Alessio Rocchi

I wonder how long of a step it would take to propagate the AD feature up to OpenSim to finally have CaSaDi-powered muscoloskeletal optimal motion synthesis :P

@ommmid @davetcoleman I would remove `bpmpd` before merging this, for licensing reasons. or at least include a license file for it, i.e. http://www.netlib.org/ampl/solvers/bpmpd/README

@BryceStevenWilley a couple of other points to the discussion:`bpmpd` is indeed the free solver that at the moment works best with the nonlinear optimization routine implemented as in the paper....

> With the last commit, OSQP is the default solver that is downloaded and installed in build directory. > The version of OSQP whose API works with the osqp interface...

I personally like the computation graph idea. I took a look at the paper you mentioned, and basically what they suggest is creating both the model AND the solver using...

I remember pointing this out already, but please keep in mind that among the supported solvers only `GUROBI` allows for quadratic constraints, we would need to implement a `QCP`/`QCQP`/`SOCP` solver,...

There is also [operator

I would suggest [OSQP](https://osqp.org/) and [qpOASES](https://projects.coin-or.org/qpOASES) as additional candidates.

It's not getting JSON, but html. I have the same problem here on windows 10 and Python 3 (anaconda install) ``` b'\n\n\n\n \n\n Jupyter Notebook\n \n \n \n \n \n...

Hi @takluyver , yes I confirm I am using latest version from master at e45dad3007