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Updated quadraped_min example #57

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Merged
merged 2 commits into from
Nov 23, 2022
Merged

Updated quadraped_min example #57

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ce65734
Moved visualization initialization
mfogelson Jul 25, 2022
dc092b9
Updated visualize to include DojoEnvironments
mfogelson Jul 25, 2022
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12 changes: 6 additions & 6 deletions examples/trajectory_optimization/quadruped_min.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,17 @@ using Pkg
Pkg.activate(joinpath(@__DIR__, ".."))
Pkg.instantiate()

# ## visualizer
vis = Visualizer()
open(vis)

# ## setup
using Dojo
using IterativeLQR
using LinearAlgebra
using FiniteDiff
using DojoEnvironments

# ## visualizer
vis = Visualizer()
open(vis)

# ## system
gravity = -9.81
timestep = 0.05
Expand Down Expand Up @@ -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)...]
Expand Down Expand Up @@ -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],
Expand Down