{"action":"created","issue":{"url":"https://api.github.com/repos/fkanehiro/openhrp3/issues/65","labels_url":"https://api.github.com/repos/fkanehiro/openhrp3/issues/65/labels{/name}","comments_url":"https://api.github.com/repos/fkanehiro/openhrp3/issues/65/comments","events_url":"https://api.github.com/repos/fkanehiro/openhrp3/issues/65/events","html_url":"https://github.com/fkanehiro/openhrp3/issues/65","id":99788608,"number":65,"title":"分岐のあるマニピュレータ・ベースリンク成分のあるヤコビアン計算","user":{"login":"snozawa","id":6102287,"avatar_url":"https://avatars.githubusercontent.com/u/6102287?v=3","gravatar_id":"","url":"https://api.github.com/users/snozawa","html_url":"https://github.com/snozawa","followers_url":"https://api.github.com/users/snozawa/followers","following_url":"https://api.github.com/users/snozawa/following{/other_user}","gists_url":"https://api.github.com/users/snozawa/gists{/gist_id}","starred_url":"https://api.github.com/users/snozawa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/snozawa/subscriptions","organizations_url":"https://api.github.com/users/snozawa/orgs","repos_url":"https://api.github.com/users/snozawa/repos","events_url":"https://api.github.com/users/snozawa/events{/privacy}","received_events_url":"https://api.github.com/users/snozawa/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-08-08T09:56:52Z","updated_at":"2015-08-19T02:01:06Z","closed_at":null,"body":"分岐のあるマニピュレータ、ベースリンクの６自由度成分のあるヤコビアン計算するプログラムは\r\nopenhrp3にありますでしょうか。\r\nJointPathは、計算では分岐のないヤコビアン計算のみになりますでしょうか。\r\nよろしくお願いいたします。\r\n"},"comment":{"url":"https://api.github.com/repos/fkanehiro/openhrp3/issues/comments/132415627","html_url":"https://github.com/fkanehiro/openhrp3/issues/65#issuecomment-132415627","issue_url":"https://api.github.com/repos/fkanehiro/openhrp3/issues/65","id":132415627,"user":{"login":"fkanehiro","id":845257,"avatar_url":"https://avatars.githubusercontent.com/u/845257?v=3","gravatar_id":"","url":"https://api.github.com/users/fkanehiro","html_url":"https://github.com/fkanehiro","followers_url":"https://api.github.com/users/fkanehiro/followers","following_url":"https://api.github.com/users/fkanehiro/following{/other_user}","gists_url":"https://api.github.com/users/fkanehiro/gists{/gist_id}","starred_url":"https://api.github.com/users/fkanehiro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fkanehiro/subscriptions","organizations_url":"https://api.github.com/users/fkanehiro/orgs","repos_url":"https://api.github.com/users/fkanehiro/repos","events_url":"https://api.github.com/users/fkanehiro/events{/privacy}","received_events_url":"https://api.github.com/users/fkanehiro/received_events","type":"User","site_admin":false},"created_at":"2015-08-19T02:01:06Z","updated_at":"2015-08-19T02:01:06Z","body":"https://github.com/fkanehiro/openhrp3/blob/master/hrplib/hrpModel/JointPath.cpp#L128\r\nを見ると回転、直動関節で構成されるシリアルリンクのみの対応のようですね。\r\n"}}