{"action":"created","issue":{"url":"https://api.github.com/repos/mitdrc/drake/issues/100","labels_url":"https://api.github.com/repos/mitdrc/drake/issues/100/labels{/name}","comments_url":"https://api.github.com/repos/mitdrc/drake/issues/100/comments","events_url":"https://api.github.com/repos/mitdrc/drake/issues/100/events","html_url":"https://github.com/mitdrc/drake/pull/100","id":76441238,"number":100,"title":"Add ZMP-based CoM observer (but don't use it)","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":2,"created_at":"2015-05-14T18:08:24Z","updated_at":"2015-05-15T03:03:22Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/mitdrc/drake/pulls/100","html_url":"https://github.com/mitdrc/drake/pull/100","diff_url":"https://github.com/mitdrc/drake/pull/100.diff","patch_url":"https://github.com/mitdrc/drake/pull/100.patch"},"body":"Also improves testing of resolveCenterOfPressure utility function, adds RigidBodyManipulator::resolveCenterOfPressure, and adds ForceTorqueMeasurement. These are required for the approach to tackling https://github.com/mitdrc/drc/issues/1677 that @gizatt is currently taking."},"comment":{"url":"https://api.github.com/repos/mitdrc/drake/issues/comments/102238938","html_url":"https://github.com/mitdrc/drake/pull/100#issuecomment-102238938","issue_url":"https://api.github.com/repos/mitdrc/drake/issues/100","id":102238938,"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},"created_at":"2015-05-15T03:03:22Z","updated_at":"2015-05-15T03:03:22Z","body":"OK, that should handle it all."}}