{"action":"opened","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/719","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/719/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/719/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/719/events","html_url":"https://github.com/RobotLocomotion/drake/issues/719","id":55753334,"number":719,"title":"Create trajectory with linear interpolation between world points","user":{"login":"steinachim","id":10604706,"avatar_url":"https://avatars.githubusercontent.com/u/10604706?v=3","gravatar_id":"","url":"https://api.github.com/users/steinachim","html_url":"https://github.com/steinachim","followers_url":"https://api.github.com/users/steinachim/followers","following_url":"https://api.github.com/users/steinachim/following{/other_user}","gists_url":"https://api.github.com/users/steinachim/gists{/gist_id}","starred_url":"https://api.github.com/users/steinachim/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/steinachim/subscriptions","organizations_url":"https://api.github.com/users/steinachim/orgs","repos_url":"https://api.github.com/users/steinachim/repos","events_url":"https://api.github.com/users/steinachim/events{/privacy}","received_events_url":"https://api.github.com/users/steinachim/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-01-28T13:01:10Z","updated_at":"2015-01-28T13:01:10Z","closed_at":null,"body":"Hi everyone,\r\n\r\nI'm looking for a way to receive an IK trajectory that interpolates linearly between world positions wherever possible. \r\nUsing WorldPositionConstraints and WorldQuatConstraints I can reach the specified points at their respective times, but the paths between them are... interesting ;) \r\n\r\nIs there a simple way to accomplish this that I am overlooking? \r\n\r\nThanks again,\r\nAchim"}}