UndefVarError: gravity_compensation not defined

[JSun950313]

Dojo.jl/examples/trajectory_optimization/quadruped_min.jl

Line 64 in ad046e5

ugc = gravity_compensation(mech)

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

[thowell]

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]

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!