iCubBreathers shaking arms

[francesco-romano]

We noticed that a lot of time the arms start shaking instead of a proper movement.

[alecive]

If with "shaking" you mean that after a while the movements are not smooth but they are as if they were sent in positionDirect, I am aware of this (but never had time to debug it).
My two cents: I think it is a low level problem, because the behavior of my module does not change over the time. I have only one line of code in which I command positions to the robot, i.e. this https://github.com/robotology/funny-things/blob/master/modules%2FiCubBreather%2FiCubBreatherThread.cpp#L169 , and the movements should be smooth regardless of the position asked (so, even if there might be some issues with the random generator, they should not affect this bug).
But, since this module has been done in one hour and it was meant for being used once for an "interview", there is huge room for bugs and issues here and there.

[francesco-romano]

That is what I meant, yes.
Well.. let's hope for volunteers then 😛