{"action":"closed","number":903,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/903","id":32051861,"html_url":"https://github.com/RobotLocomotion/drake/pull/903","diff_url":"https://github.com/RobotLocomotion/drake/pull/903.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/903.patch","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/903","number":903,"state":"closed","locked":false,"title":"Fixed forwardKin wraparound errors","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":"Fixes #774.\r\n\r\nAlso handling the check with a quaternion rotation type differently. Let me know if you think this is a bad idea.","created_at":"2015-03-26T19:27:16Z","updated_at":"2015-03-30T18:35:12Z","closed_at":"2015-03-30T18:35:12Z","merged_at":"2015-03-30T18:35:12Z","merge_commit_sha":"cdcd51b7081ecedad7319a5c44954830f571ab5d","assignee":{"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},"milestone":null,"commits_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/903/commits","review_comments_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/903/comments","review_comment_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments{/number}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/903/comments","statuses_url":"https://api.github.com/repos/RobotLocomotion/drake/statuses/256133d22ab82e784ba2158af5b1317f719316d7","head":{"label":"tkoolen:issue-774","ref":"issue-774","sha":"256133d22ab82e784ba2158af5b1317f719316d7","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},"repo":{"id":18049528,"name":"drake","full_name":"tkoolen/drake","owner":{"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},"private":false,"html_url":"https://github.com/tkoolen/drake","description":"A planning, control, and analysis toolbox for nonlinear dynamical systems.  Please see the WIKI for documentation.","fork":true,"url":"https://api.github.com/repos/tkoolen/drake","forks_url":"https://api.github.com/repos/tkoolen/drake/forks","keys_url":"https://api.github.com/repos/tkoolen/drake/keys{/key_id}","collaborators_url":"https://api.github.com/repos/tkoolen/drake/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/tkoolen/drake/teams","hooks_url":"https://api.github.com/repos/tkoolen/drake/hooks","issue_events_url":"https://api.github.com/repos/tkoolen/drake/issues/events{/number}","events_url":"https://api.github.com/repos/tkoolen/drake/events","assignees_url":"https://api.github.com/repos/tkoolen/drake/assignees{/user}","branches_url":"https://api.github.com/repos/tkoolen/drake/branches{/branch}","tags_url":"https://api.github.com/repos/tkoolen/drake/tags","blobs_url":"https://api.github.com/repos/tkoolen/drake/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/tkoolen/drake/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/tkoolen/drake/git/refs{/sha}","trees_url":"https://api.github.com/repos/tkoolen/drake/git/trees{/sha}","statuses_url":"https://api.github.com/repos/tkoolen/drake/statuses/{sha}","languages_url":"https://api.github.com/repos/tkoolen/drake/languages","stargazers_url":"https://api.github.com/repos/tkoolen/drake/stargazers","contributors_url":"https://api.github.com/repos/tkoolen/drake/contributors","subscribers_url":"https://api.github.com/repos/tkoolen/drake/subscribers","subscription_url":"https://api.github.com/repos/tkoolen/drake/subscription","commits_url":"https://api.github.com/repos/tkoolen/drake/commits{/sha}","git_commits_url":"https://api.github.com/repos/tkoolen/drake/git/commits{/sha}","comments_url":"https://api.github.com/repos/tkoolen/drake/comments{/number}","issue_comment_url":"https://api.github.com/repos/tkoolen/drake/issues/comments{/number}","contents_url":"https://api.github.com/repos/tkoolen/drake/contents/{+path}","compare_url":"https://api.github.com/repos/tkoolen/drake/compare/{base}...{head}","merges_url":"https://api.github.com/repos/tkoolen/drake/merges","archive_url":"https://api.github.com/repos/tkoolen/drake/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/tkoolen/drake/downloads","issues_url":"https://api.github.com/repos/tkoolen/drake/issues{/number}","pulls_url":"https://api.github.com/repos/tkoolen/drake/pulls{/number}","milestones_url":"https://api.github.com/repos/tkoolen/drake/milestones{/number}","notifications_url":"https://api.github.com/repos/tkoolen/drake/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/tkoolen/drake/labels{/name}","releases_url":"https://api.github.com/repos/tkoolen/drake/releases{/id}","created_at":"2014-03-24T02:31:26Z","updated_at":"2014-07-07T14:33:06Z","pushed_at":"2015-03-30T15:49:47Z","git_url":"git://github.com/tkoolen/drake.git","ssh_url":"git@github.com:tkoolen/drake.git","clone_url":"https://github.com/tkoolen/drake.git","svn_url":"https://github.com/tkoolen/drake","homepage":"https://github.com/RobotLocomotion/drake/wiki","size":158185,"stargazers_count":0,"watchers_count":0,"language":"Matlab","has_issues":false,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":0,"mirror_url":null,"open_issues_count":0,"forks":0,"open_issues":0,"watchers":0,"default_branch":"master"}},"base":{"label":"RobotLocomotion:master","ref":"master","sha":"a8bcdbf74f3a041d495286deab5afe117fb13902","user":{"login":"RobotLocomotion","id":6496345,"avatar_url":"https://avatars.githubusercontent.com/u/6496345?v=3","gravatar_id":"","url":"https://api.github.com/users/RobotLocomotion","html_url":"https://github.com/RobotLocomotion","followers_url":"https://api.github.com/users/RobotLocomotion/followers","following_url":"https://api.github.com/users/RobotLocomotion/following{/other_user}","gists_url":"https://api.github.com/users/RobotLocomotion/gists{/gist_id}","starred_url":"https://api.github.com/users/RobotLocomotion/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RobotLocomotion/subscriptions","organizations_url":"https://api.github.com/users/RobotLocomotion/orgs","repos_url":"https://api.github.com/users/RobotLocomotion/repos","events_url":"https://api.github.com/users/RobotLocomotion/events{/privacy}","received_events_url":"https://api.github.com/users/RobotLocomotion/received_events","type":"Organization","site_admin":false},"repo":{"id":16256144,"name":"drake","full_name":"RobotLocomotion/drake","owner":{"login":"RobotLocomotion","id":6496345,"avatar_url":"https://avatars.githubusercontent.com/u/6496345?v=3","gravatar_id":"","url":"https://api.github.com/users/RobotLocomotion","html_url":"https://github.com/RobotLocomotion","followers_url":"https://api.github.com/users/RobotLocomotion/followers","following_url":"https://api.github.com/users/RobotLocomotion/following{/other_user}","gists_url":"https://api.github.com/users/RobotLocomotion/gists{/gist_id}","starred_url":"https://api.github.com/users/RobotLocomotion/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RobotLocomotion/subscriptions","organizations_url":"https://api.github.com/users/RobotLocomotion/orgs","repos_url":"https://api.github.com/users/RobotLocomotion/repos","events_url":"https://api.github.com/users/RobotLocomotion/events{/privacy}","received_events_url":"https://api.github.com/users/RobotLocomotion/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/RobotLocomotion/drake","description":"A planning, control, and analysis toolbox for nonlinear dynamical systems.  Please see the WIKI for documentation.","fork":false,"url":"https://api.github.com/repos/RobotLocomotion/drake","forks_url":"https://api.github.com/repos/RobotLocomotion/drake/forks","keys_url":"https://api.github.com/repos/RobotLocomotion/drake/keys{/key_id}","collaborators_url":"https://api.github.com/repos/RobotLocomotion/drake/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/RobotLocomotion/drake/teams","hooks_url":"https://api.github.com/repos/RobotLocomotion/drake/hooks","issue_events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/events{/number}","events_url":"https://api.github.com/repos/RobotLocomotion/drake/events","assignees_url":"https://api.github.com/repos/RobotLocomotion/drake/assignees{/user}","branches_url":"https://api.github.com/repos/RobotLocomotion/drake/branches{/branch}","tags_url":"https://api.github.com/repos/RobotLocomotion/drake/tags","blobs_url":"https://api.github.com/repos/RobotLocomotion/drake/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/RobotLocomotion/drake/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/RobotLocomotion/drake/git/refs{/sha}","trees_url":"https://api.github.com/repos/RobotLocomotion/drake/git/trees{/sha}","statuses_url":"https://api.github.com/repos/RobotLocomotion/drake/statuses/{sha}","languages_url":"https://api.github.com/repos/RobotLocomotion/drake/languages","stargazers_url":"https://api.github.com/repos/RobotLocomotion/drake/stargazers","contributors_url":"https://api.github.com/repos/RobotLocomotion/drake/contributors","subscribers_url":"https://api.github.com/repos/RobotLocomotion/drake/subscribers","subscription_url":"https://api.github.com/repos/RobotLocomotion/drake/subscription","commits_url":"https://api.github.com/repos/RobotLocomotion/drake/commits{/sha}","git_commits_url":"https://api.github.com/repos/RobotLocomotion/drake/git/commits{/sha}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/comments{/number}","issue_comment_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments{/number}","contents_url":"https://api.github.com/repos/RobotLocomotion/drake/contents/{+path}","compare_url":"https://api.github.com/repos/RobotLocomotion/drake/compare/{base}...{head}","merges_url":"https://api.github.com/repos/RobotLocomotion/drake/merges","archive_url":"https://api.github.com/repos/RobotLocomotion/drake/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/RobotLocomotion/drake/downloads","issues_url":"https://api.github.com/repos/RobotLocomotion/drake/issues{/number}","pulls_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls{/number}","milestones_url":"https://api.github.com/repos/RobotLocomotion/drake/milestones{/number}","notifications_url":"https://api.github.com/repos/RobotLocomotion/drake/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/labels{/name}","releases_url":"https://api.github.com/repos/RobotLocomotion/drake/releases{/id}","created_at":"2014-01-26T16:11:05Z","updated_at":"2015-03-30T18:35:12Z","pushed_at":"2015-03-30T18:35:12Z","git_url":"git://github.com/RobotLocomotion/drake.git","ssh_url":"git@github.com:RobotLocomotion/drake.git","clone_url":"https://github.com/RobotLocomotion/drake.git","svn_url":"https://github.com/RobotLocomotion/drake","homepage":"https://github.com/RobotLocomotion/drake/wiki","size":175610,"stargazers_count":103,"watchers_count":103,"language":"Matlab","has_issues":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":94,"mirror_url":null,"open_issues_count":115,"forks":94,"open_issues":115,"watchers":103,"default_branch":"master"}},"_links":{"self":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/903"},"html":{"href":"https://github.com/RobotLocomotion/drake/pull/903"},"issue":{"href":"https://api.github.com/repos/RobotLocomotion/drake/issues/903"},"comments":{"href":"https://api.github.com/repos/RobotLocomotion/drake/issues/903/comments"},"review_comments":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/903/comments"},"review_comment":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/903/commits"},"statuses":{"href":"https://api.github.com/repos/RobotLocomotion/drake/statuses/256133d22ab82e784ba2158af5b1317f719316d7"}},"merged":true,"mergeable":null,"mergeable_state":"unknown","merged_by":{"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},"comments":5,"review_comments":1,"commits":1,"additions":46,"deletions":1,"changed_files":2}}