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dojo-sim / Dojo.jl

A differentiable physics engine for robotics
MIT License
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hopper_min and hopper_max examples broken (?) #26

Closed GlenHenshaw closed 1 year ago

GlenHenshaw commented 2 years ago

Julia 1.7.2 on macOS 12.3, Apple M1 architecture.

 julia> include("hopper_min.jl")
  Activating project at `~/.julia/packages/Dojo/frGnC/examples`
┌ Info: MeshCat server started. You can open the visualizer by visiting the following URL in your browser:
└ http://127.0.0.1:8717
ERROR: LoadError: UndefVarError: raiberthopper_nominal_max not defined
Stacktrace:
 [1] top-level scope
   @ ~/.julia/packages/Dojo/frGnC/examples/trajectory_optimization/hopper_min.jl:26
 [2] include(fname::String)
   @ Base.MainInclude ./client.jl:451
 [3] top-level scope
   @ REPL[19]:1
in expression starting at /Users/glenhenshaw/.julia/packages/Dojo/frGnC/examples/trajectory_optimization/hopper_min.jl:26
simon-lc commented 2 years ago

Thanks for the pointer! We're looking into this right now, it should be a quick fix.

janbruedigam commented 1 year ago

The actuated example was removed in the latest version, but the Raibert hopper mechanism still exists in case people want to write there own controller.