{"action":"created","issue":{"url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/66","labels_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/66/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/66/comments","events_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/66/events","html_url":"https://github.com/start-jsk/rtmros_choreonoid/issues/66","id":106911779,"number":66,"title":"4足歩行のインターフェース","user":{"login":"YoheiKakiuchi","id":2408164,"avatar_url":"https://avatars.githubusercontent.com/u/2408164?v=3","gravatar_id":"","url":"https://api.github.com/users/YoheiKakiuchi","html_url":"https://github.com/YoheiKakiuchi","followers_url":"https://api.github.com/users/YoheiKakiuchi/followers","following_url":"https://api.github.com/users/YoheiKakiuchi/following{/other_user}","gists_url":"https://api.github.com/users/YoheiKakiuchi/gists{/gist_id}","starred_url":"https://api.github.com/users/YoheiKakiuchi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/YoheiKakiuchi/subscriptions","organizations_url":"https://api.github.com/users/YoheiKakiuchi/orgs","repos_url":"https://api.github.com/users/YoheiKakiuchi/repos","events_url":"https://api.github.com/users/YoheiKakiuchi/events{/privacy}","received_events_url":"https://api.github.com/users/YoheiKakiuchi/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":5,"created_at":"2015-09-17T04:45:15Z","updated_at":"2015-09-21T07:27:56Z","closed_at":null,"body":"https://github.com/start-jsk/rtmros_choreonoid/pull/65\r\njaxonの4足歩行用のファイルを追加しました。\r\n\r\n@eisoku9618 さん、以下が気付き事項です。\r\n毎回（毎歩行パターン）のIKを解いているので、パターン生成待ち時間が多いです。\r\n途中パターンの生成はサボれるのでは？ （特に、xかyだけにしか値が入っていない時)\r\n\r\nその場回転でIKが解けなくて、パターン生成で結構待たされて、その後に動かない。\r\n\r\n初期姿勢を変えたい場合はどうしたらいいですか？\r\nその場回転のIKが解けるかは初期姿勢で変化しますか？\r\n"},"comment":{"url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/comments/141897608","html_url":"https://github.com/start-jsk/rtmros_choreonoid/issues/66#issuecomment-141897608","issue_url":"https://api.github.com/repos/start-jsk/rtmros_choreonoid/issues/66","id":141897608,"user":{"login":"otsubo","id":6928359,"avatar_url":"https://avatars.githubusercontent.com/u/6928359?v=3","gravatar_id":"","url":"https://api.github.com/users/otsubo","html_url":"https://github.com/otsubo","followers_url":"https://api.github.com/users/otsubo/followers","following_url":"https://api.github.com/users/otsubo/following{/other_user}","gists_url":"https://api.github.com/users/otsubo/gists{/gist_id}","starred_url":"https://api.github.com/users/otsubo/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/otsubo/subscriptions","organizations_url":"https://api.github.com/users/otsubo/orgs","repos_url":"https://api.github.com/users/otsubo/repos","events_url":"https://api.github.com/users/otsubo/events{/privacy}","received_events_url":"https://api.github.com/users/otsubo/received_events","type":"User","site_admin":false},"created_at":"2015-09-21T07:27:56Z","updated_at":"2015-09-21T07:27:56Z","body":"手先の接触点が実機と違うみたいで，それゆえ滑ってしまっている気がします．\r\n\r\nirtviewer上にコレオノイド版のモデルを表示することは可能でしょうか？\r\n"}}