{"action":"opened","issue":{"url":"https://api.github.com/repos/personalrobotics/aikido/issues/54","repository_url":"https://api.github.com/repos/personalrobotics/aikido","labels_url":"https://api.github.com/repos/personalrobotics/aikido/issues/54/labels{/name}","comments_url":"https://api.github.com/repos/personalrobotics/aikido/issues/54/comments","events_url":"https://api.github.com/repos/personalrobotics/aikido/issues/54/events","html_url":"https://github.com/personalrobotics/aikido/issues/54","id":149863025,"number":54,"title":"Implement remaining joint types","user":{"login":"aaronjoh","id":9432203,"avatar_url":"https://avatars.githubusercontent.com/u/9432203?v=3","gravatar_id":"","url":"https://api.github.com/users/aaronjoh","html_url":"https://github.com/aaronjoh","followers_url":"https://api.github.com/users/aaronjoh/followers","following_url":"https://api.github.com/users/aaronjoh/following{/other_user}","gists_url":"https://api.github.com/users/aaronjoh/gists{/gist_id}","starred_url":"https://api.github.com/users/aaronjoh/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/aaronjoh/subscriptions","organizations_url":"https://api.github.com/users/aaronjoh/orgs","repos_url":"https://api.github.com/users/aaronjoh/repos","events_url":"https://api.github.com/users/aaronjoh/events{/privacy}","received_events_url":"https://api.github.com/users/aaronjoh/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2016-04-20T19:28:03Z","updated_at":"2016-04-20T19:28:03Z","closed_at":null,"body":"In aikido/aikido/include/aikido/statespace/dart/detail/MetaSkeletonStateSpace.hpp, we can implement the remaining joint types:\r\n* ScrewJoint \r\n* WeldJoint - a 0 dimensional RealVector\r\n* UniversalJoint - a compound joint of SO(2)xSO(2) (or R^1xR^1 if there are joint limits)\r\n* EulerJoint - a compound joint of SO(2)xSO(2)xSO(2) (or R^1xR^1xR^1 if there are joint limits)\r\n"}}