{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1129","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1129/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1129/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1129/events","html_url":"https://github.com/RobotLocomotion/drake/issues/1129","id":91057113,"number":1129,"title":"Velocity frame coordinate names corresponding to quaternion floating joint are wrong","user":{"login":"tkoolen","id":2585880,"avatar_url":"https://avatars.githubusercontent.com/u/2585880?v=3","gravatar_id":"","url":"https://api.github.com/users/tkoolen","html_url":"https://github.com/tkoolen","followers_url":"https://api.github.com/users/tkoolen/followers","following_url":"https://api.github.com/users/tkoolen/following{/other_user}","gists_url":"https://api.github.com/users/tkoolen/gists{/gist_id}","starred_url":"https://api.github.com/users/tkoolen/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tkoolen/subscriptions","organizations_url":"https://api.github.com/users/tkoolen/orgs","repos_url":"https://api.github.com/users/tkoolen/repos","events_url":"https://api.github.com/users/tkoolen/events{/privacy}","received_events_url":"https://api.github.com/users/tkoolen/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-06-25T19:42:49Z","updated_at":"2015-07-07T08:06:59Z","closed_at":null,"body":"@avalenzu mentioned that in the velocity frame for an RBM, the coordinates for a quaternion floating joint are currently named\r\n[xdot; ydot; zdot; wx; wy; wz]\r\nwhile the velocity parameterization for a quaternion floating joint is actually twist in body coordinates, so a better set of names would perhaps be\r\n[wx; wy; wz; vx; vy; vz]"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/119112620","html_url":"https://github.com/RobotLocomotion/drake/issues/1129#issuecomment-119112620","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1129","id":119112620,"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},"created_at":"2015-07-07T08:06:59Z","updated_at":"2015-07-07T08:06:59Z","body":"agreed.  i've pushed the simple change.  let's see if any unit tests were depending on the old name."}}