Page 2 of 5 FirstFirst 12345 LastLast
Results 11 to 20 of 47

Thread: NUKE issues

  1. #11
    Join Date
    Jul 2012
    Location
    Richmond, IN
    Posts
    652
    Rep Power
    38

    Re: NUKE issues

    Okay, I tried that and I get to the sign test, which opens, my servos all go centered, and just before every question the LR leg twitches.

    Here's what the stdout/stderr window totaled up to:

    Code:
    Opening: C:\Users\Ryan\Documents\hsw_nuke.ppr
    NUKE: Lizard 3DOF,4,++++++++++++++++++,82,55,100,70,65,50,0,0,8,3,6,5,10,11,12,12,12,12,12,12,2,7,1,4,9,12
    Relax servos for capture...
    PyPose: relaxing servos...
    Oxff found
    Oxff found
    ID found: 1
    Length found: 2
    Error level found: 0
    Checksum found: 252
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 2
    Length found: 2
    Error level found: 0
    Checksum found: 251
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 3
    Length found: 2
    Error level found: 0
    Checksum found: 250
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 4
    Length found: 2
    Error level found: 0
    Checksum found: 249
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 5
    Length found: 2
    Error level found: 0
    Checksum found: 248
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 6
    Length found: 2
    Error level found: 0
    Checksum found: 247
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 7
    Length found: 2
    Error level found: 0
    Checksum found: 246
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 8
    Length found: 2
    Error level found: 0
    Checksum found: 245
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 9
    Length found: 2
    Error level found: 0
    Checksum found: 244
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 10
    Length found: 2
    Error level found: 0
    Checksum found: 243
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 11
    Length found: 2
    Error level found: 0
    Checksum found: 242
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 12
    Length found: 2
    Error level found: 0
    Checksum found: 241
    Checksum computed: 255
    Capturing limits...
    Oxff found
    Oxff found
    ID found: 1
    Length found: 4
    Error level found: 0
    Parameter found: 157
    Parameter found: 3
    Checksum found: 90
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 1
    Length found: 4
    Error level found: 0
    Parameter found: 157
    Parameter found: 0
    Checksum found: 93
    Checksum computed: 255
    Capture Limits 1 : 157  to  925
    Oxff found
    Oxff found
    ID found: 2
    Length found: 4
    Error level found: 0
    Parameter found: 84
    Parameter found: 3
    Checksum found: 162
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 2
    Length found: 4
    Error level found: 0
    Parameter found: 200
    Parameter found: 0
    Checksum found: 49
    Checksum computed: 255
    Capture Limits 2 : 200  to  852
    Oxff found
    Oxff found
    ID found: 3
    Length found: 4
    Error level found: 0
    Parameter found: 246
    Parameter found: 2
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 3
    Length found: 4
    Error level found: 0
    Parameter found: 182
    Parameter found: 0
    Checksum found: 66
    Checksum computed: 255
    Capture Limits 3 : 182  to  758
    Oxff found
    Oxff found
    ID found: 4
    Length found: 4
    Error level found: 0
    Parameter found: 124
    Parameter found: 0
    Checksum found: 123
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 4
    Length found: 4
    Error level found: 0
    Parameter found: 165
    Parameter found: 3
    Checksum found: 79
    Checksum computed: 255
    Capture Limits 4 : 124 , 933
    Oxff found
    Oxff found
    ID found: 5
    Length found: 4
    Error level found: 0
    Parameter found: 94
    Parameter found: 0
    Checksum found: 152
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 5
    Length found: 4
    Error level found: 0
    Parameter found: 123
    Parameter found: 3
    Checksum found: 120
    Checksum computed: 255
    Capture Limits 5 : 94 , 891
    Oxff found
    Oxff found
    ID found: 6
    Length found: 4
    Error level found: 0
    Parameter found: 183
    Parameter found: 3
    Checksum found: 59
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 6
    Length found: 4
    Error level found: 0
    Parameter found: 179
    Parameter found: 0
    Checksum found: 66
    Checksum computed: 255
    Capture Limits 6 : 179  to  951
    Oxff found
    Oxff found
    ID found: 7
    Length found: 4
    Error level found: 0
    Parameter found: 79
    Parameter found: 3
    Checksum found: 162
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 7
    Length found: 4
    Error level found: 0
    Parameter found: 201
    Parameter found: 0
    Checksum found: 43
    Checksum computed: 255
    Capture Limits 7 : 201  to  847
    Oxff found
    Oxff found
    ID found: 8
    Length found: 4
    Error level found: 0
    Parameter found: 81
    Parameter found: 3
    Checksum found: 159
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 8
    Length found: 4
    Error level found: 0
    Parameter found: 233
    Parameter found: 0
    Checksum found: 10
    Checksum computed: 255
    Capture Limits 8 : 233  to  849
    Oxff found
    Oxff found
    ID found: 9
    Length found: 4
    Error level found: 0
    Parameter found: 231
    Parameter found: 0
    Checksum found: 11
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 9
    Length found: 4
    Error level found: 0
    Parameter found: 65
    Parameter found: 3
    Checksum found: 174
    Checksum computed: 255
    Capture Limits 9 : 231 , 833
    Oxff found
    Oxff found
    ID found: 10
    Length found: 4
    Error level found: 0
    Parameter found: 205
    Parameter found: 0
    Checksum found: 36
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 10
    Length found: 4
    Error level found: 0
    Parameter found: 36
    Parameter found: 3
    Checksum found: 202
    Checksum computed: 255
    Capture Limits 10 : 205 , 804
    Oxff found
    Oxff found
    ID found: 11
    Length found: 4
    Error level found: 0
    Parameter found: 50
    Parameter found: 3
    Checksum found: 187
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 11
    Length found: 4
    Error level found: 0
    Parameter found: 234
    Parameter found: 0
    Checksum found: 6
    Checksum computed: 255
    Capture Limits 11 : 234  to  818
    Oxff found
    Oxff found
    ID found: 12
    Length found: 4
    Error level found: 0
    Parameter found: 41
    Parameter found: 3
    Checksum found: 195
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 12
    Length found: 4
    Error level found: 0
    Parameter found: 222
    Parameter found: 0
    Checksum found: 17
    Checksum computed: 255
    Capture Limits 12 : 222  to  809
    Relax servos for capture...
    PyPose: relaxing servos...
    Oxff found
    Oxff found
    ID found: 1
    Length found: 2
    Error level found: 0
    Checksum found: 252
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 2
    Length found: 2
    Error level found: 0
    Checksum found: 251
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 3
    Length found: 2
    Error level found: 0
    Checksum found: 250
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 4
    Length found: 2
    Error level found: 0
    Checksum found: 249
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 5
    Length found: 2
    Error level found: 0
    Checksum found: 248
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 6
    Length found: 2
    Error level found: 0
    Checksum found: 247
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 7
    Length found: 2
    Error level found: 0
    Checksum found: 246
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 8
    Length found: 2
    Error level found: 0
    Checksum found: 245
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 9
    Length found: 2
    Error level found: 0
    Checksum found: 244
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 10
    Length found: 2
    Error level found: 0
    Checksum found: 243
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 11
    Length found: 2
    Error level found: 0
    Checksum found: 242
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 12
    Length found: 2
    Error level found: 0
    Checksum found: 241
    Checksum computed: 255
    Capturing neutral...
    Oxff found
    Oxff found
    ID found: 1
    Length found: 4
    Error level found: 0
    Parameter found: 252
    Parameter found: 1
    Checksum found: 253
    Checksum computed: 511
    Oxff found
    Oxff found
    ID found: 2
    Length found: 4
    Error level found: 0
    Parameter found: 116
    Parameter found: 1
    Checksum found: 132
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 3
    Length found: 4
    Error level found: 0
    Parameter found: 78
    Parameter found: 1
    Checksum found: 169
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 4
    Length found: 4
    Error level found: 0
    Parameter found: 22
    Parameter found: 2
    Checksum found: 223
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 5
    Length found: 4
    Error level found: 0
    Parameter found: 250
    Parameter found: 1
    Checksum found: 251
    Checksum computed: 511
    Oxff found
    Oxff found
    ID found: 6
    Length found: 4
    Error level found: 0
    Parameter found: 14
    Parameter found: 2
    Checksum found: 229
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 7
    Length found: 4
    Error level found: 0
    Parameter found: 170
    Parameter found: 2
    Checksum found: 72
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 8
    Length found: 4
    Error level found: 0
    Parameter found: 196
    Parameter found: 2
    Checksum found: 45
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 9
    Length found: 4
    Error level found: 0
    Parameter found: 90
    Parameter found: 2
    Checksum found: 150
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 10
    Length found: 4
    Error level found: 0
    Parameter found: 67
    Parameter found: 2
    Checksum found: 172
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 11
    Length found: 4
    Error level found: 0
    Parameter found: 205
    Parameter found: 1
    Checksum found: 34
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 12
    Length found: 4
    Error level found: 0
    Parameter found: 187
    Parameter found: 1
    Checksum found: 51
    Checksum computed: 255
    Moving to neutral positions
    RIGHT_FRONT:  [0, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  1358
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [0, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  1706
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [0, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: 1732
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [0, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: 1396
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  1358
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [0, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  1706
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [0, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: 1732
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [0, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: 1396
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing RF Coxa sign
    RIGHT_FRONT:  [41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [0, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  1706
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [0, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: 1732
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [0, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: 1396
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [0, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  1706
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: 1732
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [0, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: 1396
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing LF Coxa sign
    RIGHT_FRONT:  [41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [0, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  1706
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [0, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: 1396
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  1706
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [0, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: 1396
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing RR Coxa sign
    RIGHT_FRONT:  [41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [0, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: 1396
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: 1396
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing LR Coxa sign
    RIGHT_FRONT:  [41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing RF Femur sign
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing RF Tibia sign
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: 1550
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing LF Femur sign
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: 1603
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing LF Tibia sign
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 100]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: -445
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: 1558
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: -445
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing RR Femur sign
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: -490
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: -445
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: -490
    RR_TIBIA FAIL: 1467
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: -445
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing RR Tibia sign
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: -490
    RR_TIBIA FAIL: -581
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: -445
    LEFT_REAR:  [-41, -137, 100]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: -490
    RR_TIBIA FAIL: -581
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: -445
    LEFT_REAR:  [-41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652L 1532
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing LR Femur sign
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: -490
    RR_TIBIA FAIL: -581
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: -445
    LEFT_REAR:  [-41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: -516
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: -490
    RR_TIBIA FAIL: -581
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: -445
    LEFT_REAR:  [-41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: -516
    LR_TIBIA FAIL: 1626
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Reversing LR Tibia sign
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  -690
    RF_FEMUR FAIL:  -518
    RF_TIBIA FAIL:  -563
    RIGHT_REAR:  [-41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RR_COXA FAIL:  -342
    RR_FEMUR FAIL: -490
    RR_TIBIA FAIL: -581
    LEFT_FRONT:  [41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LF_COXA FAIL: -316
    LF_FEMUR FAIL: -498
    LF_TIBIA FAIL: -445
    LEFT_REAR:  [-41, -137, 80]
    BodyIK: [0.0, 0.0, 0]
    LR_COXA FAIL: -652
    LR_FEMUR FAIL: -516
    LR_TIBIA FAIL: -422
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255
    Oxff found
    Oxff found
    ID found: 253
    Length found: 2
    Error level found: 0
    Checksum found: 0
    Checksum computed: 255

  2. #12
    Join Date
    Sep 2010
    Location
    ಠ_ಠ
    Posts
    2,283
    Images
    27
    Rep Power
    275

    Re: NUKE issues

    Did you create a new project in the main PyPose window before opening the NUKE editor? The various "...FAIL: " messages say the output of doIK() is usually well outside the 10-bit range of the AX servos, so I suspect it is attempting to use the 12-bit range of the MX servos within the calls to legIK(). Or the neutrals are quite messed up, but the large negative numbers suggest the neutrals are close to correct and the sign*sol component is way too large. Or maybe the measurements you are using for the leg and body dimensions are not quite right?
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

  3. #13
    Join Date
    Jul 2012
    Location
    Richmond, IN
    Posts
    652
    Rep Power
    38

    Re: NUKE issues

    Yes, I did create a new project in the main window before going to the NUKE page, with the resolution set to 1024. I can go and set my servos to the ik_neutral pose, and it goes right to where it should. I measured each leg segment in centimeters, then converted that to mm for the code. The measurements are as follows: Coxa: 82mm (Average between the front and back legs, as they are not the same) Femur: 55mm Tibia: 100mm.

  4. #14
    Join Date
    Sep 2010
    Location
    ಠ_ಠ
    Posts
    2,283
    Images
    27
    Rep Power
    275

    Re: NUKE issues

    The neutral and limits are set/captured independently of the resolution, so they can be correct while the doIK() can still produce horribly wrong values. If the neutrals are right, then something in the bodyIK() or legIK() is wrong and resolution seems the most likely culprit. Does the .ppr file list 1024 repeatedly on the first line?

    Maybe add the resolution printout to each servo output failure/debug in the doIK(self) of lizard3.py?
    Code:
                if self.debug:
                    print "RF_COXA FAIL: ", output
                    print "Resolution: ", self.resolutions[servo]
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

  5. #15
    Join Date
    Jul 2012
    Location
    Richmond, IN
    Posts
    652
    Rep Power
    38

    Re: NUKE issues

    This what you're looking for in the errors?? This is what came out of the errors at the RF coxa area of them:

    Code:
    RIGHT_FRONT:  [41, 137, 80]
    BodyIK: [0.0, 0.0, 0]
    RF_COXA FAIL:  1358
    Resolution:  1024
    RF_FEMUR FAIL:  1530
    RF_TIBIA FAIL:  1485
    RIGHT_REAR:  [-41, 137, 80]

  6. #16
    Join Date
    Sep 2010
    Location
    ಠ_ಠ
    Posts
    2,283
    Images
    27
    Rep Power
    275

    Re: NUKE issues

    Apparently there is a missing 'print' on line 194, so it is not actually printing out the "LegIK FAILED" error message before setting the legIK() solution to [1024,1024,1024,0] which is why I was thinking the resolution was wrong instead of legIK() breaking. Now just to figure out why legIK() is throwing an exception.
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

  7. #17
    Join Date
    Jul 2012
    Location
    Richmond, IN
    Posts
    652
    Rep Power
    38

    Re: NUKE issues

    The **_FAIL messages are me hitting 'no' in the sign test window, if that's any help.

  8. #18
    Join Date
    Sep 2010
    Location
    ಠ_ಠ
    Posts
    2,283
    Images
    27
    Rep Power
    275

    Re: NUKE issues

    lizard3.py lines 30~34. Either change 'rads' to 'val' or the two instances of 'val' to 'rads'.
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

  9. #19
    Join Date
    Jul 2012
    Location
    Richmond, IN
    Posts
    652
    Rep Power
    38

    Re: NUKE issues

    Changed the instances of 'val' to 'rads'. No change.

  10. #20
    Join Date
    Sep 2010
    Location
    ಠ_ಠ
    Posts
    2,283
    Images
    27
    Rep Power
    275

    Re: NUKE issues

    So you have:
    Code:
    # Convert radians to servo position offset.
    def radToServo(rads, resolution = 1024):
        if resolution == 4096:
            return int(rads*651.8986469044033)
        else:
            return int(rads*195.56959407132098)
    Is there a file named lizard3.pyc? If it is present, delete it and restart PyPose. I've found that running a python script does not always recompile the .pyc file after the .py script file is modified, so it tries to use the old compiled version of the script.
    Please pardon the pedantry... and the profanity... and the convoluted speech pattern...
    "You have failed me, Brain!"
    bleh

Thread Information

Users Browsing this Thread

There are currently 1 users browsing this thread. (0 members and 1 guests)

Similar Threads

  1. Question(s) NUKE
    By ArduTank in forum Humanoids, Walkers & Crawlers
    Replies: 9
    Last Post: 06-05-2014, 09:59 AM
  2. biped NUKE
    By madhatter101 in forum Humanoids, Walkers & Crawlers
    Replies: 14
    Last Post: 01-11-2014, 11:45 AM
  3. NUKE trouble
    By byi in forum Mech Warfare
    Replies: 3
    Last Post: 03-14-2013, 03:00 PM
  4. Can NUKE be used with turtlebot arm
    By bellscotcv in forum ROS - Robot Operating System
    Replies: 1
    Last Post: 06-29-2012, 08:58 PM
  5. Announcing NUKE
    By lnxfergy in forum Software and Programming
    Replies: 20
    Last Post: 06-15-2010, 12:08 PM

Posting Permissions

  • You may not post new threads
  • You may not post replies
  • You may not post attachments
  • You may not edit your posts
  •