{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/idyntree/issues/194","repository_url":"https://api.github.com/repos/robotology/idyntree","labels_url":"https://api.github.com/repos/robotology/idyntree/issues/194/labels{/name}","comments_url":"https://api.github.com/repos/robotology/idyntree/issues/194/comments","events_url":"https://api.github.com/repos/robotology/idyntree/issues/194/events","html_url":"https://github.com/robotology/idyntree/issues/194","id":167384503,"number":194,"title":"SimpleLeggedOdometry drifts on z-axis ","user":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2016-07-25T14:47:31Z","updated_at":"2016-07-25T17:39:34Z","closed_at":null,"body":"cc @hu-yue \r\n\r\nZ-axis plot of the output of SimpleLeggedOdometry  : \r\n![425621134_12937272670330906762](https://cloud.githubusercontent.com/assets/1857049/17105418/718d6606-5287-11e6-974d-56f3a857fb78.jpg)\r\n"},"comment":{"url":"https://api.github.com/repos/robotology/idyntree/issues/comments/235026138","html_url":"https://github.com/robotology/idyntree/issues/194#issuecomment-235026138","issue_url":"https://api.github.com/repos/robotology/idyntree/issues/194","id":235026138,"user":{"login":"hu-yue","id":7060968,"avatar_url":"https://avatars.githubusercontent.com/u/7060968?v=3","gravatar_id":"","url":"https://api.github.com/users/hu-yue","html_url":"https://github.com/hu-yue","followers_url":"https://api.github.com/users/hu-yue/followers","following_url":"https://api.github.com/users/hu-yue/following{/other_user}","gists_url":"https://api.github.com/users/hu-yue/gists{/gist_id}","starred_url":"https://api.github.com/users/hu-yue/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hu-yue/subscriptions","organizations_url":"https://api.github.com/users/hu-yue/orgs","repos_url":"https://api.github.com/users/hu-yue/repos","events_url":"https://api.github.com/users/hu-yue/events{/privacy}","received_events_url":"https://api.github.com/users/hu-yue/received_events","type":"User","site_admin":false},"created_at":"2016-07-25T17:39:34Z","updated_at":"2016-07-25T17:39:34Z","body":"Actually there is drift also on the other axis.\r\nI tested a long walk (about 20 steps) and in the end the difference between \"reference\" and estimation is:\r\n* On X-axis: 0.05 [m]\r\n* On Y-axis: 0.02 [m]\r\n* On Z-axis: 0.015 [m]\r\nPlot:\r\n![drift](http://orb.iwr.uni-heidelberg.de/ftp/icub_screenshots/floatingBaseEstimation.png)"}}
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