{"action":"created","issue":{"url":"https://api.github.com/repos/loco-3d/crocoddyl/issues/575","repository_url":"https://api.github.com/repos/loco-3d/crocoddyl","labels_url":"https://api.github.com/repos/loco-3d/crocoddyl/issues/575/labels{/name}","comments_url":"https://api.github.com/repos/loco-3d/crocoddyl/issues/575/comments","events_url":"https://api.github.com/repos/loco-3d/crocoddyl/issues/575/events","html_url":"https://github.com/loco-3d/crocoddyl/issues/575","id":524948698,"node_id":"MDU6SXNzdWU1MjQ5NDg2OTg=","number":575,"title":"Box-DDP - [merged]","user":{"login":"wxmerkt","id":1664508,"node_id":"MDQ6VXNlcjE2NjQ1MDg=","avatar_url":"https://avatars2.githubusercontent.com/u/1664508?v=4","gravatar_id":"","url":"https://api.github.com/users/wxmerkt","html_url":"https://github.com/wxmerkt","followers_url":"https://api.github.com/users/wxmerkt/followers","following_url":"https://api.github.com/users/wxmerkt/following{/other_user}","gists_url":"https://api.github.com/users/wxmerkt/gists{/gist_id}","starred_url":"https://api.github.com/users/wxmerkt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wxmerkt/subscriptions","organizations_url":"https://api.github.com/users/wxmerkt/orgs","repos_url":"https://api.github.com/users/wxmerkt/repos","events_url":"https://api.github.com/users/wxmerkt/events{/privacy}","received_events_url":"https://api.github.com/users/wxmerkt/received_events","type":"User","site_admin":false},"labels":[{"id":1683573004,"node_id":"MDU6TGFiZWwxNjgzNTczMDA0","url":"https://api.github.com/repos/loco-3d/crocoddyl/labels/gitlab%20merge%20request","name":"gitlab merge request","color":"b36b00","default":false}],"state":"open","locked":false,"assignee":{"login":"cmastalli","id":3601935,"node_id":"MDQ6VXNlcjM2MDE5MzU=","avatar_url":"https://avatars2.githubusercontent.com/u/3601935?v=4","gravatar_id":"","url":"https://api.github.com/users/cmastalli","html_url":"https://github.com/cmastalli","followers_url":"https://api.github.com/users/cmastalli/followers","following_url":"https://api.github.com/users/cmastalli/following{/other_user}","gists_url":"https://api.github.com/users/cmastalli/gists{/gist_id}","starred_url":"https://api.github.com/users/cmastalli/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/cmastalli/subscriptions","organizations_url":"https://api.github.com/users/cmastalli/orgs","repos_url":"https://api.github.com/users/cmastalli/repos","events_url":"https://api.github.com/users/cmastalli/events{/privacy}","received_events_url":"https://api.github.com/users/cmastalli/received_events","type":"User","site_admin":false},"assignees":[{"login":"cmastalli","id":3601935,"node_id":"MDQ6VXNlcjM2MDE5MzU=","avatar_url":"https://avatars2.githubusercontent.com/u/3601935?v=4","gravatar_id":"","url":"https://api.github.com/users/cmastalli","html_url":"https://github.com/cmastalli","followers_url":"https://api.github.com/users/cmastalli/followers","following_url":"https://api.github.com/users/cmastalli/following{/other_user}","gists_url":"https://api.github.com/users/cmastalli/gists{/gist_id}","starred_url":"https://api.github.com/users/cmastalli/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/cmastalli/subscriptions","organizations_url":"https://api.github.com/users/cmastalli/orgs","repos_url":"https://api.github.com/users/cmastalli/repos","events_url":"https://api.github.com/users/cmastalli/events{/privacy}","received_events_url":"https://api.github.com/users/cmastalli/received_events","type":"User","site_admin":false}],"milestone":null,"comments":66,"created_at":"2019-11-19T11:26:39Z","updated_at":"2019-11-19T11:30:02Z","closed_at":null,"author_association":"COLLABORATOR","body":"In GitLab by @wxmerkt on Oct 3, 2019, 15:39\n\n_Merges topic/wxm-boxddp -> devel_\n\nWork-in-progress for Box-DDP. It works for some examples (quadruped walking), but not for others (jumping etc.).\r\n\r\nQuadruped walking within control limits:\r\n\r\n![20191003_boxddp_walking_within_control_limits](/uploads/faeff1d0660777a4a4a98875fb0c5adc/20191003_boxddp_walking_within_control_limits.png)\r\n\r\nCurrent issues:\r\n\r\n1. The Box-QP is a quick implementation and does allocate memory during runtime.\r\n2. The stopping criteria don't work right now. Walking is within limits within ~400 iterations, but it will happily continue optimising for many, many more.\r\n\r\nCost convergence plot for quadruped walking (log scale):\r\n\r\n![20191003_boxddp_walking_cost_log_scale](/uploads/95c83c6dc048959e7d5e38cb82dfecf7/20191003_boxddp_walking_cost_log_scale.png)"},"comment":{"url":"https://api.github.com/repos/loco-3d/crocoddyl/issues/comments/555466339","html_url":"https://github.com/loco-3d/crocoddyl/issues/575#issuecomment-555466339","issue_url":"https://api.github.com/repos/loco-3d/crocoddyl/issues/575","id":555466339,"node_id":"MDEyOklzc3VlQ29tbWVudDU1NTQ2NjMzOQ==","user":{"login":"wxmerkt","id":1664508,"node_id":"MDQ6VXNlcjE2NjQ1MDg=","avatar_url":"https://avatars2.githubusercontent.com/u/1664508?v=4","gravatar_id":"","url":"https://api.github.com/users/wxmerkt","html_url":"https://github.com/wxmerkt","followers_url":"https://api.github.com/users/wxmerkt/followers","following_url":"https://api.github.com/users/wxmerkt/following{/other_user}","gists_url":"https://api.github.com/users/wxmerkt/gists{/gist_id}","starred_url":"https://api.github.com/users/wxmerkt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wxmerkt/subscriptions","organizations_url":"https://api.github.com/users/wxmerkt/orgs","repos_url":"https://api.github.com/users/wxmerkt/repos","events_url":"https://api.github.com/users/wxmerkt/events{/privacy}","received_events_url":"https://api.github.com/users/wxmerkt/received_events","type":"User","site_admin":false},"created_at":"2019-11-19T11:30:02Z","updated_at":"2019-11-19T11:30:02Z","author_association":"COLLABORATOR","body":"In GitLab by @cmastalli on Oct 3, 2019, 18:49\n\nGood!"}}
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