{"action":"created","comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/34698851","id":34698851,"diff_hunk":"@@ -0,0 +1,170 @@\n+classdef BMIspotless < spotsosprog","path":"solvers/BMI/BMIspotless.m","position":1,"original_position":1,"commit_id":"bcf5db61bec254737091c0113277ff0f83847d71","original_commit_id":"bcf5db61bec254737091c0113277ff0f83847d71","user":{"login":"RussTedrake","id":6442292,"avatar_url":"https://avatars.githubusercontent.com/u/6442292?v=3","gravatar_id":"","url":"https://api.github.com/users/RussTedrake","html_url":"https://github.com/RussTedrake","followers_url":"https://api.github.com/users/RussTedrake/followers","following_url":"https://api.github.com/users/RussTedrake/following{/other_user}","gists_url":"https://api.github.com/users/RussTedrake/gists{/gist_id}","starred_url":"https://api.github.com/users/RussTedrake/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RussTedrake/subscriptions","organizations_url":"https://api.github.com/users/RussTedrake/orgs","repos_url":"https://api.github.com/users/RussTedrake/repos","events_url":"https://api.github.com/users/RussTedrake/events{/privacy}","received_events_url":"https://api.github.com/users/RussTedrake/received_events","type":"User","site_admin":false},"body":"would love to make this part of the NonlinearProgram hierarchy (so that we could, e.g. add existing Constraint objects).  but perhaps another day.","created_at":"2015-07-15T16:35:28Z","updated_at":"2015-07-15T16:35:28Z","html_url":"https://github.com/RobotLocomotion/drake/pull/1177#discussion_r34698851","pull_request_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1177","_links":{"self":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/34698851"},"html":{"href":"https://github.com/RobotLocomotion/drake/pull/1177#discussion_r34698851"},"pull_request":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1177"}}},"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1177","id":39980178,"html_url":"https://github.com/RobotLocomotion/drake/pull/1177","diff_url":"https://github.com/RobotLocomotion/drake/pull/1177.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/1177.patch","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1177","number":1177,"state":"open","locked":false,"title":"Add BMI solver to drake","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},"body":"I add BMI to drake/solvers/BMI.\r\n\r\nIn each sub-directory of BMI folder, I add a doc folder, which contains the tex file and a pdf file. What is the best way for the documentation in this case? The binary pdf file could be a bad thing if we change it a lot. But there are part of the tex file that is hard to be parsed as plain text.\r\n\r\nI add a `robotiq_remove_fourbar.urdf`. This adds the joint limits to `robotiq_simple.urdf`.\r\n\r\nIn thirdParty, I add `arrow3d.m`, `plotregion.m` to visualize the 2D/3D polygon in MATLAB, and `polytopes` to transform the vertex representation of a polyhedron to half-space representation, and vice-versa.","created_at":"2015-07-15T01:22:01Z","updated_at":"2015-07-15T16:35:28Z","closed_at":null,"merged_at":null,"merge_commit_sha":"651537ed8f5af7179cde0ed80f38295eb3005782","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1177/commits","review_comments_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1177/comments","review_comment_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments{/number}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1177/comments","statuses_url":"https://api.github.com/repos/RobotLocomotion/drake/statuses/bcf5db61bec254737091c0113277ff0f83847d71","head":{"label":"hongkai-dai:BMI","ref":"BMI","sha":"bcf5db61bec254737091c0113277ff0f83847d71","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},"repo":{"id":16714749,"name":"drake","full_name":"hongkai-dai/drake","owner":{"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},"private":false,"html_url":"https://github.com/hongkai-dai/drake","description":"A planning, control, and analysis toolbox for nonlinear dynamical systems.  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