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Fixes variable name typo and exports a couple of convenient methods. #24

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Merged
merged 3 commits into from
Mar 13, 2022
Merged

Fixes variable name typo and exports a couple of convenient methods. #24

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8ecf789
fixed local variable name
adubredu Mar 12, 2022
0023cc0
exporting `contact_constraint` function.
adubredu Mar 12, 2022
329c33a
exporting `zero_velocity!` function
adubredu Mar 12, 2022
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8 changes: 4 additions & 4 deletions environments/atlas/methods/initialize.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -223,11 +223,11 @@ function initialize_atlas!(mechanism::Mechanism;
return nothing
end

function initialize_atlas_stance!(mechanism::Mechanism;
function initialize_atlas_stance!(mech::Mechanism;
body_position=[0.0, 0.0, 0.2],
body_orientation=[0.0, 0.0, 0.0],
link_linear_velocity=[zeros(3) for i=1:length(mechanism.bodies)],
link_angular_velocity=[zeros(3) for i=1:length(mechanism.bodies)],
link_linear_velocity=[zeros(3) for i=1:length(mech.bodies)],
link_angular_velocity=[zeros(3) for i=1:length(mech.bodies)],
hip_orientation=0.0,
knee_orienation=0.0) where T

Expand Down Expand Up @@ -278,7 +278,7 @@ function initialize_atlas_stance!(mechanism::Mechanism;
nothing
end

zero_velocity!(mechanism)
zero_velocity!(mech)

return nothing
end
6 changes: 4 additions & 2 deletions src/Dojo.jl
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Expand Up @@ -191,7 +191,8 @@ export
get_contact,
get_sdf,
contact_location,
damper_impulses
damper_impulses,
contact_constraint

# Inputs
export
Expand All @@ -204,7 +205,8 @@ export
Mechanism,
get_mechanism,
initialize!,
set_floating_base
set_floating_base,
zero_velocity!

# Maximal
export
Expand Down