When you encounter a repeatable bug, please use rosbag to record the input messages required to reproduce the bug and upload the bag with a new bug report here. We will most likely need the TF's to manage the conversion between worldspaces. The line below should record everything we need, keeping the bag file fairly small. Feel free to add any additional topics as needed.

#!ROS

rosbag record /tf -e /ihmc_msgs/atlas/control/.*