{"action":"closed","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/910","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/910/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/910/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/910/events","html_url":"https://github.com/RobotLocomotion/drake/issues/910","id":64874881,"number":910,"title":"QP controller fails when setting use_new_kinsol = true","user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.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},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-03-27T23:58:16Z","updated_at":"2015-04-20T20:51:57Z","closed_at":"2015-04-20T20:51:57Z","body":"The new kinsol is needed when we want to use geometric Jacobian  to track body orientation. I will make sure the current QP controller works with the new kinsol first, before adding geometric Jacobian to QP controller."}}