UndefVarError: gravity_compensation not defined

dojo-sim / Dojo.jl

A differentiable physics engine for robotics

MIT License

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UndefVarError: gravity_compensation not defined #22

Closed JSun950313 closed 2 years ago

JSun950313 commented 2 years ago

https://github.com/dojo-sim/Dojo.jl/blob/ad046e5f6384d77684fba4e3616c981e0ed66c19/examples/trajectory_optimization/quadruped_min.jl#L64

I cannot find the code of this function and REPL report an error when I run it.

thowell commented 2 years ago

I think this method got lost during cleanup. I restored it here: https://github.com/dojo-sim/Dojo.jl/blob/main/environments/quadruped/methods/template.jl

simon-lc commented 2 years ago

I updated the gravity compensation function and ran it in the script: quadruped_min.jl It should work now, so I am closing this issue. @JSun950313 feel free to reopen if you still experience some issues!