{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/icub-gazebo/issues/37","repository_url":"https://api.github.com/repos/robotology/icub-gazebo","labels_url":"https://api.github.com/repos/robotology/icub-gazebo/issues/37/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-gazebo/issues/37/comments","events_url":"https://api.github.com/repos/robotology/icub-gazebo/issues/37/events","html_url":"https://github.com/robotology/icub-gazebo/issues/37","id":186260702,"number":37,"title":"unstable iCub behaviour when running ARE in Gazebo","user":{"login":"frank-foerster","id":16962752,"avatar_url":"https://avatars.githubusercontent.com/u/16962752?v=3","gravatar_id":"","url":"https://api.github.com/users/frank-foerster","html_url":"https://github.com/frank-foerster","followers_url":"https://api.github.com/users/frank-foerster/followers","following_url":"https://api.github.com/users/frank-foerster/following{/other_user}","gists_url":"https://api.github.com/users/frank-foerster/gists{/gist_id}","starred_url":"https://api.github.com/users/frank-foerster/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/frank-foerster/subscriptions","organizations_url":"https://api.github.com/users/frank-foerster/orgs","repos_url":"https://api.github.com/users/frank-foerster/repos","events_url":"https://api.github.com/users/frank-foerster/events{/privacy}","received_events_url":"https://api.github.com/users/frank-foerster/received_events","type":"User","site_admin":false},"labels":[{"id":66257526,"url":"https://api.github.com/repos/robotology/icub-gazebo/labels/bug","name":"bug","color":"fc2929","default":true},{"id":477490279,"url":"https://api.github.com/repos/robotology/icub-gazebo/labels/Status:%20In%20Progress","name":"Status: In Progress","color":"ededed","default":false}],"state":"open","locked":false,"assignee":{"login":"randaz81","id":2869969,"avatar_url":"https://avatars.githubusercontent.com/u/2869969?v=3","gravatar_id":"","url":"https://api.github.com/users/randaz81","html_url":"https://github.com/randaz81","followers_url":"https://api.github.com/users/randaz81/followers","following_url":"https://api.github.com/users/randaz81/following{/other_user}","gists_url":"https://api.github.com/users/randaz81/gists{/gist_id}","starred_url":"https://api.github.com/users/randaz81/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/randaz81/subscriptions","organizations_url":"https://api.github.com/users/randaz81/orgs","repos_url":"https://api.github.com/users/randaz81/repos","events_url":"https://api.github.com/users/randaz81/events{/privacy}","received_events_url":"https://api.github.com/users/randaz81/received_events","type":"User","site_admin":false},"assignees":[{"login":"randaz81","id":2869969,"avatar_url":"https://avatars.githubusercontent.com/u/2869969?v=3","gravatar_id":"","url":"https://api.github.com/users/randaz81","html_url":"https://github.com/randaz81","followers_url":"https://api.github.com/users/randaz81/followers","following_url":"https://api.github.com/users/randaz81/following{/other_user}","gists_url":"https://api.github.com/users/randaz81/gists{/gist_id}","starred_url":"https://api.github.com/users/randaz81/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/randaz81/subscriptions","organizations_url":"https://api.github.com/users/randaz81/orgs","repos_url":"https://api.github.com/users/randaz81/repos","events_url":"https://api.github.com/users/randaz81/events{/privacy}","received_events_url":"https://api.github.com/users/randaz81/received_events","type":"User","site_admin":false}],"milestone":null,"comments":8,"created_at":"2016-10-31T11:24:23Z","updated_at":"2016-11-11T10:42:35Z","closed_at":null,"body":"After having solved the issues with running ARE in conjunction with the Gazebo iCub (see #34 ),\r\nI tested various functions from ARE with the new simulator which resulted in rather unstable robot behaviour resulting from nearly all functions except for the `home head` and `home hands` commands. \r\n\r\n(I'm using the springyFingers model as the skin is not implemented on Gazebo yet).\r\n\r\nWith `unstable behaviour' I mean that after executing the respective command - some commands are also executed in a urrecognizable/unsuccessful  manner - the robot seems to become very unstable with its upper body sometimes falling over onto the table or its upper body hanging precariously over to one side.\r\n\r\nI'm not sure if this is related to issue  #31 as ARE obviously relies on the solvers to execute the commands.\r\n\r\nI used a 'fixed' model where the iCub's legs are fixed, so it could not possibly fall over completely. \r\nAs the above descriptions are rather vague I took some screen recordings which show these `instabilities': \r\n\r\nI did not observe any significant error or warning messages coming from the ARE module itself except in the case when executing the `calibration table` command (see below). I executed the other relevant modules via the yarpmanager so I didn't see their output. \r\n\r\n**home** commands: `home head` and `home hands` appear to execute ok, but after `home all`\r\nthe robot becomes unstable\r\nVideo: executing [home commands](https://vimeo.com/189315359)\r\n\r\n**calibration table** command: this is the only command where I got a command line message indicating that something went wrong, namely, an `[INFO]` message saying that a timeout expired while reaching was executed followed by a `[WARNING]` saying that the table height was not found despite the robot clearly pressing onto the table surface. \r\nI compared this with the output of the `old' simulator and there the `[WARNING]` says that the table height was found. So somehow the exertion of pressure is onto the hands is not detected.\r\nVideo: executing [calibration table](https://vimeo.com/189315519)\r\n\r\n**expect** command: here the execution look considerably different compared to when executing the command on the old simulator.\r\nVideo: executing [expect](/https://vimeo.com/189316214)\r\n\r\n**exploration torso** command: this one executed in a hardly recognizable manner and goes bad fast.\r\nVideo: executing [exploration torso] (https://vimeo.com/189316356)\r\n\r\ncc  @(pattacini)\r\n\r\n\r\n\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/robotology/icub-gazebo/issues/comments/259930848","html_url":"https://github.com/robotology/icub-gazebo/issues/37#issuecomment-259930848","issue_url":"https://api.github.com/repos/robotology/icub-gazebo/issues/37","id":259930848,"user":{"login":"frank-foerster","id":16962752,"avatar_url":"https://avatars.githubusercontent.com/u/16962752?v=3","gravatar_id":"","url":"https://api.github.com/users/frank-foerster","html_url":"https://github.com/frank-foerster","followers_url":"https://api.github.com/users/frank-foerster/followers","following_url":"https://api.github.com/users/frank-foerster/following{/other_user}","gists_url":"https://api.github.com/users/frank-foerster/gists{/gist_id}","starred_url":"https://api.github.com/users/frank-foerster/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/frank-foerster/subscriptions","organizations_url":"https://api.github.com/users/frank-foerster/orgs","repos_url":"https://api.github.com/users/frank-foerster/repos","events_url":"https://api.github.com/users/frank-foerster/events{/privacy}","received_events_url":"https://api.github.com/users/frank-foerster/received_events","type":"User","site_admin":false},"created_at":"2016-11-11T10:42:35Z","updated_at":"2016-11-11T10:42:35Z","body":"As it turns out I haven't hat the very latest version, but the one before that. Just ran another `git pull` and will test now again. I'll report on the result here and will send you my scripts + config files after that. Thanks"}}
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