{"action":"created","issue":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/934","labels_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/934/labels{/name}","comments_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/934/comments","events_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/934/events","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/934","id":124143340,"number":934,"title":"Modify swing leg end coords","user":{"login":"eisoku9618","id":4509039,"avatar_url":"https://avatars.githubusercontent.com/u/4509039?v=3","gravatar_id":"","url":"https://api.github.com/users/eisoku9618","html_url":"https://github.com/eisoku9618","followers_url":"https://api.github.com/users/eisoku9618/followers","following_url":"https://api.github.com/users/eisoku9618/following{/other_user}","gists_url":"https://api.github.com/users/eisoku9618/gists{/gist_id}","starred_url":"https://api.github.com/users/eisoku9618/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eisoku9618/subscriptions","organizations_url":"https://api.github.com/users/eisoku9618/orgs","repos_url":"https://api.github.com/users/eisoku9618/repos","events_url":"https://api.github.com/users/eisoku9618/events{/privacy}","received_events_url":"https://api.github.com/users/eisoku9618/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":7,"created_at":"2015-12-29T00:04:14Z","updated_at":"2015-12-29T22:56:12Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/934","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/934","diff_url":"https://github.com/fkanehiro/hrpsys-base/pull/934.diff","patch_url":"https://github.com/fkanehiro/hrpsys-base/pull/934.patch"},"body":"https://github.com/fkanehiro/hrpsys-base/pull/927 のPRから遊脚の位置姿勢を更新する部分だけを抜き出したものです．デフォルトのパラメータでは何も変わらないです．\r\n\r\n@snozawa さん，ご確認よろしくお願いします．\r\n\r\n以下メモ\r\n\r\n```lisp\r\nroseus `rospack find hrpsys_ros_bridge`/euslisp/samplerobot-interface.l \"(progn                                        \r\n  (setq *robot* (samplerobot-init))                                                                                    \r\n  (send *ri* :angle-vector (send *robot* :reset-manip-pose) 200)                                                       \r\n  (send *ri* :wait-interpolation)                                                                                      \r\n  (send *ri* :set-st-param :eefm-body-attitude-control-gain (list 10 10))                                              \r\n  (let ((gain 0.8))                                                                                                    \r\n   (send *ri* :set-st-param :eefm-swing-rot-spring-gain                                                                \r\n        (list (float-vector gain gain 0)                                                                               \r\n              (float-vector gain gain 0)                                                                               \r\n              (float-vector gain gain 0)                                                                               \r\n              (float-vector gain gain 0))))                                                                            \r\n  (let ((gain 0.2))                                                                                                    \r\n   (send *ri* :set-st-param :eefm-swing-pos-spring-gain                                                                \r\n        (list (float-vector gain gain gain)                                                                            \r\n              (float-vector gain gain gain)                                                                            \r\n              (float-vector gain gain gain)                                                                            \r\n              (float-vector gain gain gain))))                                                                         \r\n  (send *ri* :start-default-unstable-controllers)                                                                      \r\n  (send *ri* :go-pos 1.2 0 0)                                                                                          \r\n  ;; (exit)                                                                                                            \r\n  )\"\r\n```"},"comment":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/comments/167896156","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/934#issuecomment-167896156","issue_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/934","id":167896156,"user":{"login":"k-okada","id":493276,"avatar_url":"https://avatars.githubusercontent.com/u/493276?v=3","gravatar_id":"","url":"https://api.github.com/users/k-okada","html_url":"https://github.com/k-okada","followers_url":"https://api.github.com/users/k-okada/followers","following_url":"https://api.github.com/users/k-okada/following{/other_user}","gists_url":"https://api.github.com/users/k-okada/gists{/gist_id}","starred_url":"https://api.github.com/users/k-okada/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/k-okada/subscriptions","organizations_url":"https://api.github.com/users/k-okada/orgs","repos_url":"https://api.github.com/users/k-okada/repos","events_url":"https://api.github.com/users/k-okada/events{/privacy}","received_events_url":"https://api.github.com/users/k-okada/received_events","type":"User","site_admin":false},"created_at":"2015-12-29T22:56:12Z","updated_at":"2015-12-29T22:56:12Z","body":"\nRefer to this link for build results (access rights to CI server needed): \nhttp://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/2528/\n\n**Build Log**\n*last 10 lines*\n\n ```\n[...truncated 9240 lines...]\n\tat org.jenkinsci.plugins.ghprb.GhprbRepository.createCommitStatus(GhprbRepository.java:122)\n\tat org.jenkinsci.plugins.ghprb.GhprbBuilds.onCompleted(GhprbBuilds.java:118)\n\tat org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:27)\n\tat org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:12)\n\tat hudson.model.listeners.RunListener.fireCompleted(RunListener.java:201)\n\tat hudson.model.Run.execute(Run.java:1783)\n\tat hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:43)\n\tat hudson.model.ResourceController.execute(ResourceController.java:98)\n\tat hudson.model.Executor.run(Executor.java:410)\n```\n\nTest FAILed."}}