{"action":"created","comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/28560409","id":28560409,"diff_hunk":"@@ -419,11 +420,81 @@ Vector6d bodyMotionPD(RigidBodyManipulator *r, DrakeRobotState &robot_state, con\n   des_rpy = body_pose_des.tail<3>();\r\n   angleDiff(pose_rpy,des_rpy,error_rpy);\r\n   body_error.tail(3) = error_rpy;\r\n-\r\n+  \r\n   Vector6d body_vdot = (Kp.array()*body_error.array()).matrix() + (Kd.array()*(body_v_des-J*robot_state.qd).array()).matrix() + body_vdot_des;\r\n   return body_vdot;\r\n }\r\n \r\n+Vector6d bodySpatialMotionPD(RigidBodyManipulator *r, DrakeRobotState &robot_state, const int body_index, const Vector6d &body_xyzexp_des, const Vector6d &body_v_des, const Vector6d &body_vdot_des, const Vector6d &Kp, const Vector6d &Kd, const Isometry3d &T_task_to_world)\r","path":"systems/controllers/controlUtil.cpp","position":38,"original_position":38,"commit_id":"3cb6e9b28752aeda8f38398e9ed965505f601342","original_commit_id":"3cb6e9b28752aeda8f38398e9ed965505f601342","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},"body":"Why are we passing in the desired pose as a Vector6d with exponential coordinates instead of using an Isometry3d?","created_at":"2015-04-16T23:49:29Z","updated_at":"2015-04-16T23:49:29Z","html_url":"https://github.com/RobotLocomotion/drake/pull/1001#discussion_r28560409","pull_request_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1001","_links":{"self":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/28560409"},"html":{"href":"https://github.com/RobotLocomotion/drake/pull/1001#discussion_r28560409"},"pull_request":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1001"}}},"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1001","id":33497658,"html_url":"https://github.com/RobotLocomotion/drake/pull/1001","diff_url":"https://github.com/RobotLocomotion/drake/pull/1001.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/1001.patch","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1001","number":1001,"state":"open","locked":false,"title":"Body Spatial Motion ","user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.githubusercontent.com/u/6314000?v=3","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"body":"1. @avalenzu implemented the exponential map to quaternion, and a function to generate the C code with Eigen, from symbolic computation  in MATLAB\r\n2. @rdeits added the functionality and test such that the robot can walk over terrains without singularity\r\n3. 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