From ce65734fefb3cc88c7ef78b238bab03871c24ea7 Mon Sep 17 00:00:00 2001 From: Mitchell Fogelson Date: Mon, 25 Jul 2022 11:15:35 -0400 Subject: [PATCH 1/2] Moved visualization initialization The visualization was causing the following: ERROR: LoadError: UndefVarError: Visualizer not defined I moved it to after the dependencies are loaded --- examples/trajectory_optimization/quadruped_min.jl | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/trajectory_optimization/quadruped_min.jl b/examples/trajectory_optimization/quadruped_min.jl index bfa8990e2..b5319ffd2 100644 --- a/examples/trajectory_optimization/quadruped_min.jl +++ b/examples/trajectory_optimization/quadruped_min.jl @@ -2,10 +2,6 @@ using Pkg Pkg.activate(joinpath(@__DIR__, "..")) Pkg.instantiate() -# ## visualizer -vis = Visualizer() -open(vis) - # ## setup using Dojo using IterativeLQR @@ -13,6 +9,10 @@ using LinearAlgebra using FiniteDiff using DojoEnvironments +# ## visualizer +vis = Visualizer() +open(vis) + # ## system gravity = -9.81 timestep = 0.05 From dc092b9e6b5a99b60675cb35ba69f5084d922575 Mon Sep 17 00:00:00 2001 From: Mitchell Fogelson Date: Mon, 25 Jul 2022 11:26:36 -0400 Subject: [PATCH 2/2] Updated visualize to include DojoEnvironments Added the DojoEnvironments.visualize. I don't think that visualize is exported from DojoEnvironments and was causing errors. --- examples/trajectory_optimization/quadruped_min.jl | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/trajectory_optimization/quadruped_min.jl b/examples/trajectory_optimization/quadruped_min.jl index b5319ffd2..825437eca 100644 --- a/examples/trajectory_optimization/quadruped_min.jl +++ b/examples/trajectory_optimization/quadruped_min.jl @@ -85,7 +85,7 @@ model = [dyn for t = 1:T-1] x1 = xref[1] ū = [u_control for t = 1:T-1] x̄ = IterativeLQR.rollout(model, x1, ū) -visualize(env, x̄) +DojoEnvironments.visualize(env, x̄) # ## objective qt = [0.3; 0.05; 0.05; 0.01 * ones(3); 0.01 * ones(3); 0.01 * ones(3); fill([0.2, 0.001], 12)...] @@ -134,7 +134,7 @@ x_sol, u_sol = IterativeLQR.get_trajectory(s) vis= Visualizer() open(env.vis) x_view = [[x_sol[1] for t = 1:15]..., x_sol..., [x_sol[end] for t = 1:15]...] -visualize(env, x_view) +DojoEnvironments.visualize(env, x_view) set_camera!(env.vis, cam_pos=[0.0, -3.0, 2.0],