{"action":"closed","issue":{"url":"https://api.github.com/repos/dartsim/dart/issues/1008","repository_url":"https://api.github.com/repos/dartsim/dart","labels_url":"https://api.github.com/repos/dartsim/dart/issues/1008/labels{/name}","comments_url":"https://api.github.com/repos/dartsim/dart/issues/1008/comments","events_url":"https://api.github.com/repos/dartsim/dart/issues/1008/events","html_url":"https://github.com/dartsim/dart/issues/1008","id":299537953,"number":1008,"title":"API questions on updating skeleton (computeForwardKinematics())","user":{"login":"junhyeokahn","id":23005104,"avatar_url":"https://avatars2.githubusercontent.com/u/23005104?v=4","gravatar_id":"","url":"https://api.github.com/users/junhyeokahn","html_url":"https://github.com/junhyeokahn","followers_url":"https://api.github.com/users/junhyeokahn/followers","following_url":"https://api.github.com/users/junhyeokahn/following{/other_user}","gists_url":"https://api.github.com/users/junhyeokahn/gists{/gist_id}","starred_url":"https://api.github.com/users/junhyeokahn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/junhyeokahn/subscriptions","organizations_url":"https://api.github.com/users/junhyeokahn/orgs","repos_url":"https://api.github.com/users/junhyeokahn/repos","events_url":"https://api.github.com/users/junhyeokahn/events{/privacy}","received_events_url":"https://api.github.com/users/junhyeokahn/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":5,"created_at":"2018-02-22T22:51:28Z","updated_at":"2018-02-23T16:16:28Z","closed_at":"2018-02-23T16:16:28Z","author_association":"NONE","body":"Hello,\r\nI have small questions on how dart updates skeleton.\r\nI would like to update forward kinematics only at the specific time based on my sensor data.\r\nSo what I've tried was once I got sensor data (q and qdot), I set positions and velocities using setPositions and setVelocities functions. After that, I am trying to compute centroid dynamics related properties of skeleton. However, in the process, it takes longer time than I expected and I think there is some redundant kinematics updating underneath.\r\n\r\nAccording to the explanation on computeForwardKinematics  in API document, dart seems only compute forward kinematics once if I call ```computeForwardKinematics()``` method directly after I set position and velocity. However, I feel like dart keeps updating forward kinematics whenever I require kinematics related functions (e.g. getCOM() ), so some amount of time is spent.\r\n\r\nPlease let me know if I misunderstand some part.\r\nThank you."}}
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