{"action":"created","issue":{"url":"https://api.github.com/repos/euslisp/jskeus/issues/351","repository_url":"https://api.github.com/repos/euslisp/jskeus","labels_url":"https://api.github.com/repos/euslisp/jskeus/issues/351/labels{/name}","comments_url":"https://api.github.com/repos/euslisp/jskeus/issues/351/comments","events_url":"https://api.github.com/repos/euslisp/jskeus/issues/351/events","html_url":"https://github.com/euslisp/jskeus/pull/351","id":140870771,"number":351,"title":"[jskeus/irteus/test,demo] Add look-at ik sample and test","user":{"login":"mmurooka","id":6636600,"avatar_url":"https://avatars.githubusercontent.com/u/6636600?v=3","gravatar_id":"","url":"https://api.github.com/users/mmurooka","html_url":"https://github.com/mmurooka","followers_url":"https://api.github.com/users/mmurooka/followers","following_url":"https://api.github.com/users/mmurooka/following{/other_user}","gists_url":"https://api.github.com/users/mmurooka/gists{/gist_id}","starred_url":"https://api.github.com/users/mmurooka/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mmurooka/subscriptions","organizations_url":"https://api.github.com/users/mmurooka/orgs","repos_url":"https://api.github.com/users/mmurooka/repos","events_url":"https://api.github.com/users/mmurooka/events{/privacy}","received_events_url":"https://api.github.com/users/mmurooka/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-03-15T04:39:08Z","updated_at":"2016-03-15T04:43:11Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/euslisp/jskeus/pulls/351","html_url":"https://github.com/euslisp/jskeus/pull/351","diff_url":"https://github.com/euslisp/jskeus/pull/351.diff","patch_url":"https://github.com/euslisp/jskeus/pull/351.patch"},"body":"https://github.com/euslisp/jskeus/pull/350#issuecomment-196111109\r\n@snozawaさん，以下の3つのサンプルを加えて，test/irteus-demo.lでテストするようにしました．\r\n確認お願いします．\r\n（https://github.com/euslisp/jskeus/pull/349, https://github.com/euslisp/jskeus/pull/350 はcloseします．）\r\n\r\n![head-look-at](https://cloud.githubusercontent.com/assets/6636600/13767877/f7ce0672-eab2-11e5-9466-79b6c9fdf9f5.png)\r\n![hand-look-at](https://cloud.githubusercontent.com/assets/6636600/13767878/f8c40450-eab2-11e5-956f-e06b1ab44f51.png)\r\n![look-at-hand-obj](https://cloud.githubusercontent.com/assets/6636600/13767879/f9d375a6-eab2-11e5-9de6-5e4cf5b745c4.png)\r\n"},"comment":{"url":"https://api.github.com/repos/euslisp/jskeus/issues/comments/196654139","html_url":"https://github.com/euslisp/jskeus/pull/351#issuecomment-196654139","issue_url":"https://api.github.com/repos/euslisp/jskeus/issues/351","id":196654139,"user":{"login":"mmurooka","id":6636600,"avatar_url":"https://avatars.githubusercontent.com/u/6636600?v=3","gravatar_id":"","url":"https://api.github.com/users/mmurooka","html_url":"https://github.com/mmurooka","followers_url":"https://api.github.com/users/mmurooka/followers","following_url":"https://api.github.com/users/mmurooka/following{/other_user}","gists_url":"https://api.github.com/users/mmurooka/gists{/gist_id}","starred_url":"https://api.github.com/users/mmurooka/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mmurooka/subscriptions","organizations_url":"https://api.github.com/users/mmurooka/orgs","repos_url":"https://api.github.com/users/mmurooka/repos","events_url":"https://api.github.com/users/mmurooka/events{/privacy}","received_events_url":"https://api.github.com/users/mmurooka/received_events","type":"User","site_admin":false},"created_at":"2016-03-15T04:43:11Z","updated_at":"2016-03-15T04:43:11Z","body":"質問なのですが，\r\nhttps://github.com/mmurooka/jskeus/blob/look-at-sample-test/irteus/demo/look-at-ik.l#L26-L27\r\nで orient-coords-to-axis の第一引数のcoordinateの:rotを単位行列にするとIKに失敗するのですが，\r\nこれはどうしてでしょうか．\r\nIKでは:translation-axisも:rotation-axisも:zになっていて，orient-coords-to-axisで:zの向きは上書きされるので，orient-coords-to-axisの第一引数のcoordinateの姿勢はIKの結果に影響を与えないきがしてしまいます．\r\n"}}