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orocos.log
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0.000 [ Info ][Logger] No ORO_LOGLEVEL environment variable set.
0.000 [ Info ][Logger] OROCOS version '2.8.3' compiled with GCC 5.4.0. Running in GNU/Linux.
0.000 [ Info ][Logger] Orocos Logging Activated at level : [ Warning] ( 4 )
0.000 [ Info ][Logger] Reference System Time is : 1497627055987697449 ticks ( 1.49763e+09 seconds ).
0.000 [ Info ][Logger] Logging is relative to this time.
0.000 [ Info ][Logger] RTT_COMPONENT_PATH was set to: /home/erreur404/git-repos/cosima-utilities/build/orocos/:/home/erreur404/git-repos/cosima-projected-dynamics/build/orocos/:/home/erreur404/git-repos/Motion-generation-using-quadratic-programs/build/orocos/:/home/erreur404/git-repos/IIT-workshop-examples/example-1/build/orocos/:/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos . Searching in: /home/erreur404/git-repos/cosima-utilities/build/orocos/:/home/erreur404/git-repos/cosima-projected-dynamics/build/orocos/:/home/erreur404/git-repos/Motion-generation-using-quadratic-programs/build/orocos/:/home/erreur404/git-repos/IIT-workshop-examples/example-1/build/orocos/:/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos
0.000 [ Info ][Logger] plugin 'rtt' not loaded before.
0.000 [ Info ][Logger] Loading plugin libraries from directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/./plugins ...
0.001 [ Info ][Logger] Loaded RTT Service 'marshalling' from 'rtt-marshalling'
0.001 [ Info ][Logger] Loaded RTT Service 'scripting' from 'rtt-scripting'
0.001 [ Info ][Logger] typekit 'rtt' not loaded before.
0.001 [ Info ][Logger] Loading typekit libraries from directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/./types ...
0.010 [ Info ][TypekitRepository::Import] Loading Typekit rtt-types.
0.010 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-types' from 'rtt-typekit'
0.011 [ Info ][TypekitRepository::Import] Loading Transport mqueue://rtt-types.
0.011 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for array
0.011 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for bool
0.011 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for char
0.011 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for double
0.011 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for float
0.011 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for int
0.011 [ Info ][TypekitRepository::Import] Registered new 'mqueue' transport for uint
0.011 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-mqueue-transport' from 'rtt-transport-mqueue'
0.023 [ Info ][TypekitRepository::Import] Loading Transport CORBA://rtt-types.
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for ConnPolicy
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for TaskContext
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for array
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for bool
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for char
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for double
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for float
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for int
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for rt_string
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for string
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for uint
0.023 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for void
0.023 [ Info ][Logger] Loaded RTT TypeKit/Transport 'rtt-corba-types' from 'rtt-transport-corba'
0.023 [ Info ][Logger] RTT_COMPONENT_PATH was set to: /home/erreur404/git-repos/cosima-utilities/build/orocos/:/home/erreur404/git-repos/cosima-projected-dynamics/build/orocos/:/home/erreur404/git-repos/Motion-generation-using-quadratic-programs/build/orocos/:/home/erreur404/git-repos/IIT-workshop-examples/example-1/build/orocos/:/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos . Searching in: /home/erreur404/git-repos/cosima-utilities/build/orocos/:/home/erreur404/git-repos/cosima-projected-dynamics/build/orocos/:/home/erreur404/git-repos/Motion-generation-using-quadratic-programs/build/orocos/:/home/erreur404/git-repos/IIT-workshop-examples/example-1/build/orocos/:/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos
0.023 [ Info ][Logger] OCL factory set for real-time logging
0.023 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='Deployer'
0.024 [ Info ][Deployer] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31389 ).
0.024 [ Info ][Logger] No site file was found. Importing 'ocl' by default.
0.024 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/ocl ...
0.025 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/ocl/liborocos-ocl-logging-gnulinux.so'
0.036 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/ocl/liborocos-ocl-reporting-netcdf-gnulinux.so'
0.036 [ Info ][ComponentLoader::import(path_list)] Loaded component type 'OCL::NetcdfReporting'
0.038 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/ocl/liborocos-ocl-timer-gnulinux.so'
0.038 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/ocl/liborocos-ocl-reporting-gnulinux.so'
0.039 [ Info ][ComponentLoader::import(path_list)] Loaded component type 'OCL::HelloWorld'
0.040 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/ocl/liborocos-ocl-common-gnulinux.so'
0.040 [ Info ][ComponentLoader::import(path_list)] Loading typekit libraries from directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/ocl/types ...
0.042 [ Info ][TypekitRepository::Import] Loading Typekit OCLTypekit.
0.042 [ Info ][ComponentLoader::import(path_list)] Loaded RTT TypeKit/Transport 'OCLTypekit' from 'ocl'
0.042 [ Info ][ComponentLoader::import(path_list)] Loading plugin libraries from directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/ocl/plugins ...
0.043 [ Info ][ComponentLoader::import(path_list)] Loaded RTT Service 'os' from 'os'
0.043 [ Info ][ComponentLoader::import(path_list)] Loaded RTT Service 'print' from 'print'
0.043 [ Info ][Logger] Loading Service or Plugin scripting in TaskContext Deployer
0.044 [ Info ][Logger] Found complete interface of requested service 'scripting'
0.044 [ Info ][Logger] Running Script /home/erreur404/git-repos/Motion-generation-using-quadratic-programs/ops/mgqp.ops ...
0.044 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='GlobalEngine'
0.044 [ Info ][GlobalEngine] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31390 ).
0.045 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/eigen_typekit ...
0.045 [ Info ][ComponentLoader::import(path_list)] Loading typekit libraries from directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/eigen_typekit/types ...
0.047 [ Info ][TypekitRepository::Import] Loading Typekit Eigen.
0.047 [ Info ][ComponentLoader::import(path_list)] Loaded RTT TypeKit/Transport 'Eigen' from 'eigen_typekit'
0.048 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/kdl_typekit ...
0.048 [ Info ][ComponentLoader::import(path_list)] Loading typekit libraries from directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/kdl_typekit/types ...
0.049 [ Info ][TypekitRepository::Import] Loading Transport CORBA://KDL.
0.049 [ Info ][ComponentLoader::import(path_list)] Loaded RTT TypeKit/Transport 'kdl-corba-types' from 'kdl-transport-corba'
0.068 [ Info ][TypekitRepository::Import] Loading Typekit KDL.
0.068 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for KDL.Frame
0.068 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for KDL.Rotation
0.068 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for KDL.Twist
0.068 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for KDL.Vector
0.068 [ Info ][TypekitRepository::Import] Registered new 'CORBA' transport for KDL.Wrench
0.068 [ Info ][ComponentLoader::import(path_list)] Loaded RTT TypeKit/Transport 'KDL' from 'kdl_typekit'
0.069 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/rst-rt_typekit ...
0.069 [ Info ][ComponentLoader::import(path_list)] Loading typekit libraries from directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/rst-rt_typekit/types ...
0.103 [ Info ][TypekitRepository::Import] Loading Typekit rst-rt.
0.103 [ Info ][ComponentLoader::import(path_list)] Loaded RTT TypeKit/Transport 'rst-rt' from 'rst-rt_typekit'
0.104 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/rtt_gazebo_embedded ...
0.186 [ Info ][ComponentLoader::import(path_list)] Loaded component type 'ModelPluginExample'
0.190 [ Info ][ComponentLoader::import(path_list)] Loaded component type 'RTTGazeboEmbedded'
0.191 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/rtt-gazebo-robot-sim ...
0.201 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/rtt-gazebo-robot-sim/librtt-gazebo-robot-sim-gnulinux.so'
0.201 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/rtt-core-extensions ...
0.205 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/rtt-core-extensions/librtt-core-extensions-components-gnulinux.so'
0.206 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/git-repos/cosima-projected-dynamics/build/orocos/gnulinux/ProjectedDynamics ...
0.256 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/git-repos/cosima-projected-dynamics/build/orocos/gnulinux/ProjectedDynamics/libProjectedDynamics-gnulinux.so'
0.257 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/git-repos/cosima-utilities/build/orocos/gnulinux/CosimaUtilities ...
0.264 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/git-repos/cosima-utilities/build/orocos/gnulinux/CosimaUtilities/libCosimaUtilities-gnulinux.so'
0.269 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='gazebo'
0.269 [ Info ][gazebo] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31395 ).
0.269 [ Info ][loadComponent] Creating gazebo with gazebo embedded !
0.269 [ Info ][loadComponent] Adding gazebo as new peer: OK.
0.270 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=10, CPU affinity=4294967295, with name='gazebo'
0.270 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
0.270 [ Info ][gazebo] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31396 ).
0.274 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='robot_gazebo'
0.274 [ Info ][robot_gazebo] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31397 ).
0.274 [ Info ][loadComponent] Adding robot_gazebo as new peer: OK.
0.275 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=11, CPU affinity=4294967295, with name='robot_gazebo'
0.275 [ Warning][Thread] Forcing priority (11) of thread with SCHED_OTHER policy to 0.
0.276 [ Info ][robot_gazebo] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31398 ).
0.276 [ Info ][ScriptingService] Creating world at worlds/empty.world
0.277 [ Info ][ScriptingService] RTT_COMPONENT_PATH was set to: /home/erreur404/git-repos/cosima-utilities/build/orocos/:/home/erreur404/git-repos/cosima-projected-dynamics/build/orocos/:/home/erreur404/git-repos/Motion-generation-using-quadratic-programs/build/orocos/:/home/erreur404/git-repos/IIT-workshop-examples/example-1/build/orocos/:/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos . Searching in: /home/erreur404/git-repos/cosima-utilities/build/orocos/:/home/erreur404/git-repos/cosima-projected-dynamics/build/orocos/:/home/erreur404/git-repos/Motion-generation-using-quadratic-programs/build/orocos/:/home/erreur404/git-repos/IIT-workshop-examples/example-1/build/orocos/:/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos
0.277 [ Info ][ScriptingService] plugin 'rtt' not loaded before.
0.277 [ Info ][ScriptingService] Loading plugin libraries from directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/./plugins ...
0.277 [ Info ][ScriptingService] typekit 'rtt' not loaded before.
0.277 [ Info ][ScriptingService] Loading typekit libraries from directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/./types ...
0.278 [ Info ][ScriptingService] RTT_COMPONENT_PATH was set to: /home/erreur404/git-repos/cosima-utilities/build/orocos/:/home/erreur404/git-repos/cosima-projected-dynamics/build/orocos/:/home/erreur404/git-repos/Motion-generation-using-quadratic-programs/build/orocos/:/home/erreur404/git-repos/IIT-workshop-examples/example-1/build/orocos/:/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos . Searching in: /home/erreur404/git-repos/cosima-utilities/build/orocos/:/home/erreur404/git-repos/cosima-projected-dynamics/build/orocos/:/home/erreur404/git-repos/Motion-generation-using-quadratic-programs/build/orocos/:/home/erreur404/git-repos/IIT-workshop-examples/example-1/build/orocos/:/home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos
0.287 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='rtt_clock_SimClockThread'
0.288 [ Info ][rtt_clock_SimClockThread] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31402 ).
0.288 [ Info ][ScriptingService] Orocos Logging Deactivated.
0.000 [ Info ][ScriptingService] No ORO_LOGLEVEL environment variable set.
0.000 [ Info ][ScriptingService] OROCOS version '2.8.3' compiled with GCC 5.4.0. Running in GNU/Linux.
0.000 [ Info ][ScriptingService] Orocos Logging Activated at level : [ Info ] ( 5 )
0.000 [ Info ][ScriptingService] Reference System Time is : 0 ticks ( 0 seconds ).
0.000 [ Info ][ScriptingService] Logging is relative to this time.
0.186 [ Info ][ScriptingService] Model [robotmodel] successfully loaded !
0.186 [ Info ][ScriptingService] URDF path: /home/erreur404/citk/systems/cogimon-minimal-nightly/share/gazebo/models/cogimon/kuka-lwr-4plus/model.urdf
0.186 [ Info ][ScriptingService] SRDF path: /home/erreur404/citk/systems/cogimon-minimal-nightly/share/gazebo/models/cogimon/kuka-lwr-4plus/model.srdf
0.190 [ Info ][ScriptingService] chain #0 full_arm
0.190 [ Info ][ScriptingService] lwr_arm_0_joint
0.190 [ Info ][ScriptingService] lwr_arm_1_joint
0.190 [ Info ][ScriptingService] lwr_arm_2_joint
0.190 [ Info ][ScriptingService] lwr_arm_3_joint
0.190 [ Info ][ScriptingService] lwr_arm_4_joint
0.190 [ Info ][ScriptingService] lwr_arm_5_joint
0.190 [ Info ][ScriptingService] lwr_arm_6_joint
0.190 [ Info ][ScriptingService] Model name robotmodel
0.190 [ Info ][ScriptingService] Model has 8 joints
0.190 [ Info ][ScriptingService] Model has 8 links
0.190 [ Info ][ScriptingService] Creating Kinematic Chain full_arm
0.190 [ Info ][ScriptingService] Joints:
0.190 [ Info ][ScriptingService] lwr_arm_0_joint
0.190 [ Info ][ScriptingService] lwr_arm_1_joint
0.190 [ Info ][ScriptingService] lwr_arm_2_joint
0.190 [ Info ][ScriptingService] lwr_arm_3_joint
0.190 [ Info ][ScriptingService] lwr_arm_4_joint
0.190 [ Info ][ScriptingService] lwr_arm_5_joint
0.190 [ Info ][ScriptingService] lwr_arm_6_joint
0.190 [ Info ][ScriptingService] Kinematic Chains map created!
0.190 [ Info ][ScriptingService] Available controllers for full_arm are:
0.190 [ Info ][ScriptingService] JointPositionCtrl
0.190 [ Info ][ScriptingService] JointImpedanceCtrl
0.190 [ Info ][ScriptingService] JointTorqueCtrl
0.190 [ Info ][ScriptingService] Joint lwr_arm_0_joint in chain full_arm has scoped name robotmodel::lwr_arm_0_joint
0.190 [ Info ][ScriptingService] Joint lwr_arm_1_joint in chain full_arm has scoped name robotmodel::lwr_arm_1_joint
0.190 [ Info ][ScriptingService] Joint lwr_arm_2_joint in chain full_arm has scoped name robotmodel::lwr_arm_2_joint
0.190 [ Info ][ScriptingService] Joint lwr_arm_3_joint in chain full_arm has scoped name robotmodel::lwr_arm_3_joint
0.190 [ Info ][ScriptingService] Joint lwr_arm_4_joint in chain full_arm has scoped name robotmodel::lwr_arm_4_joint
0.190 [ Info ][ScriptingService] Joint lwr_arm_5_joint in chain full_arm has scoped name robotmodel::lwr_arm_5_joint
0.190 [ Info ][ScriptingService] Joint lwr_arm_6_joint in chain full_arm has scoped name robotmodel::lwr_arm_6_joint
0.190 [ Info ][ScriptingService] JointPositionCtrl activated!
0.190 [ Info ][ScriptingService] JointImpedanceCtrl activated!
0.190 [ Info ][ScriptingService] JointTorqueCtrl activated!
0.190 [ Info ][ScriptingService] Full feedback activated!
0.190 [ Info ][ScriptingService] full_arm PIDs:
0.190 [ Info ][ScriptingService] lwr_arm_0_joint P: 1000 I: 0 D: 0.1
0.190 [ Info ][ScriptingService] lwr_arm_1_joint P: 1000 I: 0 D: 0.1
0.190 [ Info ][ScriptingService] lwr_arm_2_joint P: 600 I: 0 D: 0.1
0.190 [ Info ][ScriptingService] lwr_arm_3_joint P: 1000 I: 0 D: 0.1
0.190 [ Info ][ScriptingService] lwr_arm_4_joint P: 100 I: 0 D: 0.1
0.190 [ Info ][ScriptingService] lwr_arm_5_joint P: 100 I: 0 D: 0.1
0.190 [ Info ][ScriptingService] lwr_arm_6_joint P: 10 I: 0 D: 0.01
0.190 [ Info ][ScriptingService] Gazebo Joint Controlled inited!
0.190 [ Info ][ScriptingService] Initial Position set!
0.190 [ Info ][ScriptingService] full_arm impedance:
0.190 [ Info ][ScriptingService] lwr_arm_0_joint stiffness: 300 damping: 30
0.190 [ Info ][ScriptingService] lwr_arm_1_joint stiffness: 300 damping: 30
0.190 [ Info ][ScriptingService] lwr_arm_2_joint stiffness: 300 damping: 30
0.190 [ Info ][ScriptingService] lwr_arm_3_joint stiffness: 300 damping: 30
0.190 [ Info ][ScriptingService] lwr_arm_4_joint stiffness: 300 damping: 30
0.190 [ Info ][ScriptingService] lwr_arm_5_joint stiffness: 300 damping: 30
0.190 [ Info ][ScriptingService] lwr_arm_6_joint stiffness: 300 damping: 30
0.190 [ Info ][ScriptingService] Initial Impedance set!
0.190 [ Info ][ScriptingService] Kinematic Chains Initialized!
0.190 [ Info ][ScriptingService] Checking Sensors
0.190 [ Warning][ScriptingService] Done configuring component
0.209 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='fkin1'
0.209 [ Info ][fkin1] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31432 ).
0.209 [ Info ][loadComponent] Adding fkin1 as new peer: OK.
0.209 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=10, CPU affinity=4294967295, with name='fkin1'
0.209 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
0.209 [ Info ][fkin1] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.01 (PID= 31433 ).
0.212 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='fkin2'
0.212 [ Info ][fkin2] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31434 ).
0.212 [ Info ][loadComponent] Adding fkin2 as new peer: OK.
0.212 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=10, CPU affinity=4294967295, with name='fkin2'
0.212 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
0.212 [ Info ][fkin2] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.01 (PID= 31435 ).
0.216 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='fkin3'
0.216 [ Info ][fkin3] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31436 ).
0.217 [ Info ][loadComponent] Adding fkin3 as new peer: OK.
0.217 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=10, CPU affinity=4294967295, with name='fkin3'
0.217 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
0.217 [ Info ][fkin3] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.01 (PID= 31437 ).
0.221 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='fkin4'
0.222 [ Info ][fkin4] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31438 ).
0.222 [ Info ][loadComponent] Adding fkin4 as new peer: OK.
0.222 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=10, CPU affinity=4294967295, with name='fkin4'
0.222 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
0.222 [ Info ][fkin4] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.01 (PID= 31439 ).
0.225 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='fkin5'
0.226 [ Info ][fkin5] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31440 ).
0.226 [ Info ][loadComponent] Adding fkin5 as new peer: OK.
0.226 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=10, CPU affinity=4294967295, with name='fkin5'
0.226 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
0.226 [ Info ][fkin5] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.01 (PID= 31441 ).
0.229 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='fkin6'
0.229 [ Info ][fkin6] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31442 ).
0.229 [ Info ][loadComponent] Adding fkin6 as new peer: OK.
0.231 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=10, CPU affinity=4294967295, with name='fkin6'
0.231 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
0.232 [ Info ][fkin6] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.01 (PID= 31443 ).
0.235 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='fkin7'
0.236 [ Info ][fkin7] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31444 ).
0.237 [ Info ][loadComponent] Adding fkin7 as new peer: OK.
0.237 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=10, CPU affinity=4294967295, with name='fkin7'
0.237 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
0.238 [ Info ][fkin7] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.01 (PID= 31445 ).
0.250 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/git-repos/IIT-workshop-examples/example-1/build/orocos/gnulinux/RttExamples1 ...
0.279 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/git-repos/IIT-workshop-examples/example-1/build/orocos/gnulinux/RttExamples1/libRttExamples1-gnulinux.so'
0.279 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='singen'
0.279 [ Info ][singen] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31446 ).
0.279 [ Info ][loadComponent] Adding singen as new peer: OK.
0.279 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=50, CPU affinity=4294967295, with name='singen'
0.279 [ Warning][Thread] Forcing priority (50) of thread with SCHED_OTHER policy to 0.
0.289 [ Info ][singen] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.05 (PID= 31447 ).
0.289 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='trajectorygenerator'
0.292 [ Info ][trajectorygenerator] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31448 ).
0.293 [ Info ][loadComponent] Adding trajectorygenerator as new peer: OK.
0.293 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=10, CPU affinity=4294967295, with name='trajectorygenerator'
0.293 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
0.293 [ Info ][trajectorygenerator] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.01 (PID= 31449 ).
0.296 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='trajectorygenerator2'
0.296 [ Info ][trajectorygenerator2] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31450 ).
0.296 [ Info ][loadComponent] Adding trajectorygenerator2 as new peer: OK.
0.296 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=10, CPU affinity=4294967295, with name='trajectorygenerator2'
0.296 [ Warning][Thread] Forcing priority (10) of thread with SCHED_OTHER policy to 0.
0.296 [ Info ][trajectorygenerator2] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.01 (PID= 31451 ).
0.309 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/git-repos/Motion-generation-using-quadratic-programs/build/orocos/gnulinux/MotionGenerationQuadraticProgram ...
0.398 [ Info ][ComponentLoader::import(path_list)] Loaded multi component library '/home/erreur404/git-repos/Motion-generation-using-quadratic-programs/build/orocos/gnulinux/MotionGenerationQuadraticProgram/libMotionGenerationQuadraticProgram-gnulinux.so'
0.400 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='myTorqueController'
0.401 [ Info ][myTorqueController] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31452 ).
0.402 [ Info ][loadComponent] Adding myTorqueController as new peer: OK.
0.403 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=50, CPU affinity=4294967295, with name='myTorqueController'
0.403 [ Warning][Thread] Forcing priority (50) of thread with SCHED_OTHER policy to 0.
0.403 [ Info ][myTorqueController] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0.05 (PID= 31453 ).
0.405 [ Info ][ScriptingService] Adding the number ports
0.406 [ Info ][ScriptingService] mgqp ================================================ Joint 1
0.407 [ Info ][ScriptingService] Jacobian ... OK
0.408 [ Info ][ScriptingService] JacobianDot ... OK
0.408 [ Info ][ScriptingService] CurPos ... OK
0.408 [ Info ][ScriptingService] CurVel ... OK
0.408 [ Info ][ScriptingService] DesPos ... OK
0.408 [ Info ][ScriptingService] DesVel ... OK
0.408 [ Info ][ScriptingService] DesAcc ... OK
0.408 [ Info ][ScriptingService] DesJointPos ... OK
0.408 [ Info ][ScriptingService] DesJointVel ... OK
0.408 [ Info ][ScriptingService] DesJointAcc ... OK
0.408 [ Info ][ScriptingService] mgqp ================================================ Joint 2
0.409 [ Info ][ScriptingService] Jacobian ... OK
0.410 [ Info ][ScriptingService] JacobianDot ... OK
0.411 [ Info ][ScriptingService] CurPos ... OK
0.411 [ Info ][ScriptingService] CurVel ... OK
0.411 [ Info ][ScriptingService] DesPos ... OK
0.411 [ Info ][ScriptingService] DesVel ... OK
0.411 [ Info ][ScriptingService] DesAcc ... OK
0.411 [ Info ][ScriptingService] DesJointPos ... OK
0.411 [ Info ][ScriptingService] DesJointVel ... OK
0.411 [ Info ][ScriptingService] DesJointAcc ... OK
0.411 [ Info ][ScriptingService] mgqp ================================================ Joint 3
0.411 [ Info ][ScriptingService] Jacobian ... OK
0.411 [ Info ][ScriptingService] JacobianDot ... OK
0.411 [ Info ][ScriptingService] CurPos ... OK
0.411 [ Info ][ScriptingService] CurVel ... OK
0.411 [ Info ][ScriptingService] DesPos ... OK
0.411 [ Info ][ScriptingService] DesVel ... OK
0.411 [ Info ][ScriptingService] DesAcc ... OK
0.411 [ Info ][ScriptingService] DesJointPos ... OK
0.411 [ Info ][ScriptingService] DesJointVel ... OK
0.411 [ Info ][ScriptingService] DesJointAcc ... OK
0.411 [ Info ][ScriptingService] mgqp ================================================ Joint 4
0.411 [ Info ][ScriptingService] Jacobian ... OK
0.411 [ Info ][ScriptingService] JacobianDot ... OK
0.411 [ Info ][ScriptingService] CurPos ... OK
0.411 [ Info ][ScriptingService] CurVel ... OK
0.411 [ Info ][ScriptingService] DesPos ... OK
0.411 [ Info ][ScriptingService] DesVel ... OK
0.411 [ Info ][ScriptingService] DesAcc ... OK
0.411 [ Info ][ScriptingService] DesJointPos ... OK
0.411 [ Info ][ScriptingService] DesJointVel ... OK
0.411 [ Info ][ScriptingService] DesJointAcc ... OK
0.411 [ Info ][ScriptingService] mgqp ================================================ Joint 5
0.411 [ Info ][ScriptingService] Jacobian ... OK
0.411 [ Info ][ScriptingService] JacobianDot ... OK
0.411 [ Info ][ScriptingService] CurPos ... OK
0.412 [ Info ][ScriptingService] CurVel ... OK
0.412 [ Info ][ScriptingService] DesPos ... OK
0.412 [ Info ][ScriptingService] DesVel ... OK
0.412 [ Info ][ScriptingService] DesAcc ... OK
0.412 [ Info ][ScriptingService] DesJointPos ... OK
0.412 [ Info ][ScriptingService] DesJointVel ... OK
0.412 [ Info ][ScriptingService] DesJointAcc ... OK
0.412 [ Info ][ScriptingService] mgqp ================================================ Joint 6
0.412 [ Info ][ScriptingService] Jacobian ... OK
0.412 [ Info ][ScriptingService] JacobianDot ... OK
0.413 [ Info ][ScriptingService] CurPos ... OK
0.413 [ Info ][ScriptingService] CurVel ... OK
0.413 [ Info ][ScriptingService] DesPos ... OK
0.413 [ Info ][ScriptingService] DesVel ... OK
0.413 [ Info ][ScriptingService] DesAcc ... OK
0.413 [ Info ][ScriptingService] DesJointPos ... OK
0.413 [ Info ][ScriptingService] DesJointVel ... OK
0.413 [ Info ][ScriptingService] DesJointAcc ... OK
0.413 [ Info ][ScriptingService] mgqp ================================================ Joint 7
0.413 [ Info ][ScriptingService] Jacobian ... OK
0.413 [ Info ][ScriptingService] JacobianDot ... OK
0.413 [ Info ][ScriptingService] CurPos ... OK
0.413 [ Info ][ScriptingService] CurVel ... OK
0.413 [ Info ][ScriptingService] DesPos ... OK
0.413 [ Info ][ScriptingService] DesVel ... OK
0.413 [ Info ][ScriptingService] DesAcc ... OK
0.413 [ Info ][ScriptingService] DesJointPos ... OK
0.413 [ Info ][ScriptingService] DesJointVel ... OK
0.413 [ Info ][ScriptingService] DesJointAcc ... OK
0.419 [ Info ][connect] Connected Port robot_gazebo.full_arm_JointFeedback to myTorqueController.in_robotstatus_port.
0.421 [ Info ][connect] Connected Port robot_gazebo.full_arm_JointFeedback to fkin1.in_robotstatus_port.
0.421 [ Info ][connect] Connected Port robot_gazebo.full_arm_JointFeedback to fkin2.in_robotstatus_port.
0.423 [ Info ][connect] Connected Port robot_gazebo.full_arm_JointFeedback to fkin3.in_robotstatus_port.
0.423 [ Info ][connect] Connected Port robot_gazebo.full_arm_JointFeedback to fkin4.in_robotstatus_port.
0.424 [ Info ][connect] Connected Port robot_gazebo.full_arm_JointFeedback to fkin5.in_robotstatus_port.
0.424 [ Info ][connect] Connected Port robot_gazebo.full_arm_JointFeedback to fkin6.in_robotstatus_port.
0.424 [ Info ][connect] Connected Port robot_gazebo.full_arm_JointFeedback to fkin7.in_robotstatus_port.
0.424 [ Info ][connect] Connected Port robot_gazebo.full_arm_JointFeedback to fkin7.in_robotstatus_port.
0.427 [ Info ][connect] Connected Port fkin7.out_robotstatus_port to myTorqueController.in_robotstatus_port.
0.429 [ Info ][connect] Connected Port fkin7.out_coriolisAndGravity_port to myTorqueController.in_h_port.
0.430 [ Info ][connect] Connected Port fkin7.out_inertia_port to myTorqueController.in_inertia_port.
0.433 [ Info ][connect] Connected Port fkin7.out_jacobianTranslation_port to myTorqueController.in_jacobian_port_7.
0.436 [ Info ][connect] Connected Port fkin7.out_jacobianDotTranslation_port to myTorqueController.in_jacobianDot_port_7.
0.438 [ Info ][connect] Connected Port fkin7.out_cartPosTranslation_port to myTorqueController.in_currentTaskSpacePosition_port_7.
0.440 [ Info ][connect] Connected Port fkin7.out_cartVelTranslation_port to myTorqueController.in_currentTaskSpaceVelocity_port_7.
0.440 [ Info ][connect] Connected Port trajectorygenerator2.out_desiredTaskSpacePosition_port to myTorqueController.in_desiredTaskSpacePosition_port_7.
0.440 [ Info ][connect] Connected Port trajectorygenerator2.out_desiredTaskSpaceVelocity_port to myTorqueController.in_desiredTaskSpaceVelocity_port_7.
0.441 [ Info ][connect] Connected Port trajectorygenerator2.out_desiredTaskSpaceAcceleration_port to myTorqueController.in_desiredTaskSpaceAcceleration_port_7.
0.449 [ Info ][connect] Connected Port singen.out_sin_port to myTorqueController.in_desiredJointSpacePosition_port_1.
0.450 [ Info ][connect] Connected Port myTorqueController.out_torques_port to robot_gazebo.full_arm_JointTorqueCtrl.
0.458 [ Info ][ScriptingService] Controller configured SUCCESS !
0.464 [ Info ][ComponentLoader::import(path_list)] Importing directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/rtt_dot_service ...
0.464 [ Info ][ComponentLoader::import(path_list)] Loading plugin libraries from directory /home/erreur404/citk/systems/cogimon-minimal-nightly/lib/orocos/gnulinux/rtt_dot_service/plugins ...
0.465 [ Info ][ComponentLoader::import(path_list)] Loaded RTT Service 'dot' from 'rtt_dot_service'
0.465 [ Info ][ScriptingService] Loading Service or Plugin dot in TaskContext Deployer
0.470 [ Info ][Thread] Creating Thread for scheduler=ORO_SCHED_OTHER, priority=1, CPU affinity=0, with name='TaskBrowser'
0.479 [ Info ][TaskBrowser] Thread created with scheduler type 'ORO_SCHED_OTHER', priority 0, cpu affinity 15 and period 0 (PID= 31454 ).
0.480 [ Info ][Logger] Entering Task Deployer
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1.399 [ Info ][Logger] 65.0078 152.611 119.561 -237.554 -0.862199 -1.84442 -0.00473333
1.447 [ Info ][Logger] meinA : -6.65438e+07 -2.93452e+08 3.86495e+09 -108.766 68.7928 8.05343 -0
1.447 [ Info ][Logger] meinT : -0 -0 -0 -0 -0 0 -0
1.447 [ Info ][Logger] 1.46289e+09 1.33335e+09 1.57005e+09 -4.82595e+07 612063 -1.53773e+07 -4439.44
1.491 [ Info ][Logger] meinA : -480.606 136.378 172.17 3.67448e-05 -2.19215e-05 2.3336e-06 -0
1.491 [ Info ][Logger] meinT : -0 -0 0 0 0 0 -0
1.492 [ Info ][Logger] -97.0498 60.409 -86.2018 56.4459 -0.73518 0.820329 0.0223823
1.538 [ Info ][Logger] meinA : -1721.08 10087.5 -5227.1 0.000855836 0.000258324 0.000170648 -0
1.538 [ Info ][Logger] meinT : -0 -0 -0 -0 -0 -0 -0
1.538 [ Info ][Logger] -653.144 12313.9 392.71 3784.42 -85.3179 65.477 0.728473
1.582 [ Info ][Logger] meinA : 2.00445e+09 -2.05804e+09 4.41868e+09 123.102 163.005 -7.87407 -0
1.582 [ Info ][Logger] meinT : -0 -0 -0 -0 -0 -0 -0
1.582 [ Info ][Logger] 3.68678e+09 -1.30886e+09 2.54158e+09 -8.71547e+08 2.73696e+06 -3.00609e+07 16928.5
1.632 [ Info ][Logger] meinA : 865.987 -548.862 -390.772 -2.472e-05 -7.19943e-07 1.98571e-05 -0
1.632 [ Info ][Logger] meinT : 1259.53 -1093.73 -0.000287521 5.44104e-05 6.2366e-05 0 0
1.632 [ Info ][Logger] 1741 -1945.42 231.461 -282.234 0.217201 -4.23788 -0.00807626
1.680 [ Info ][Logger] meinA : -3379.44 -1683.57 -1691.01 0.000310652 -6.11799e-05 -6.52211e-05 -0
1.680 [ Info ][Logger] meinT : -0 -0 -0 -0 -0 -0 -0
1.680 [ Info ][Logger] -3751.34 -3253.37 -2759.6 -806.497 31.6648 -8.04287 -0.538966
1.730 [ Info ][Logger] meinA : 2655.11 -1377.83 459.077 0.000206435 8.29708e-05 1.7831e-05 8.14286e-14
1.732 [ Info ][Logger] meinT : -7.81593e-13 -1.96449e-13 -0 -0 -0 -0 -0
1.732 [ Info ][Logger] 1483.85 -2065.4 1096.69 -891.045 1.61517 -8.94655 0.123092
1.780 [ Info ][Logger] meinA : 17881.4 -433.111 -7120.69 -0.00130837 -0.00100135 0.000513705 0
1.780 [ Info ][Logger] meinT : 0 0 0 0 -0 -0 -0
1.780 [ Info ][Logger] 3031.73 2014.27 2976.55 -54.8173 6.39981 -3.48415 0.494891
1.828 [ Info ][Logger] meinA : -861844 231935 -128046 -0.0576977 -0.0199616 0.0138768 0
1.828 [ Info ][Logger] meinT : -0 -0 -0 -0 -0 -0 -0
1.828 [ Info ][Logger] -123729 468287 -136876 185776 -3867.89 554.037 -0.757728
1.876 [ Info ][Logger] meinA : -nan -nan -nan -nan -nan -nan -nan
1.876 [ Info ][Logger] meinT : -nan -nan -nan -nan -nan -nan -nan
1.876 [ Info ][Logger] -nan -nan -nan -nan -nan -nan -nan
57.925 [ Info ][Logger] Ignoring deployment shutdown function due to missing peer.
57.926 [ Info ][stopComponentsGroup] Stopping group 0
57.933 [ Info ][stopComponentsGroup] Stopped myTorqueController
57.935 [ Info ][stopComponentsGroup] Stopped trajectorygenerator2
57.940 [ Info ][stopComponentsGroup] Stopped trajectorygenerator
57.952 [ Info ][stopComponentsGroup] Stopped singen
57.956 [ Info ][stopComponentsGroup] Stopped fkin7
57.963 [ Info ][stopComponentsGroup] Stopped fkin6
57.966 [ Info ][stopComponentsGroup] Stopped fkin5
57.970 [ Info ][stopComponentsGroup] Stopped fkin4
57.977 [ Info ][stopComponentsGroup] Stopped fkin3
57.982 [ Info ][stopComponentsGroup] Stopped fkin2
57.987 [ Info ][stopComponentsGroup] Stopped fkin1
57.987 [ Info ][stopComponentsGroup] Stopped robot_gazebo
57.987 [ Info ][stopComponentsGroup] Stopped gazebo
57.987 [ Info ][cleanupComponentsGroup] Cleaning up group 0
57.987 [ Info ][cleanupComponentsGroup] Cleaned up myTorqueController
57.987 [ Info ][cleanupComponentsGroup] Cleaned up trajectorygenerator2
57.987 [ Info ][cleanupComponentsGroup] Cleaned up trajectorygenerator
57.987 [ Info ][cleanupComponentsGroup] Cleaned up singen
57.987 [ Info ][cleanupComponentsGroup] Cleaned up fkin7
57.987 [ Info ][cleanupComponentsGroup] Cleaned up fkin6
57.987 [ Info ][cleanupComponentsGroup] Cleaned up fkin5
57.987 [ Info ][cleanupComponentsGroup] Cleaned up fkin4
57.987 [ Info ][cleanupComponentsGroup] Cleaned up fkin3
57.987 [ Info ][cleanupComponentsGroup] Cleaned up fkin2
57.987 [ Info ][cleanupComponentsGroup] Cleaned up fkin1
57.987 [ Info ][cleanupComponentsGroup] Cleaned up robot_gazebo
57.987 [ Info ][cleanupComponentsGroup] Cleaned up gazebo
57.987 [ Info ][Logger] Unloading group 0
57.987 [ Info ][Logger] Disconnected and destroyed myTorqueController
57.987 [ Info ][Logger] Disconnected and destroyed trajectorygenerator2
57.987 [ Info ][Logger] Disconnected and destroyed trajectorygenerator
57.987 [ Info ][Logger] Disconnected and destroyed singen
57.987 [ Info ][Logger] Disconnected and destroyed fkin7
57.987 [ Info ][Logger] Disconnected and destroyed fkin6
57.987 [ Info ][Logger] Disconnected and destroyed fkin5
57.987 [ Info ][Logger] Disconnected and destroyed fkin4
57.987 [ Info ][Logger] Disconnected and destroyed fkin3
57.987 [ Info ][Logger] Disconnected and destroyed fkin2
57.987 [ Info ][Logger] Disconnected and destroyed fkin1
57.987 [ Info ][Logger] Disconnected and destroyed robot_gazebo
57.987 [ Info ][Logger] Disconnected and destroyed gazebo
57.987 [ Info ][Logger] Kick-out of group 0 successful.
57.987 [ Info ][Logger] Disabling simulated time...
57.987 [ Info ][Logger] Orocos Logging Deactivated.
0.000 [ Info ][Logger] No ORO_LOGLEVEL environment variable set.
0.000 [ Info ][Logger] OROCOS version '2.8.3' compiled with GCC 5.4.0. Running in GNU/Linux.
0.000 [ Info ][Logger] Orocos Logging Activated at level : [ Info ] ( 5 )
0.000 [ Info ][Logger] Reference System Time is : 57987000863 ticks ( 57.987 seconds ).
0.000 [ Info ][Logger] Logging is relative to this time.
0.000 [ Info ][Logger] Orocos Logging Deactivated.