{"action":"created","issue":{"url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/69","repository_url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software","labels_url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/69/labels{/name}","comments_url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/69/comments","events_url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/69/events","html_url":"https://github.com/ihmcrobotics/ihmc-open-robotics-software/issues/69","id":175555123,"number":69,"title":"After a whole body plan, constraint on pelvis is still active","user":{"login":"edbot","id":12997914,"avatar_url":"https://avatars.githubusercontent.com/u/12997914?v=3","gravatar_id":"","url":"https://api.github.com/users/edbot","html_url":"https://github.com/edbot","followers_url":"https://api.github.com/users/edbot/followers","following_url":"https://api.github.com/users/edbot/following{/other_user}","gists_url":"https://api.github.com/users/edbot/gists{/gist_id}","starred_url":"https://api.github.com/users/edbot/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/edbot/subscriptions","organizations_url":"https://api.github.com/users/edbot/orgs","repos_url":"https://api.github.com/users/edbot/repos","events_url":"https://api.github.com/users/edbot/events{/privacy}","received_events_url":"https://api.github.com/users/edbot/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":7,"created_at":"2016-09-07T16:58:57Z","updated_at":"2016-09-12T17:28:44Z","closed_at":null,"body":"we've been using the localization module to correct the x,y,z position (with orientation disabled)\r\n\r\nWe notice that if we 1) stand the robot, and then 2) send corrections, the state estimator moves around  - as we expect. The real robot doesn't do anything\r\n\r\nIf instead we 1) stand the robot, 2) execute a whole body plan, 3) and then send corrections. The state estimator moves around, as we'd expect. But the physical robot actually moves to (incorrectly) compensate for the correction.\r\n\r\nMy understanding is that the constraint in the world frame for the pelvis pose (from the WBP) is still active. This is dangerous\r\n\r\n\r\n@dljsjr : is this understanding correct? How can we un-set the pelvis constraint or should it be unset automatically?\r\n\r\n(this is @mauricefallon)"},"comment":{"url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/comments/246425253","html_url":"https://github.com/ihmcrobotics/ihmc-open-robotics-software/issues/69#issuecomment-246425253","issue_url":"https://api.github.com/repos/ihmcrobotics/ihmc-open-robotics-software/issues/69","id":246425253,"user":{"login":"dljsjr","id":444635,"avatar_url":"https://avatars.githubusercontent.com/u/444635?v=3","gravatar_id":"","url":"https://api.github.com/users/dljsjr","html_url":"https://github.com/dljsjr","followers_url":"https://api.github.com/users/dljsjr/followers","following_url":"https://api.github.com/users/dljsjr/following{/other_user}","gists_url":"https://api.github.com/users/dljsjr/gists{/gist_id}","starred_url":"https://api.github.com/users/dljsjr/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dljsjr/subscriptions","organizations_url":"https://api.github.com/users/dljsjr/orgs","repos_url":"https://api.github.com/users/dljsjr/repos","events_url":"https://api.github.com/users/dljsjr/events{/privacy}","received_events_url":"https://api.github.com/users/dljsjr/received_events","type":"User","site_admin":false},"created_at":"2016-09-12T17:28:44Z","updated_at":"2016-09-12T17:28:44Z","body":"@mauricefallon There is now a `new-api-beta5` tag w/ a hotfix branch. Because it doesn't touch the API or ROS library internals. this tag is only on IHMCOpenRoboticsSoftware"}}
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