raibert fixes

Author: thowell

examples/generate_examples.jl

@@ -1,10 +1,15 @@
 ################################################################################
 # Dynamics and simulation generation
 ################################################################################
+using Pkg
+dir = joinpath(dirname(pathof(ContactImplicitMPC)), "..")
+Pkg.activate(dir)
+include(joinpath(dir, "src/code_gen_loader.jl"))
+
 # Generate dynamics
-dynamicsdir = joinpath(@__DIR__, "..", "src", "dynamics")
+dynamicsdir = joinpath(dir, "src", "dynamics")
 include(joinpath(dynamicsdir, "generate_dynamics.jl"))
 
 # Generate simulation
-simulationdir = joinpath(@__DIR__, "..", "src", "simulation")
-include(joinpath(simulationdir, "generate_simulation.jl"))
+simulationdir = joinpath(dir, "src", "simulation")
+include(joinpath(simulationdir, "generate_simulation.jl"))

examples/hopper/flat.jl

@@ -74,7 +74,6 @@ ContactImplicitMPC.render(vis)
 
 # ## Visualize
 anim = visualize_robot!(vis, model, sim.traj, sample=5);
-anim = visualize_force!(vis, model, env, sim.traj, anim=anim, h=h_sim, sample = 5);
 
 # ## Timing result
 # Julia is [JIT-ed](https://en.wikipedia.org/wiki/Just-in-time_compilation) so re-run the MPC setup through Simulate for correct timing results.

examples/raibert/flat_raibert.jl

@@ -57,4 +57,4 @@ vis = ContactImplicitMPC.Visualizer()
 ContactImplicitMPC.render(vis)
 
 # ## Visualize
-anim = visualize_robot!(vis, model, sim.traj, sample=5)
+anim = visualize_robot!(vis, model, sim.traj, sample=5);

examples/raibert/flat_raibert_3D.jl

@@ -65,5 +65,5 @@ vis = ContactImplicitMPC.Visualizer()
 ContactImplicitMPC.render(vis)
 
 # ## Visualize
-ContactImplicitMPC.plot_surface!(vis, s.env, n=200, xlims = [-1, 40])
-visualize_robot!(vis, model_sim, sim.traj, sample=20)
+ContactImplicitMPC.plot_surface!(vis, s.env, n=200, xlims = [-1, 40]);
+visualize_robot!(vis, model_sim, sim.traj, sample=20);

examples/raibert/piecewise_raibert.jl

@@ -58,5 +58,5 @@ vis = ContactImplicitMPC.Visualizer()
 ContactImplicitMPC.render(vis)
 
 # ## Visualize
-ContactImplicitMPC.plot_surface!(vis, s.env, n=200, xlims = [-1, 40])
-anim = visualize_robot!(vis, model, sim.traj, sample=5)
+ContactImplicitMPC.plot_surface!(vis, s.env, n=200, xlims = [-1, 40]);
+anim = visualize_robot!(vis, model, sim.traj, sample=5);

examples/raibert/sine_raibert.jl

@@ -58,5 +58,5 @@ vis = ContactImplicitMPC.Visualizer()
 ContactImplicitMPC.render(vis)
 
 # ## Visualize
-ContactImplicitMPC.plot_surface!(vis, s.env, n=200, xlims = [-1, 40])
-anim = visualize_robot!(vis, model, sim.traj, sample=5)
+ContactImplicitMPC.plot_surface!(vis, s.env, n=200, xlims = [-1, 40]);
+anim = visualize_robot!(vis, model, sim.traj, sample=5);

examples/raibert/sine_raibert_3D.jl

@@ -62,4 +62,4 @@ vis = ContactImplicitMPC.Visualizer()
 ContactImplicitMPC.render(vis)
 
 # ## Visualize
-visualize_robot!(vis, model_sim, sim.traj, sample=20)
+visualize_robot!(vis, model_sim, sim.traj, sample=20);