{"action":"created","issue":{"url":"https://api.github.com/repos/robotology-playground/WBI-Toolbox/issues/68","labels_url":"https://api.github.com/repos/robotology-playground/WBI-Toolbox/issues/68/labels{/name}","comments_url":"https://api.github.com/repos/robotology-playground/WBI-Toolbox/issues/68/comments","events_url":"https://api.github.com/repos/robotology-playground/WBI-Toolbox/issues/68/events","html_url":"https://github.com/robotology-playground/WBI-Toolbox/issues/68","id":55791656,"number":68,"title":"Sending 0 torques results in non-zero torques applied.","user":{"login":"robertocalandra","id":5021982,"avatar_url":"https://avatars.githubusercontent.com/u/5021982?v=3","gravatar_id":"","url":"https://api.github.com/users/robertocalandra","html_url":"https://github.com/robertocalandra","followers_url":"https://api.github.com/users/robertocalandra/followers","following_url":"https://api.github.com/users/robertocalandra/following{/other_user}","gists_url":"https://api.github.com/users/robertocalandra/gists{/gist_id}","starred_url":"https://api.github.com/users/robertocalandra/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/robertocalandra/subscriptions","organizations_url":"https://api.github.com/users/robertocalandra/orgs","repos_url":"https://api.github.com/users/robertocalandra/repos","events_url":"https://api.github.com/users/robertocalandra/events{/privacy}","received_events_url":"https://api.github.com/users/robertocalandra/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":9,"created_at":"2015-01-28T17:59:28Z","updated_at":"2015-01-28T18:31:00Z","closed_at":null,"body":"We are having serious difficulties in commanding in torque the iCubDarmstadt01 from the wbi.\r\nAfter switching on the wholeBodyDynamicsTree, if we try to send a zero torque using the set Torque block of the wbi, the icub apply a strong force forward.\r\n\r\nI am not sure if it is because of errors in the wholeBodyDynamicsTree, because of the low-level firmware or what else.\r\nHowever, it is critical for us to fix this problem as soon as possible. Would it be possible to have ASAP a skype meeting with someone to diagnose and solve it?\r\n\r\nFor a video see https://www.dropbox.com/s/3g9cwr3bk44v5lt/VID_20150128_181413.mp4\r\n\r\nPS: this bug happen when using the older version of the wbi (v0.1)"},"comment":{"url":"https://api.github.com/repos/robotology-playground/WBI-Toolbox/issues/comments/71888494","html_url":"https://github.com/robotology-playground/WBI-Toolbox/issues/68#issuecomment-71888494","issue_url":"https://api.github.com/repos/robotology-playground/WBI-Toolbox/issues/68","id":71888494,"user":{"login":"iron76","id":4137836,"avatar_url":"https://avatars.githubusercontent.com/u/4137836?v=3","gravatar_id":"","url":"https://api.github.com/users/iron76","html_url":"https://github.com/iron76","followers_url":"https://api.github.com/users/iron76/followers","following_url":"https://api.github.com/users/iron76/following{/other_user}","gists_url":"https://api.github.com/users/iron76/gists{/gist_id}","starred_url":"https://api.github.com/users/iron76/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/iron76/subscriptions","organizations_url":"https://api.github.com/users/iron76/orgs","repos_url":"https://api.github.com/users/iron76/repos","events_url":"https://api.github.com/users/iron76/events{/privacy}","received_events_url":"https://api.github.com/users/iron76/received_events","type":"User","site_admin":false},"created_at":"2015-01-28T18:31:00Z","updated_at":"2015-01-28T18:31:00Z","body":"Yes please."}}