{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2580","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2580/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2580/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2580/events","html_url":"https://github.com/RobotLocomotion/drake/pull/2580","id":160967578,"number":2580,"title":"Added World Link to Prius.urdf","user":{"login":"liangfok","id":1388098,"avatar_url":"https://avatars.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/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:%20cars","name":"team: cars","color":"0052cc"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/team:%20software%20core","name":"team: software core","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":"liangfok","id":1388098,"avatar_url":"https://avatars.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/received_events","type":"User","site_admin":false},"milestone":null,"comments":2,"created_at":"2016-06-17T20:21:34Z","updated_at":"2016-06-17T20:48:41Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/2580","html_url":"https://github.com/RobotLocomotion/drake/pull/2580","diff_url":"https://github.com/RobotLocomotion/drake/pull/2580.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/2580.patch"},"body":"Resolves #2247 \r\n\r\nModified `prius.urdf` to have a world link so it can be correctly offset in the world. Updated `car_simulation.cc` to not specify a `weld_to_frame` parameter since this information is now contained within the URDF and SDF files.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"35\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/2580)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/226877867","html_url":"https://github.com/RobotLocomotion/drake/pull/2580#issuecomment-226877867","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2580","id":226877867,"user":{"login":"ggould-tri","id":17596413,"avatar_url":"https://avatars.githubusercontent.com/u/17596413?v=3","gravatar_id":"","url":"https://api.github.com/users/ggould-tri","html_url":"https://github.com/ggould-tri","followers_url":"https://api.github.com/users/ggould-tri/followers","following_url":"https://api.github.com/users/ggould-tri/following{/other_user}","gists_url":"https://api.github.com/users/ggould-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/ggould-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ggould-tri/subscriptions","organizations_url":"https://api.github.com/users/ggould-tri/orgs","repos_url":"https://api.github.com/users/ggould-tri/repos","events_url":"https://api.github.com/users/ggould-tri/events{/privacy}","received_events_url":"https://api.github.com/users/ggould-tri/received_events","type":"User","site_admin":false},"created_at":"2016-06-17T20:48:41Z","updated_at":"2016-06-17T20:48:41Z","body":"\n\n\n\nReviewed 2 of 2 files at r1.\nReview status: all files reviewed at latest revision, 3 unresolved discussions.\n\n---\n\n*[drake/examples/Cars/car_simulation.cc, line 30 \\[r1\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/2580#-KKV5L8AMMjS1WioIl21:-KKV5L8BS4nJYmiWAfL1:-1547761319) ([raw file](https://github.com/robotlocomotion/drake/blob/efa2bc935370c1aef824c55d3025518f1c17deed/drake/examples/Cars/car_simulation.cc#L30)):*\n> ```cpp\n> \n>   // The Z-axis offset between Drake's world frame and the vehicle's world\n>   // frame.\n> ```\n\nI'm not sure what is meant here by two different world frames.  The feature reviewer should evaluate if this is clear to someone who knows the feature better.\n\n---\n\n*[drake/examples/Cars/car_simulation.cc, line 37 \\[r1\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/2580#-KKV5zcStQWLChmGoDyA:-KKV5zcStQWLChmGoDyB:-949538519) ([raw file](https://github.com/robotlocomotion/drake/blob/efa2bc935370c1aef824c55d3025518f1c17deed/drake/examples/Cars/car_simulation.cc#L37)):*\n> ```cpp\n>   // see: https://github.com/RobotLocomotion/drake/pull/2171 and\n>   // https://github.com/RobotLocomotion/drake/issues/2247\n>   if (std::string(argv[1]).find(\"prius.urdf\") != std::string::npos)\n> ```\n\nSpecial-casing files name \"prius.urdf\" seems like an extreme solution (it doesn't, for instance, capture the very similar \"prius_rear_wheel_drive.urdf\" in the same directory).  Is there a more general way to do this?\n\n---\n\n*[drake/examples/Cars/car_simulation.cc, line 38 \\[r1\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/2580#-KKV6ejGdNYeuJXg0ATR:-KKV6ejGdNYeuJXg0ATS:-1510122667) ([raw file](https://github.com/robotlocomotion/drake/blob/efa2bc935370c1aef824c55d3025518f1c17deed/drake/examples/Cars/car_simulation.cc#L38)):*\n> ```cpp\n>   // https://github.com/RobotLocomotion/drake/issues/2247\n>   if (std::string(argv[1]).find(\"prius.urdf\") != std::string::npos)\n>     z_offset = 0.378326;\n> ```\n\nIs there a reason to duplicate this constant here and not draw it from the same value in the urdf?\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/2580)*\n<!-- Sent from Reviewable.io -->\n"}}
{"actor":{"display_login":"ggould-tri"}}