{"action":"created","issue":{"url":"https://api.github.com/repos/dartsim/dart/issues/465","labels_url":"https://api.github.com/repos/dartsim/dart/issues/465/labels{/name}","comments_url":"https://api.github.com/repos/dartsim/dart/issues/465/comments","events_url":"https://api.github.com/repos/dartsim/dart/issues/465/events","html_url":"https://github.com/dartsim/dart/issues/465","id":96604007,"number":465,"title":"Add support for closed kinematic chains in hinge joints","user":{"login":"Skylion007","id":2053727,"avatar_url":"https://avatars.githubusercontent.com/u/2053727?v=3","gravatar_id":"","url":"https://api.github.com/users/Skylion007","html_url":"https://github.com/Skylion007","followers_url":"https://api.github.com/users/Skylion007/followers","following_url":"https://api.github.com/users/Skylion007/following{/other_user}","gists_url":"https://api.github.com/users/Skylion007/gists{/gist_id}","starred_url":"https://api.github.com/users/Skylion007/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Skylion007/subscriptions","organizations_url":"https://api.github.com/users/Skylion007/orgs","repos_url":"https://api.github.com/users/Skylion007/repos","events_url":"https://api.github.com/users/Skylion007/events{/privacy}","received_events_url":"https://api.github.com/users/Skylion007/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":4,"created_at":"2015-07-22T16:05:38Z","updated_at":"2015-07-22T16:39:27Z","closed_at":null,"body":"I am having some minor stability problems with this model: \r\n![screenshot from 2015-07-22 11 43 06](https://cloud.githubusercontent.com/assets/2053727/8830346/c44a94c2-3069-11e5-979c-83e62d5547f4.png)\r\nI am curious if DART has support for loop constraints. If it does not, it could definitely be causing my problem. Otherwise, feel free to comment and close this issue."},"comment":{"url":"https://api.github.com/repos/dartsim/dart/issues/comments/123783908","html_url":"https://github.com/dartsim/dart/issues/465#issuecomment-123783908","issue_url":"https://api.github.com/repos/dartsim/dart/issues/465","id":123783908,"user":{"login":"Skylion007","id":2053727,"avatar_url":"https://avatars.githubusercontent.com/u/2053727?v=3","gravatar_id":"","url":"https://api.github.com/users/Skylion007","html_url":"https://github.com/Skylion007","followers_url":"https://api.github.com/users/Skylion007/followers","following_url":"https://api.github.com/users/Skylion007/following{/other_user}","gists_url":"https://api.github.com/users/Skylion007/gists{/gist_id}","starred_url":"https://api.github.com/users/Skylion007/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Skylion007/subscriptions","organizations_url":"https://api.github.com/users/Skylion007/orgs","repos_url":"https://api.github.com/users/Skylion007/repos","events_url":"https://api.github.com/users/Skylion007/events{/privacy}","received_events_url":"https://api.github.com/users/Skylion007/received_events","type":"User","site_admin":false},"created_at":"2015-07-22T16:39:27Z","updated_at":"2015-07-22T16:39:27Z","body":"If this method does work, coding this into DART to hack support for this would be a nice feature. It appears to know when there is a loop joint because it prints out stuff like this:\r\n\r\nThe collision detector already has a collision node for body node [139789387640400].\r\nThe collision detector already has a collision node for body node [139789389371920].\r\nThe collision detector already has a collision node for body node [139789389506256].\r\nThe collision detector already has a collision node for body node [139789643254736].\r\nThe collision detector already has a collision node for body node [139789387180176].\r\nThe collision detector already has a collision node for body node [139789386954064]."}}