{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/765","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/765/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/765/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/765/events","html_url":"https://github.com/RobotLocomotion/drake/pull/765","id":57746070,"number":765,"title":"Parse inertial terms from urdf in cpp","user":{"login":"RussTedrake","id":6442292,"avatar_url":"https://avatars.githubusercontent.com/u/6442292?v=3","gravatar_id":"","url":"https://api.github.com/users/RussTedrake","html_url":"https://github.com/RussTedrake","followers_url":"https://api.github.com/users/RussTedrake/followers","following_url":"https://api.github.com/users/RussTedrake/following{/other_user}","gists_url":"https://api.github.com/users/RussTedrake/gists{/gist_id}","starred_url":"https://api.github.com/users/RussTedrake/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RussTedrake/subscriptions","organizations_url":"https://api.github.com/users/RussTedrake/orgs","repos_url":"https://api.github.com/users/RussTedrake/repos","events_url":"https://api.github.com/users/RussTedrake/events{/privacy}","received_events_url":"https://api.github.com/users/RussTedrake/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":32,"created_at":"2015-02-15T21:07:20Z","updated_at":"2015-02-16T19:11:51Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/765","html_url":"https://github.com/RobotLocomotion/drake/pull/765","diff_url":"https://github.com/RobotLocomotion/drake/pull/765.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/765.patch"},"body":"Adds support for evaluating the manipulator dynamics (using new kinsols only) from urdfs loaded directly in c++.\r\nenables a bunch of comparison tests for new vs old kinsol that twan was running locally, but will now let the build server run them.\r\nfixed a few nasty segfaults.\r\n@tkoolen  -- please code review "},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/74558085","html_url":"https://github.com/RobotLocomotion/drake/pull/765#issuecomment-74558085","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/765","id":74558085,"user":{"login":"RobotLocomotionBuild","id":8457190,"avatar_url":"https://avatars.githubusercontent.com/u/8457190?v=3","gravatar_id":"","url":"https://api.github.com/users/RobotLocomotionBuild","html_url":"https://github.com/RobotLocomotionBuild","followers_url":"https://api.github.com/users/RobotLocomotionBuild/followers","following_url":"https://api.github.com/users/RobotLocomotionBuild/following{/other_user}","gists_url":"https://api.github.com/users/RobotLocomotionBuild/gists{/gist_id}","starred_url":"https://api.github.com/users/RobotLocomotionBuild/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RobotLocomotionBuild/subscriptions","organizations_url":"https://api.github.com/users/RobotLocomotionBuild/orgs","repos_url":"https://api.github.com/users/RobotLocomotionBuild/repos","events_url":"https://api.github.com/users/RobotLocomotionBuild/events{/privacy}","received_events_url":"https://api.github.com/users/RobotLocomotionBuild/received_events","type":"User","site_admin":false},"created_at":"2015-02-16T19:11:51Z","updated_at":"2015-02-16T19:11:51Z","body":"Site: DRAKE004\nBuild Name: precompiled-pull-RussTedrake-inertia_in_urdf_cpp-into-RobotLocomotion-master\nBuild Server Directory: C:\\\\cygwin\\\tmp\\\\drake-precompiled-23760\\\\drake\nPull Request: https://github.com/RobotLocomotion/drake/pull/765\nCDash: http://kobol.csail.mit.edu/cd/viewTest.php?onlyfailed&buildid=11052\n\nMost recent commits to drake included in this build:\n```\nf880c5e code review from twan.\nd463e8b actually builds on ubuntu.  what a pain in the ***\n7b37e78 adds gradients of position constraints to the unit test.  tests don't pass yet -- this revealed that i'm getting nans with some calls to forwardkin using the use_new_kinsol.\n9f66a04 update relative position constraints to avoid call to bodyKin when using new kinsol.\necb81fb implements loop joint constraints\n```\n\n349 tests run:\n 252 passed\n 65 cancelled (with missing dependencies  SDPSolver:9, avl:4, bullet:9, gloptipoly3:3, gurobi:8, iris:3, lcm:21, mosek:2, octomap:1, sedumi:3, yalmip:2)\n 0 timed out\n 32 failed\n  4 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/374\\\">known issue #374</a>: failing imu unit tests\n  1 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/466\\\">known issue #466</a>: implement Jdot*v for drakeFunction.kinematic methods\n  1 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/468\\\">known issue #468</a>: non-bullet builds can throw logical error in active_collision parsing in collisionDetect\n  25 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/569\\\">known issue #569</a>: lcppath.mexw64 and lcppath.mexw32 fails to load on win machines\n  1 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/585\\\">known issue #585</a>: testIndividualCentersOfPressure fails on win64\n  0 unknown\n\n"}}