quadruped_min example broken (?)

[GlenHenshaw]

Julia 1.7.2 on macOS 12.3, Apple M1 architecture

julia> include("quadruped_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://127.0.0.1:8719
    typeof(Z) = Vector{Float64}
    ┌ Warning: need to treat the joint to origin
    └ @ Main ~/.julia/packages/Dojo/frGnC/environments/quadruped/methods/template.jl:124
    ERROR: LoadError: UndefVarError: spring_impulses not defined
    Stacktrace:
     [1] gravity_compensation(mechanism::Mechanism{Float64, 38, 13, 13, 12})
       @ Main ~/.julia/packages/Dojo/frGnC/environments/quadruped/methods/template.jl:119
     [2] top-level scope
       @ ~/.julia/packages/Dojo/frGnC/examples/trajectory_optimization/quadruped_min.jl:64
     [3] include(fname::String)
       @ Base.MainInclude ./client.jl:451
     [4] top-level scope
       @ REPL[22]:1
    in expression starting at /Users/glenhenshaw/.julia/packages/Dojo/frGnC/examples/trajectory_optimization/quadruped_min.jl:64

[simon-lc]

Thanks for pointing this out!

[thowell]

This example will run now on main. The objective hasn't been re-tuned since we updated the joint friction model. I expect we improve this example in the next few days.

[janbruedigam]

Example was removed in the latest version. But there is a sampling-based learning example with the quadruped.