{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/icub-main/issues/165","labels_url":"https://api.github.com/repos/robotology/icub-main/issues/165/labels{/name}","comments_url":"https://api.github.com/repos/robotology/icub-main/issues/165/comments","events_url":"https://api.github.com/repos/robotology/icub-main/issues/165/events","html_url":"https://github.com/robotology/icub-main/issues/165","id":89552524,"number":165,"title":"Hardware Fault on switch to Torque Mode","user":{"login":"rlober","id":3417094,"avatar_url":"https://avatars.githubusercontent.com/u/3417094?v=3","gravatar_id":"","url":"https://api.github.com/users/rlober","html_url":"https://github.com/rlober","followers_url":"https://api.github.com/users/rlober/followers","following_url":"https://api.github.com/users/rlober/following{/other_user}","gists_url":"https://api.github.com/users/rlober/gists{/gist_id}","starred_url":"https://api.github.com/users/rlober/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rlober/subscriptions","organizations_url":"https://api.github.com/users/rlober/orgs","repos_url":"https://api.github.com/users/rlober/repos","events_url":"https://api.github.com/users/rlober/events{/privacy}","received_events_url":"https://api.github.com/users/rlober/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":9,"created_at":"2015-06-19T12:26:02Z","updated_at":"2015-06-22T08:34:24Z","closed_at":null,"body":"On `iCubParis02` when I try to switch a joint into `torque mode` I get a `HARDWARE FAULT` error. Here is a snapshot of this:\r\n![hardware fault in torque mode](https://cloud.githubusercontent.com/assets/3417094/8253289/ac8adf9e-168e-11e5-9626-e7a3d7cbffc7.png)\r\n\r\nHere is the terminal output (I tested on multiple joints):\r\n```\r\n[DEBUG]Opening interfaces...\r\njoint: 0 in TORQUE mode!\r\njoint: 0 in POSITION mode!\r\njoint: 3 in TORQUE mode!\r\njoint: 3 in POSITION mode!\r\njoint: 3 in TORQUE mode!\r\njoint: 3 in POSITION mode!\r\njoint: 4 in TORQUE mode!\r\njoint: 4 in POSITION mode!\r\njoint: 3 in TORQUE mode!\r\njoint: 3 in POSITION mode!\r\n```\r\n\r\nI don't get any error messages in `yarplogger`.\r\n\r\nAny idea why this may be happening?\r\n\r\nRyan"},"comment":{"url":"https://api.github.com/repos/robotology/icub-main/issues/comments/114039001","html_url":"https://github.com/robotology/icub-main/issues/165#issuecomment-114039001","issue_url":"https://api.github.com/repos/robotology/icub-main/issues/165","id":114039001,"user":{"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},"created_at":"2015-06-22T08:34:24Z","updated_at":"2015-06-22T08:34:24Z","body":"@traversaro Is a `--no_legs` flag available? (like in legacy WBD)"}}