This milestone aims to develop a Python code structure targeting to very efficient DDP implementation. Note that a c++ implementation will be required later. For reaching this milestone is needed the following task:

1. Definition of data-structure for avoiding dynamic memory allocation and improving performance.
2. Working LQR: DDP for linear system with quadratic cost.
3. Numerical derivatives for debugging.
4. Parallelization and derivatives for fast computation.
5. DDP for manipulation (i.e. fixed-based rigid-body dynamics).
6. Point 5 with analytical derivatives from Pinocchio.
7. DDP for locomotion (i.e. floating-base rigid-body dynamics)
8. Point 7 with analytical derivatives from Pinocchio.
9. Improvement in regularization and line-search using the case of study 5 and 7.