{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2293","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2293/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2293/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2293/events","html_url":"https://github.com/RobotLocomotion/drake/issues/2293","id":153797087,"number":2293,"title":"port changeRootLink functionality to C++","user":{"login":"manuelli","id":5898488,"avatar_url":"https://avatars.githubusercontent.com/u/5898488?v=3","gravatar_id":"","url":"https://api.github.com/users/manuelli","html_url":"https://github.com/manuelli","followers_url":"https://api.github.com/users/manuelli/followers","following_url":"https://api.github.com/users/manuelli/following{/other_user}","gists_url":"https://api.github.com/users/manuelli/gists{/gist_id}","starred_url":"https://api.github.com/users/manuelli/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/manuelli/subscriptions","organizations_url":"https://api.github.com/users/manuelli/orgs","repos_url":"https://api.github.com/users/manuelli/repos","events_url":"https://api.github.com/users/manuelli/events{/privacy}","received_events_url":"https://api.github.com/users/manuelli/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/priority:%20medium","name":"priority: medium","color":"e99695"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/team:%20robot%20locomotion%20group","name":"team: robot locomotion group","color":"0052cc"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20feature%20request","name":"type: feature request","color":"0e8a16"}],"state":"open","locked":false,"assignee":{"login":"manuelli","id":5898488,"avatar_url":"https://avatars.githubusercontent.com/u/5898488?v=3","gravatar_id":"","url":"https://api.github.com/users/manuelli","html_url":"https://github.com/manuelli","followers_url":"https://api.github.com/users/manuelli/followers","following_url":"https://api.github.com/users/manuelli/following{/other_user}","gists_url":"https://api.github.com/users/manuelli/gists{/gist_id}","starred_url":"https://api.github.com/users/manuelli/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/manuelli/subscriptions","organizations_url":"https://api.github.com/users/manuelli/orgs","repos_url":"https://api.github.com/users/manuelli/repos","events_url":"https://api.github.com/users/manuelli/events{/privacy}","received_events_url":"https://api.github.com/users/manuelli/received_events","type":"User","site_admin":false},"milestone":null,"comments":7,"created_at":"2016-05-09T15:01:26Z","updated_at":"2016-05-27T19:53:52Z","closed_at":null,"body":"currently the changeRootLink functionality #417 is only in matlab. Now that we have Valkyrie we have pelvis and back mounts for testing. Since the pelvis is the root link we can only have a fixed pelvis model in Drake. For testing purposes it would be good to have a fixed back model as well.\r\n\r\n\r\nDiscussed this briefly with @RussTedrake @tkoolen. Assigning to myself for now but would like to hand this off."},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/222238836","html_url":"https://github.com/RobotLocomotion/drake/issues/2293#issuecomment-222238836","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2293","id":222238836,"user":{"login":"sherm1","id":4088016,"avatar_url":"https://avatars.githubusercontent.com/u/4088016?v=3","gravatar_id":"","url":"https://api.github.com/users/sherm1","html_url":"https://github.com/sherm1","followers_url":"https://api.github.com/users/sherm1/followers","following_url":"https://api.github.com/users/sherm1/following{/other_user}","gists_url":"https://api.github.com/users/sherm1/gists{/gist_id}","starred_url":"https://api.github.com/users/sherm1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sherm1/subscriptions","organizations_url":"https://api.github.com/users/sherm1/orgs","repos_url":"https://api.github.com/users/sherm1/repos","events_url":"https://api.github.com/users/sherm1/events{/privacy}","received_events_url":"https://api.github.com/users/sherm1/received_events","type":"User","site_admin":false},"created_at":"2016-05-27T19:53:52Z","updated_at":"2016-05-27T19:53:52Z","body":"Also longer term: IMO it is a shame to get the links and joints mixed up with their (non-unique) representation as an internal coordinate tree. Links and joints and the meaning of joint coordinates are all very user-relevant, while the internal model ought not to be. The same user-facing behavior is achievable with maximal coordinates or a variety of minimal coordinate representations."}}
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