{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/mex-wholebodymodel/issues/30","labels_url":"https://api.github.com/repos/robotology/mex-wholebodymodel/issues/30/labels{/name}","comments_url":"https://api.github.com/repos/robotology/mex-wholebodymodel/issues/30/comments","events_url":"https://api.github.com/repos/robotology/mex-wholebodymodel/issues/30/events","html_url":"https://github.com/robotology/mex-wholebodymodel/issues/30","id":108470470,"number":30,"title":"forwardDynamicsConsistencyTest failing","user":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":16,"created_at":"2015-09-26T14:28:06Z","updated_at":"2015-10-23T15:53:01Z","closed_at":null,"body":"I wanted to consolidate the tests such that they could be executed in a systematic way, but I tried \r\nto run the `forwardDynamicsConsistencyTest` and I get this output:\r\n~~~\r\n>> forwardDynamicsConsistencyTest\r\nRobot name icubGazeboSim and World Reference Frame set about l_sole \r\nRandom Initial configuration\r\n  Columns 1 through 11\r\n\r\n    1.0179    0.3310   -0.2220   -0.5140    0.4804    1.0425    0.1518   -0.3893   -1.5775    0.2726    1.3232\r\n\r\n  Columns 12 through 22\r\n\r\n    1.3148   -0.3192    1.5566   -0.2707   -0.1986   -1.2349    0.5591    0.3063   -0.1948    0.6448   -0.1784\r\n\r\n  Columns 23 through 25\r\n\r\n   -0.5732    0.4852    0.2465\r\n\r\nRandom Initial velocity\r\n  Columns 1 through 11\r\n\r\n    2.2397   -1.7970   -1.5510    3.3739    3.8100    0.0164   -4.5974    1.5961   -0.8527    2.7619   -2.5127\r\n\r\n  Columns 12 through 22\r\n\r\n    2.4490   -0.0596   -1.9908   -3.9090   -4.5929   -0.4722    3.6138    3.5071    2.4249   -3.4072    2.4572\r\n\r\n  Columns 23 through 25\r\n\r\n   -3.1428    2.5648   -4.2926\r\n\r\nstarting integration\r\nWarning: Failure at t=6.837546e-01.  Unable to meet integration tolerances without reducing the step size below the\r\nsmallest value allowed (1.776357e-15) at time t. \r\n> In ode15s at 730\r\n  In forwardDynamicsConsistencyTest at 72 \r\n~~~"},"comment":{"url":"https://api.github.com/repos/robotology/mex-wholebodymodel/issues/comments/150614580","html_url":"https://github.com/robotology/mex-wholebodymodel/issues/30#issuecomment-150614580","issue_url":"https://api.github.com/repos/robotology/mex-wholebodymodel/issues/30","id":150614580,"user":{"login":"naveenoid","id":3089530,"avatar_url":"https://avatars.githubusercontent.com/u/3089530?v=3","gravatar_id":"","url":"https://api.github.com/users/naveenoid","html_url":"https://github.com/naveenoid","followers_url":"https://api.github.com/users/naveenoid/followers","following_url":"https://api.github.com/users/naveenoid/following{/other_user}","gists_url":"https://api.github.com/users/naveenoid/gists{/gist_id}","starred_url":"https://api.github.com/users/naveenoid/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/naveenoid/subscriptions","organizations_url":"https://api.github.com/users/naveenoid/orgs","repos_url":"https://api.github.com/users/naveenoid/repos","events_url":"https://api.github.com/users/naveenoid/events{/privacy}","received_events_url":"https://api.github.com/users/naveenoid/received_events","type":"User","site_admin":false},"created_at":"2015-10-23T15:53:01Z","updated_at":"2015-10-23T15:53:01Z","body":"Sorry back on track after a day with no internet. This is a result of a\nmixup of older versions of the forwardDynamics. I think always this bug is\ntraced down to quaternion ordering and frame in which angular velocity is\nbeing expressed for quaternion derivative. Good job anyhow.\n\nOn Fri, Oct 23, 2015 at 4:38 PM, Daniele <notifications@github.com> wrote:\n\n> Ack.\n>\n> —\n> Reply to this email directly or view it on GitHub\n> <https://github.com/robotology/mex-wholebodymodel/issues/30#issuecomment-150593294>\n> .\n>\n"}}