{"action":"created","issue":{"url":"https://api.github.com/repos/openhumanoids/oh-distro/issues/42","repository_url":"https://api.github.com/repos/openhumanoids/oh-distro","labels_url":"https://api.github.com/repos/openhumanoids/oh-distro/issues/42/labels{/name}","comments_url":"https://api.github.com/repos/openhumanoids/oh-distro/issues/42/comments","events_url":"https://api.github.com/repos/openhumanoids/oh-distro/issues/42/events","html_url":"https://github.com/openhumanoids/oh-distro/issues/42","id":130674256,"number":42,"title":"Controller creates NaN when moving into single foot balancing","user":{"login":"mauricefallon","id":6404227,"avatar_url":"https://avatars.githubusercontent.com/u/6404227?v=3","gravatar_id":"","url":"https://api.github.com/users/mauricefallon","html_url":"https://github.com/mauricefallon","followers_url":"https://api.github.com/users/mauricefallon/followers","following_url":"https://api.github.com/users/mauricefallon/following{/other_user}","gists_url":"https://api.github.com/users/mauricefallon/gists{/gist_id}","starred_url":"https://api.github.com/users/mauricefallon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mauricefallon/subscriptions","organizations_url":"https://api.github.com/users/mauricefallon/orgs","repos_url":"https://api.github.com/users/mauricefallon/repos","events_url":"https://api.github.com/users/mauricefallon/events{/privacy}","received_events_url":"https://api.github.com/users/mauricefallon/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"rdeits","id":591886,"avatar_url":"https://avatars.githubusercontent.com/u/591886?v=3","gravatar_id":"","url":"https://api.github.com/users/rdeits","html_url":"https://github.com/rdeits","followers_url":"https://api.github.com/users/rdeits/followers","following_url":"https://api.github.com/users/rdeits/following{/other_user}","gists_url":"https://api.github.com/users/rdeits/gists{/gist_id}","starred_url":"https://api.github.com/users/rdeits/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rdeits/subscriptions","organizations_url":"https://api.github.com/users/rdeits/orgs","repos_url":"https://api.github.com/users/rdeits/repos","events_url":"https://api.github.com/users/rdeits/events{/privacy}","received_events_url":"https://api.github.com/users/rdeits/received_events","type":"User","site_admin":false},"milestone":null,"comments":2,"created_at":"2016-02-02T12:52:23Z","updated_at":"2016-02-02T15:50:45Z","closed_at":null,"body":"The controller segfaults when transitioning into single foot balancing. The video should explain it but:\r\n- move mass onto one foot, works fine\r\n- remove other foot from control authority, robot falls. InstQP reports a NaN\r\nThis used to work before the recent upgrade of drake in January.\r\n\r\n@tkoolen or @rdeits  : could you have a look?\r\nI guess the intention is to replace this with a c++ alternative."},"comment":{"url":"https://api.github.com/repos/openhumanoids/oh-distro/issues/comments/178649884","html_url":"https://github.com/openhumanoids/oh-distro/issues/42#issuecomment-178649884","issue_url":"https://api.github.com/repos/openhumanoids/oh-distro/issues/42","id":178649884,"user":{"login":"mauricefallon","id":6404227,"avatar_url":"https://avatars.githubusercontent.com/u/6404227?v=3","gravatar_id":"","url":"https://api.github.com/users/mauricefallon","html_url":"https://github.com/mauricefallon","followers_url":"https://api.github.com/users/mauricefallon/followers","following_url":"https://api.github.com/users/mauricefallon/following{/other_user}","gists_url":"https://api.github.com/users/mauricefallon/gists{/gist_id}","starred_url":"https://api.github.com/users/mauricefallon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mauricefallon/subscriptions","organizations_url":"https://api.github.com/users/mauricefallon/orgs","repos_url":"https://api.github.com/users/mauricefallon/repos","events_url":"https://api.github.com/users/mauricefallon/events{/privacy}","received_events_url":"https://api.github.com/users/mauricefallon/received_events","type":"User","site_admin":false},"created_at":"2016-02-02T15:50:45Z","updated_at":"2016-02-02T15:50:45Z","body":"And here's the video I mystically referred to:\r\nhttps://www.dropbox.com/s/mqghzw90krd1cb7/2016-02-fall_single_support-b.m4v?dl=0"}}