{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/QA/issues/147","repository_url":"https://api.github.com/repos/robotology/QA","labels_url":"https://api.github.com/repos/robotology/QA/issues/147/labels{/name}","comments_url":"https://api.github.com/repos/robotology/QA/issues/147/comments","events_url":"https://api.github.com/repos/robotology/QA/issues/147/events","html_url":"https://github.com/robotology/QA/issues/147","id":182737692,"number":147,"title":"Torso oscillates slightly after initialization ","user":{"login":"paraschos","id":10980548,"avatar_url":"https://avatars.githubusercontent.com/u/10980548?v=3","gravatar_id":"","url":"https://api.github.com/users/paraschos","html_url":"https://github.com/paraschos","followers_url":"https://api.github.com/users/paraschos/followers","following_url":"https://api.github.com/users/paraschos/following{/other_user}","gists_url":"https://api.github.com/users/paraschos/gists{/gist_id}","starred_url":"https://api.github.com/users/paraschos/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/paraschos/subscriptions","organizations_url":"https://api.github.com/users/paraschos/orgs","repos_url":"https://api.github.com/users/paraschos/repos","events_url":"https://api.github.com/users/paraschos/events{/privacy}","received_events_url":"https://api.github.com/users/paraschos/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/robotology/QA/labels/firmware","name":"firmware","color":"0052cc"},{"url":"https://api.github.com/repos/robotology/QA/labels/icub","name":"icub","color":"009800"},{"url":"https://api.github.com/repos/robotology/QA/labels/icub-ethernet","name":"icub-ethernet","color":"009800"}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2016-10-13T09:21:24Z","updated_at":"2016-10-13T14:43:30Z","closed_at":null,"body":"We recently updated the firmware of iCubDarmstadt01 and now after the normal boot the torso oscillates a bit. What could the issue be? Gains? However, the gains in the config files didn't change, the firmware did. Also icub-main but I am not sure if it affects the robot since the eth boards do the ctl.\r\n\r\n- The current configuration (with the changes to the previous one) is shown here\r\n\r\nhttps://github.com/robotology/robots-configuration/pull/6\r\n\r\n- The last icub-main we used with stable behavior is \r\n\r\nhttps://github.com/robotology/icub-main/commit/4a8c4f2e34980153d98b2d06a31ada8d33736e01\r\n\r\nAny ideas? Shall I just play a bit with the gains?"},"comment":{"url":"https://api.github.com/repos/robotology/QA/issues/comments/253534059","html_url":"https://github.com/robotology/QA/issues/147#issuecomment-253534059","issue_url":"https://api.github.com/repos/robotology/QA/issues/147","id":253534059,"user":{"login":"pattacini","id":3738070,"avatar_url":"https://avatars.githubusercontent.com/u/3738070?v=3","gravatar_id":"","url":"https://api.github.com/users/pattacini","html_url":"https://github.com/pattacini","followers_url":"https://api.github.com/users/pattacini/followers","following_url":"https://api.github.com/users/pattacini/following{/other_user}","gists_url":"https://api.github.com/users/pattacini/gists{/gist_id}","starred_url":"https://api.github.com/users/pattacini/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pattacini/subscriptions","organizations_url":"https://api.github.com/users/pattacini/orgs","repos_url":"https://api.github.com/users/pattacini/repos","events_url":"https://api.github.com/users/pattacini/events{/privacy}","received_events_url":"https://api.github.com/users/pattacini/received_events","type":"User","site_admin":false},"created_at":"2016-10-13T14:43:29Z","updated_at":"2016-10-13T14:43:29Z","body":"Ok @paraschos understood. I proposed to do the roll back just to be 100% sure that nothing happened to the mechanics and/or electronics (e.g. encoder) in the meantime.\r\n\r\nI suggested to tune PID only as last resort because those values should usually cover a wide range of conditions on different robots of the same configurations.\r\n\r\nI honestly ignore how `P`, `I`, and `D` are retrieved; I don't know if a proper automatic procedure is used. Others (e.g. @randaz81) can chime in here.\r\n\r\nWe have some code to perform automatic tuning (see #2), though I believe it's not employed in this case.\r\n\r\nThe `D` gain is not always necessary as `P` and `I` are: it depends on a case basis. The oscillations can be definitely damped off by means of the derivative; my only concern was only to rule out the possibility that they are not caused by the interaction of new `FW` with old gains (you said they didn't change)."}}
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