{"action":"created","issue":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1224","repository_url":"https://api.github.com/repos/start-jsk/jsk_apc","labels_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1224/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1224/comments","events_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1224/events","html_url":"https://github.com/start-jsk/jsk_apc/issues/1224","id":145704459,"number":1224,"title":"新グリッパーのmain.launchへの組み込み","user":{"login":"pazeshun","id":14994939,"avatar_url":"https://avatars.githubusercontent.com/u/14994939?v=3","gravatar_id":"","url":"https://api.github.com/users/pazeshun","html_url":"https://github.com/pazeshun","followers_url":"https://api.github.com/users/pazeshun/followers","following_url":"https://api.github.com/users/pazeshun/following{/other_user}","gists_url":"https://api.github.com/users/pazeshun/gists{/gist_id}","starred_url":"https://api.github.com/users/pazeshun/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pazeshun/subscriptions","organizations_url":"https://api.github.com/users/pazeshun/orgs","repos_url":"https://api.github.com/users/pazeshun/repos","events_url":"https://api.github.com/users/pazeshun/events{/privacy}","received_events_url":"https://api.github.com/users/pazeshun/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/start-jsk/jsk_apc/labels/feature","name":"feature","color":"fbca04"},{"url":"https://api.github.com/repos/start-jsk/jsk_apc/labels/gripper","name":"gripper","color":"c2e0c6"}],"state":"open","locked":false,"assignee":null,"milestone":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/milestones/12","html_url":"https://github.com/start-jsk/jsk_apc/milestones/APC%202016","labels_url":"https://api.github.com/repos/start-jsk/jsk_apc/milestones/12/labels","id":1575055,"number":12,"title":"APC 2016","description":"","creator":{"login":"wkentaro","id":4310419,"avatar_url":"https://avatars.githubusercontent.com/u/4310419?v=3","gravatar_id":"","url":"https://api.github.com/users/wkentaro","html_url":"https://github.com/wkentaro","followers_url":"https://api.github.com/users/wkentaro/followers","following_url":"https://api.github.com/users/wkentaro/following{/other_user}","gists_url":"https://api.github.com/users/wkentaro/gists{/gist_id}","starred_url":"https://api.github.com/users/wkentaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wkentaro/subscriptions","organizations_url":"https://api.github.com/users/wkentaro/orgs","repos_url":"https://api.github.com/users/wkentaro/repos","events_url":"https://api.github.com/users/wkentaro/events{/privacy}","received_events_url":"https://api.github.com/users/wkentaro/received_events","type":"User","site_admin":false},"open_issues":16,"closed_issues":10,"state":"open","created_at":"2016-02-10T15:32:57Z","updated_at":"2016-04-08T07:42:22Z","due_on":null,"closed_at":null},"comments":14,"created_at":"2016-04-04T14:42:36Z","updated_at":"2016-04-09T07:23:03Z","closed_at":null,"body":"新グリッパーがmain.launchから使えるようにする。\r\n具体的な方法がまだあいまいなので、決まり次第実行する。\r\n\r\nAssignee: @start-jsk/jsk_apc-gripper "},"comment":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/comments/207732717","html_url":"https://github.com/start-jsk/jsk_apc/issues/1224#issuecomment-207732717","issue_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1224","id":207732717,"user":{"login":"pazeshun","id":14994939,"avatar_url":"https://avatars.githubusercontent.com/u/14994939?v=3","gravatar_id":"","url":"https://api.github.com/users/pazeshun","html_url":"https://github.com/pazeshun","followers_url":"https://api.github.com/users/pazeshun/followers","following_url":"https://api.github.com/users/pazeshun/following{/other_user}","gists_url":"https://api.github.com/users/pazeshun/gists{/gist_id}","starred_url":"https://api.github.com/users/pazeshun/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pazeshun/subscriptions","organizations_url":"https://api.github.com/users/pazeshun/orgs","repos_url":"https://api.github.com/users/pazeshun/repos","events_url":"https://api.github.com/users/pazeshun/events{/privacy}","received_events_url":"https://api.github.com/users/pazeshun/received_events","type":"User","site_admin":false},"created_at":"2016-04-09T07:23:03Z","updated_at":"2016-04-09T07:23:03Z","body":"joint trajectory actionにもグリッパー部分は入ってないし、逆運動学に使うのはかなり雲行きが怪しくなってきたように思います。\r\n先ほどのプログラムから、\r\n```lisp\r\n(pushback (send robot :links) (list l2 l3))\r\n(pushback (send robot :joint-list) (list j1))\r\n```\r\nを抜いて、l2, l3, j1をslot変数として保持できるようにすれば、:angle-vector で動かされる関節にはj1は入らないが、j1を動かすとend-coordsの位置が変わる、みたいなことができるのでしょうか"}}