{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2235","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2235/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2235/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2235/events","html_url":"https://github.com/RobotLocomotion/drake/issues/2235","id":152600429,"number":2235,"title":"Allow auto-differentiation with respect to Joint parameters","user":{"login":"david-german-tri","id":17437069,"avatar_url":"https://avatars.githubusercontent.com/u/17437069?v=3","gravatar_id":"","url":"https://api.github.com/users/david-german-tri","html_url":"https://github.com/david-german-tri","followers_url":"https://api.github.com/users/david-german-tri/followers","following_url":"https://api.github.com/users/david-german-tri/following{/other_user}","gists_url":"https://api.github.com/users/david-german-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/david-german-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/david-german-tri/subscriptions","organizations_url":"https://api.github.com/users/david-german-tri/orgs","repos_url":"https://api.github.com/users/david-german-tri/repos","events_url":"https://api.github.com/users/david-german-tri/events{/privacy}","received_events_url":"https://api.github.com/users/david-german-tri/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":8,"created_at":"2016-05-02T17:25:03Z","updated_at":"2016-05-03T14:08:15Z","closed_at":null,"body":"[Joints in Drake 2.0 Design Doc](https://docs.google.com/a/tri.global/document/d/16fxMgXaqdM0Raa1UbAvE8NpozzdCBcgx9egJjM6Rr94/pub)"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/216539427","html_url":"https://github.com/RobotLocomotion/drake/issues/2235#issuecomment-216539427","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2235","id":216539427,"user":{"login":"david-german-tri","id":17437069,"avatar_url":"https://avatars.githubusercontent.com/u/17437069?v=3","gravatar_id":"","url":"https://api.github.com/users/david-german-tri","html_url":"https://github.com/david-german-tri","followers_url":"https://api.github.com/users/david-german-tri/followers","following_url":"https://api.github.com/users/david-german-tri/following{/other_user}","gists_url":"https://api.github.com/users/david-german-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/david-german-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/david-german-tri/subscriptions","organizations_url":"https://api.github.com/users/david-german-tri/orgs","repos_url":"https://api.github.com/users/david-german-tri/repos","events_url":"https://api.github.com/users/david-german-tri/events{/privacy}","received_events_url":"https://api.github.com/users/david-german-tri/received_events","type":"User","site_admin":false},"created_at":"2016-05-03T14:08:14Z","updated_at":"2016-05-03T14:08:14Z","body":"@tkoolen, when I ran the overall approach by @RussTedrake yesterday, he expressed concerns about performance when the scalar type is `AutoDiffScalar`.  He was planning to sync up with you on that, since @amcastro-tri and I have no idea."}}