armar6Unit][Armar6PlatformUnit]: Offering topic with name: 'GlobalRobotPoseLocalization'
[2629][14:04:05.970][Armar6Unit][Armar6PlatformUnit]: Offering topic with name: 'Odometry'
[2629][14:04:05.970][Armar6Unit][Armar6PlatformUnit]: Offering topic with name: 'PlatformState'
[2629][14:04:05.971][Armar6Unit][ObjectScheduler]: ManagedIceObject 'Armar6PlatformUnit' still waiting for:
RobotStateComponent
[2620][14:04:06.017][Armar6Unit][ForceTorqueUnit]: Offering topic with name: 'ForceTorqueValues'
[2620][14:04:06.018][Armar6Unit][ForceTorqueUnit]: setting report topic to ForceTorqueValues
[2620][14:04:06.019][Armar6Unit][IceManager]: Topic ForceTorqueValues created
[2687][14:04:06.303][Armar6Unit][ethercat::Bus]: Waiting for 16/45 slaves to get ready: ElmoGold (ArmL1_Cla1) (idx: 7), ElmoGold (ArmL2_Sho1) (idx: 9), ElmoGold (ArmL3_Sho2) (idx: 11), ElmoGold (ArmL4_Sho3) (idx: 13), ElmoGold (ArmL5_Elb1) (idx: 15), ElmoGold (ArmL6_Elb2) (idx: 17), ElmoGold (ArmL7_Wri1) (idx: 19), ElmoGold (ArmL8_Wri2) (idx: 21), ElmoGold (ArmR1_Cla1) (idx: 28), ElmoGold (ArmR2_Sho1) (idx: 30), ElmoGold (ArmR3_Sho2) (idx: 32), ElmoGold (ArmR4_Sho3) (idx: 34), ElmoGold (ArmR5_Elb1) (idx: 36), ElmoGold (ArmR6_Elb2) (idx: 38), ElmoGold (ArmR7_Wri1) (idx: 40), ElmoGold (ArmR8_Wri2) (idx: 42),
[2747][14:04:06.305][Armar6Unit][EtherCAT Slave #7]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL1_Cla1)
SlaveIndex: 0x7 (7)
[2747][14:04:06.305][Armar6Unit][EtherCAT Slave #9]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL2_Sho1)
SlaveIndex: 0x9 (9)
[2747][14:04:06.306][Armar6Unit][EtherCAT Slave #11]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL3_Sho2)
SlaveIndex: 0xb (11)
[2747][14:04:06.306][Armar6Unit][EtherCAT Slave #17]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL6_Elb2)
SlaveIndex: 0x11 (17)
[2747][14:04:06.306][Armar6Unit][EtherCAT Slave #19]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL7_Wri1)
SlaveIndex: 0x13 (19)
[2747][14:04:06.306][Armar6Unit][EtherCAT Slave #21]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL8_Wri2)
SlaveIndex: 0x15 (21)
[2747][14:04:06.306][Armar6Unit][EtherCAT Slave #28]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR1_Cla1)
SlaveIndex: 0x1c (28)
[2747][14:04:06.307][Armar6Unit][EtherCAT Slave #32]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR3_Sho2)
SlaveIndex: 0x20 (32)
[2747][14:04:06.307][Armar6Unit][EtherCAT Slave #36]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR5_Elb1)
SlaveIndex: 0x24 (36)
[2747][14:04:06.307][Armar6Unit][EtherCAT Slave #38]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR6_Elb2)
SlaveIndex: 0x26 (38)
[2747][14:04:06.307][Armar6Unit][EtherCAT Slave #40]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR7_Wri1)
SlaveIndex: 0x28 (40)
[2747][14:04:06.307][Armar6Unit][EtherCAT Slave #42]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR8_Wri2)
SlaveIndex: 0x2a (42)
[2687][14:04:07.303][Armar6Unit][ethercat::Bus]: Waiting for 13/45 slaves to get ready: ElmoGold (ArmL1_Cla1) (idx: 7), ElmoGold (ArmL2_Sho1) (idx: 9), ElmoGold (ArmL3_Sho2) (idx: 11), ElmoGold (ArmL4_Sho3) (idx: 13), ElmoGold (ArmL6_Elb2) (idx: 17), ElmoGold (ArmL7_Wri1) (idx: 19), ElmoGold (ArmL8_Wri2) (idx: 21), ElmoGold (ArmR1_Cla1) (idx: 28), ElmoGold (ArmR3_Sho2) (idx: 32), ElmoGold (ArmR5_Elb1) (idx: 36), ElmoGold (ArmR6_Elb2) (idx: 38), ElmoGold (ArmR7_Wri1) (idx: 40), ElmoGold (ArmR8_Wri2) (idx: 42),
[2747][14:04:07.305][Armar6Unit][EtherCAT Slave #7]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL1_Cla1)
SlaveIndex: 0x7 (7)
[2747][14:04:07.306][Armar6Unit][EtherCAT Slave #9]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL2_Sho1)
SlaveIndex: 0x9 (9)
[2747][14:04:07.306][Armar6Unit][EtherCAT Slave #11]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL3_Sho2)
SlaveIndex: 0xb (11)
[2747][14:04:07.306][Armar6Unit][EtherCAT Slave #17]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL6_Elb2)
SlaveIndex: 0x11 (17)
[2747][14:04:07.306][Armar6Unit][EtherCAT Slave #19]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL7_Wri1)
SlaveIndex: 0x13 (19)
[2747][14:04:07.307][Armar6Unit][EtherCAT Slave #21]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL8_Wri2)
SlaveIndex: 0x15 (21)
[2747][14:04:07.307][Armar6Unit][EtherCAT Slave #28]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR1_Cla1)
SlaveIndex: 0x1c (28)
[2747][14:04:07.307][Armar6Unit][EtherCAT Slave #32]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR3_Sho2)
SlaveIndex: 0x20 (32)
[2747][14:04:07.307][Armar6Unit][EtherCAT Slave #36]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR5_Elb1)
SlaveIndex: 0x24 (36)
[2747][14:04:07.307][Armar6Unit][EtherCAT Slave #38]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR6_Elb2)
SlaveIndex: 0x26 (38)
[2747][14:04:07.307][Armar6Unit][EtherCAT Slave #40]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR7_Wri1)
SlaveIndex: 0x28 (40)
[2747][14:04:07.308][Armar6Unit][EtherCAT Slave #42]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR8_Wri2)
SlaveIndex: 0x2a (42)
[2626][14:04:07.878][Armar6Unit][ObjectScheduler]: All dependencies of 'TrajectoryPlayer' resolved!
[2687][14:04:08.303][Armar6Unit][ethercat::Bus]: Waiting for 12/45 slaves to get ready: ElmoGold (ArmL1_Cla1) (idx: 7), ElmoGold (ArmL2_Sho1) (idx: 9), ElmoGold (ArmL3_Sho2) (idx: 11), ElmoGold (ArmL6_Elb2) (idx: 17), ElmoGold (ArmL7_Wri1) (idx: 19), ElmoGold (ArmL8_Wri2) (idx: 21), ElmoGold (ArmR1_Cla1) (idx: 28), ElmoGold (ArmR3_Sho2) (idx: 32), ElmoGold (ArmR5_Elb1) (idx: 36), ElmoGold (ArmR6_Elb2) (idx: 38), ElmoGold (ArmR7_Wri1) (idx: 40), ElmoGold (ArmR8_Wri2) (idx: 42),
[2747][14:04:08.305][Armar6Unit][EtherCAT Slave #7]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL1_Cla1)
SlaveIndex: 0x7 (7)
[2747][14:04:08.306][Armar6Unit][EtherCAT Slave #9]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL2_Sho1)
SlaveIndex: 0x9 (9)
[2747][14:04:08.306][Armar6Unit][EtherCAT Slave #11]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL3_Sho2)
SlaveIndex: 0xb (11)
[2747][14:04:08.306][Armar6Unit][EtherCAT Slave #17]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL6_Elb2)
SlaveIndex: 0x11 (17)
[2747][14:04:08.306][Armar6Unit][EtherCAT Slave #19]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL7_Wri1)
SlaveIndex: 0x13 (19)
[2747][14:04:08.307][Armar6Unit][EtherCAT Slave #21]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL8_Wri2)
SlaveIndex: 0x15 (21)
[2747][14:04:08.307][Armar6Unit][EtherCAT Slave #28]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR1_Cla1)
SlaveIndex: 0x1c (28)
[2747][14:04:08.307][Armar6Unit][EtherCAT Slave #32]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR3_Sho2)
SlaveIndex: 0x20 (32)
[2747][14:04:08.307][Armar6Unit][EtherCAT Slave #36]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR5_Elb1)
SlaveIndex: 0x24 (36)
[2747][14:04:08.307][Armar6Unit][EtherCAT Slave #38]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR6_Elb2)
SlaveIndex: 0x26 (38)
[2747][14:04:08.307][Armar6Unit][EtherCAT Slave #40]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR7_Wri1)
SlaveIndex: 0x28 (40)
[2747][14:04:08.308][Armar6Unit][EtherCAT Slave #42]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR8_Wri2)
SlaveIndex: 0x2a (42)
[3132][14:04:09.297][Armar6Unit][Armar6Unit]: armarx::RobotUnit::publish: Some activated JointControllers are reported to be nullptr! (did you forget to call rtSwitchControllerSetup()?)
[2687][14:04:09.303][Armar6Unit][Armar6HandV2 (unknown)]: KITHandV2Slave Name: Armar6HandV2 (LeftHand)
VendorID: 0x7bc (1980)
ProductCode: 0x404 (1028)
RevisionNumber: 0x2 (2)
SerialNumber: 0x0 (0)
SlaveIndex: 0x18 (24) is ready
[2687][14:04:09.303][Armar6Unit][Armar6HandV2 (unknown)]: KITHandV2Slave Name: Armar6HandV2 (RightHand)
VendorID: 0x7bc (1980)
ProductCode: 0x403 (1027)
RevisionNumber: 0x2 (2)
SerialNumber: 0x0 (0)
SlaveIndex: 0x2d (45) is ready
[2687][14:04:09.303][Armar6Unit][ethercat::Bus]: Waiting for 12/45 slaves to get ready: ElmoGold (ArmL1_Cla1) (idx: 7), ElmoGold (ArmL2_Sho1) (idx: 9), ElmoGold (ArmL3_Sho2) (idx: 11), ElmoGold (ArmL6_Elb2) (idx: 17), ElmoGold (ArmL7_Wri1) (idx: 19), ElmoGold (ArmL8_Wri2) (idx: 21), ElmoGold (ArmR1_Cla1) (idx: 28), ElmoGold (ArmR3_Sho2) (idx: 32), ElmoGold (ArmR5_Elb1) (idx: 36), ElmoGold (ArmR6_Elb2) (idx: 38), ElmoGold (ArmR7_Wri1) (idx: 40), ElmoGold (ArmR8_Wri2) (idx: 42),
[2747][14:04:09.305][Armar6Unit][EtherCAT Slave #7]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL1_Cla1)
SlaveIndex: 0x7 (7)
[2747][14:04:09.306][Armar6Unit][EtherCAT Slave #9]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL2_Sho1)
SlaveIndex: 0x9 (9)
[2747][14:04:09.306][Armar6Unit][EtherCAT Slave #11]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL3_Sho2)
SlaveIndex: 0xb (11)
[2747][14:04:09.306][Armar6Unit][EtherCAT Slave #17]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL6_Elb2)
SlaveIndex: 0x11 (17)
[2747][14:04:09.306][Armar6Unit][EtherCAT Slave #19]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL7_Wri1)
SlaveIndex: 0x13 (19)
[2747][14:04:09.307][Armar6Unit][EtherCAT Slave #21]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmL8_Wri2)
SlaveIndex: 0x15 (21)
[2747][14:04:09.307][Armar6Unit][EtherCAT Slave #28]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR1_Cla1)
SlaveIndex: 0x1c (28)
[2747][14:04:09.307][Armar6Unit][EtherCAT Slave #32]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR3_Sho2)
SlaveIndex: 0x20 (32)
[2747][14:04:09.308][Armar6Unit][EtherCAT Slave #36]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR5_Elb1)
SlaveIndex: 0x24 (36)
[2747][14:04:09.308][Armar6Unit][EtherCAT Slave #38]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR6_Elb2)
SlaveIndex: 0x26 (38)
[2747][14:04:09.308][Armar6Unit][EtherCAT Slave #40]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR7_Wri1)
SlaveIndex: 0x28 (40)
[2747][14:04:09.308][Armar6Unit][EtherCAT Slave #42]: [SlaveError] STO (Safe Torque Off) is active.
Name: ElmoGold (ArmR8_Wri2)
SlaveIndex: 0x2a (42)