{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/5460","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/5460/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/5460/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/5460/events","html_url":"https://github.com/RobotLocomotion/drake/pull/5460","id":213211813,"number":5460,"title":"Global ik 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the cost in the `inverseKin`, in global IK, add a cost to penalize the deviation of each body pose to the desired body pose.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/5460)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/285539420","html_url":"https://github.com/RobotLocomotion/drake/pull/5460#issuecomment-285539420","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/5460","id":285539420,"user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars1.githubusercontent.com/u/6314000?v=3","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"created_at":"2017-03-10T00:56:04Z","updated_at":"2017-03-10T00:56:04Z","body":"+@siyuanfeng-tri for feature review please, since you asked the question on the objective function.\n+@amcastro-tri for feature review please, since you gave a great feature review on the previous PR and made the code a lot better, it would be great to have your eyes on this PR if you have time.\n\n---\n\nReview status: 0 of 4 files reviewed at latest revision, all discussions resolved.\n\n---\n\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/5460#-:-KephKfU-L_Zv2Jojf2_:b-pwku4i)*\n<!-- Sent from Reviewable.io -->\n"}}
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