{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1001","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1001/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1001/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1001/events","html_url":"https://github.com/RobotLocomotion/drake/pull/1001","id":69019451,"number":1001,"title":"Body Spatial Motion ","user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.githubusercontent.com/u/6314000?v=3","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/waiting%20for%20code%20review","name":"waiting for code review","color":"d4c5f9"}],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":12,"created_at":"2015-04-16T22:07:14Z","updated_at":"2015-04-19T15:59:56Z","closed_at":"2015-04-19T15:59:56Z","pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1001","html_url":"https://github.com/RobotLocomotion/drake/pull/1001","diff_url":"https://github.com/RobotLocomotion/drake/pull/1001.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/1001.patch"},"body":"1. @avalenzu implemented the exponential map to quaternion, and a function to generate the C code with Eigen, from symbolic computation  in MATLAB\r\n2. @rdeits added the functionality and test such that the robot can walk over terrains without singularity\r\n3. Add the BodySpatialMotionPD, now we are using twist rather than Euler angle velocity.\r\n4. This also includes some of @tkoolen commits in qpSpline.\r\n\r\nAfter this pull request gets merged, for the model in DRC controller, it should set use_new_kinsol = true. "},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/94290749","html_url":"https://github.com/RobotLocomotion/drake/pull/1001#issuecomment-94290749","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1001","id":94290749,"user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.githubusercontent.com/u/6314000?v=3","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"created_at":"2015-04-19T15:59:56Z","updated_at":"2015-04-19T15:59:56Z","body":"I will close this pull request for now so that it does not trigger the build server, will reopen it after I make some modifications to `BodyMotionData` today"}}