{"action":"created","issue":{"url":"https://api.github.com/repos/cbfinn/gps/issues/2","repository_url":"https://api.github.com/repos/cbfinn/gps","labels_url":"https://api.github.com/repos/cbfinn/gps/issues/2/labels{/name}","comments_url":"https://api.github.com/repos/cbfinn/gps/issues/2/comments","events_url":"https://api.github.com/repos/cbfinn/gps/issues/2/events","html_url":"https://github.com/cbfinn/gps/issues/2","id":138614637,"number":2,"title":"mjc_example fails on second iteration","user":{"login":"wmontgomery4","id":1236981,"avatar_url":"https://avatars.githubusercontent.com/u/1236981?v=3","gravatar_id":"","url":"https://api.github.com/users/wmontgomery4","html_url":"https://github.com/wmontgomery4","followers_url":"https://api.github.com/users/wmontgomery4/followers","following_url":"https://api.github.com/users/wmontgomery4/following{/other_user}","gists_url":"https://api.github.com/users/wmontgomery4/gists{/gist_id}","starred_url":"https://api.github.com/users/wmontgomery4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wmontgomery4/subscriptions","organizations_url":"https://api.github.com/users/wmontgomery4/orgs","repos_url":"https://api.github.com/users/wmontgomery4/repos","events_url":"https://api.github.com/users/wmontgomery4/events{/privacy}","received_events_url":"https://api.github.com/users/wmontgomery4/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2016-03-04T23:20:16Z","updated_at":"2016-03-06T01:22:16Z","closed_at":"2016-03-06T01:22:16Z","body":"When running the peg insertion mjc_example, the trajectory optimizer fails on the second step because it cannot regularize with very large eta:\r\n\r\n`ValueError: Failed to find PD solution even for very large eta (check that dynamics and cost are reasonably well conditioned)!`\r\n\r\nThe issue seems to be condition 3, which actually increases cost in the first update:\r\n![image](https://cloud.githubusercontent.com/assets/1236981/13542781/20c5cc5a-e21a-11e5-8800-fd81de78d745.png)\r\n"},"comment":{"url":"https://api.github.com/repos/cbfinn/gps/issues/comments/192776908","html_url":"https://github.com/cbfinn/gps/issues/2#issuecomment-192776908","issue_url":"https://api.github.com/repos/cbfinn/gps/issues/2","id":192776908,"user":{"login":"wmontgomery4","id":1236981,"avatar_url":"https://avatars.githubusercontent.com/u/1236981?v=3","gravatar_id":"","url":"https://api.github.com/users/wmontgomery4","html_url":"https://github.com/wmontgomery4","followers_url":"https://api.github.com/users/wmontgomery4/followers","following_url":"https://api.github.com/users/wmontgomery4/following{/other_user}","gists_url":"https://api.github.com/users/wmontgomery4/gists{/gist_id}","starred_url":"https://api.github.com/users/wmontgomery4/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wmontgomery4/subscriptions","organizations_url":"https://api.github.com/users/wmontgomery4/orgs","repos_url":"https://api.github.com/users/wmontgomery4/repos","events_url":"https://api.github.com/users/wmontgomery4/events{/privacy}","received_events_url":"https://api.github.com/users/wmontgomery4/received_events","type":"User","site_admin":false},"created_at":"2016-03-06T01:22:16Z","updated_at":"2016-03-06T01:22:16Z","body":"Thanks! It's working now."}}