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Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.

License: MIT License

Julia 100.00%

optimization control motion-planning robotics contact model-predictive-control locomotion

contactimplicitmpc.jl's Introduction

ContactImplicitMPC.jl

This repository contains algorithms and examples from our paper: Fast Contact-Implicit Model-Predictive Control.

A collection of examples are pre-generated in notebooks with the package, please try: flamingo, pushbot, hopper, and quadruped. Additional notebooks with examples from the paper can be generated.

Installation

ContactImplicitMPC can be added via the Julia package manager (type ]):

pkg> add ContactImplicitMPC

Flamingo

PushBot

Hopper Parkour

Quadruped with Payload

Hopper Monte Carlo

Quadruped Monte Carlo

Reference Trajectories

The trajectories we track in the examples are generated using contact-implicit trajectory optimization and can be run here.

Simulator

The differentiable simulator is available as a stand-alone package: RoboDojo.jl.

Citing

If you find ContactImplicitMPC useful in your project, we kindly request that you cite the following paper:

@article{lecleach2021fast,
	title={Fast Contact-Implicit Model-Predictive Control},
	author={Le Cleac'h, Simon  and Howell, Taylor A. and Schwager, Mac and Manchester, Zachary},
	journal={arXiv preprint arXiv:2107.05616},
	year={2021}
}

The article is available under Open Access here.

contactimplicitmpc.jl's People

Contributors

Stargazers

Watchers

Forkers

rejuvyesh beamiter laplacekorea ky-lin22 mcx chiyenlee zixinz990 johnzhang3 xiao-wang007 zh-lei echosdu davidzong1

contactimplicitmpc.jl's Issues

Regenerate dynamics

nice method for (re)generating dynamics methods

Register v0.1.0

@JuliaRegistrator register

WebIO dependency returns 404

      julia> using ContactImplicitMPC
      [ Info: Precompiling ContactImplicitMPC [842347fd-0767-4ff8-b652-76aad5eb0a37]
      ┌ Warning: Error requiring `WebSockets` from `WebIO`
      │   exception =
      │    LoadError: Unable to find WebIO JavaScript bundle for generic HTTP provider; try rebuilding WebIO (via `Pkg.build("WebIO")`).
      │    Stacktrace:
      │      [1] error(s::String)
      │        @ Base ./error.jl:33
      │      [2] top-level scope
      │        @ ~/.julia/packages/WebIO/cOHMI/src/providers/generic_http.jl:16
      │      [3] include(mod::Module, _path::String)
      │        @ Base ./Base.jl:418
      │      [4] include(x::String)
      │        @ WebIO ~/.julia/packages/WebIO/cOHMI/src/WebIO.jl:1
      │      [5] top-level scope
      │        @ ~/.julia/packages/WebIO/cOHMI/src/WebIO.jl:111
      │      [6] eval
      │        @ ./boot.jl:373 [inlined]
      │      [7] eval
      │        @ ~/.julia/packages/WebIO/cOHMI/src/WebIO.jl:1 [inlined]
      │      [8] (::WebIO.var"#83#95")()
      │        @ WebIO ~/.julia/packages/Requires/Z8rfN/src/require.jl:101
      │      [9] macro expansion
      │        @ timing.jl:299 [inlined]
      │     [10] err(f::Any, listener::Module, modname::String, file::String, line::Any)
      │        @ Requires ~/.julia/packages/Requires/Z8rfN/src/require.jl:47
      │     [11] (::WebIO.var"#82#94")()
      │        @ WebIO ~/.julia/packages/Requires/Z8rfN/src/require.jl:100
      │     [12] withpath(f::Any, path::String)
      │        @ Requires ~/.julia/packages/Requires/Z8rfN/src/require.jl:37
      │     [13] (::WebIO.var"#81#93")()
      │        @ WebIO ~/.julia/packages/Requires/Z8rfN/src/require.jl:99
      │     [14] listenpkg(f::Any, pkg::Base.PkgId)
      │        @ Requires ~/.julia/packages/Requires/Z8rfN/src/require.jl:20
      │     [15] macro expansion
      │        @ ~/.julia/packages/Requires/Z8rfN/src/require.jl:98 [inlined]
      │     [16] __init__()
      │        @ WebIO ~/.julia/packages/WebIO/cOHMI/src/WebIO.jl:110
      │     [17] _include_from_serialized(path::String, depmods::Vector{Any})
      │        @ Base ./loading.jl:768
      │     [18] _require_search_from_serialized(pkg::Base.PkgId, sourcepath::String)
      │        @ Base ./loading.jl:854
      │     [19] _tryrequire_from_serialized(modkey::Base.PkgId, build_id::UInt64, modpath::String)
      │        @ Base ./loading.jl:783
      │     [20] _require_search_from_serialized(pkg::Base.PkgId, sourcepath::String)
      │        @ Base ./loading.jl:843
      │     [21] _tryrequire_from_serialized(modkey::Base.PkgId, build_id::UInt64, modpath::String)
      │        @ Base ./loading.jl:783
      │     [22] _require_search_from_serialized(pkg::Base.PkgId, sourcepath::String)
      │        @ Base ./loading.jl:843
      │     [23] _tryrequire_from_serialized(modkey::Base.PkgId, build_id::UInt64, modpath::Nothing)
      │        @ Base ./loading.jl:783
      │     [24] _require_from_serialized(path::String)
      │        @ Base ./loading.jl:816
      │     [25] _require(pkg::Base.PkgId)
      │        @ Base ./loading.jl:1130
      │     [26] require(uuidkey::Base.PkgId)
      │        @ Base ./loading.jl:1013
      │     [27] require(into::Module, mod::Symbol)
      │        @ Base ./loading.jl:997
      │     [28] eval
      │        @ ./boot.jl:373 [inlined]
      │     [29] eval_user_input(ast::Any, backend::REPL.REPLBackend)
      │        @ REPL /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/REPL/src/REPL.jl:150
      │     [30] repl_backend_loop(backend::REPL.REPLBackend)
      │        @ REPL /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/REPL/src/REPL.jl:246
      │     [31] start_repl_backend(backend::REPL.REPLBackend, consumer::Any)
      │        @ REPL /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/REPL/src/REPL.jl:231
      │     [32] run_repl(repl::REPL.AbstractREPL, consumer::Any; backend_on_current_task::Bool)
      │        @ REPL /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/REPL/src/REPL.jl:364
      │     [33] run_repl(repl::REPL.AbstractREPL, consumer::Any)
      │        @ REPL /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/REPL/src/REPL.jl:351
      │     [34] (::Base.var"#930#932"{Bool, Bool, Bool})(REPL::Module)
      │        @ Base ./client.jl:394
      │     [35] #invokelatest#2
      │        @ ./essentials.jl:716 [inlined]
      │     [36] invokelatest
      │        @ ./essentials.jl:714 [inlined]
      │     [37] run_main_repl(interactive::Bool, quiet::Bool, banner::Bool, history_file::Bool, color_set::Bool)
      │        @ Base ./client.jl:379
      │     [38] exec_options(opts::Base.JLOptions)
      │        @ Base ./client.jl:309
      │     [39] _start()
      │        @ Base ./client.jl:495
      │    in expression starting at /Users/glenhenshaw/.julia/packages/WebIO/cOHMI/src/providers/generic_http.jl:15
      └ @ Requires ~/.julia/packages/Requires/Z8rfN/src/require.jl:51
      ERROR: InitError: Unable to find WebIO JavaScript bundle for generic HTTP provider; try rebuilding WebIO (via `Pkg.build("WebIO")`).
      Stacktrace:
       [1] error(s::String)
         @ Base ./error.jl:33
       [2] top-level scope
         @ ~/.julia/packages/WebIO/cOHMI/src/providers/generic_http.jl:16
      Revise evaluation error at /Users/glenhenshaw/.julia/packages/WebIO/cOHMI/src/providers/generic_http.jl:15
      
      Stacktrace:
        [1] methods_by_execution!(recurse::Any, methodinfo::Revise.CodeTrackingMethodInfo, docexprs::Dict{Module, Vector{Expr}}, mod::Module, ex::Expr; mode::Symbol, disablebp::Bool, always_rethrow::Bool, kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
          @ Revise ~/.julia/packages/Revise/VskYC/src/lowered.jl:199
        [2] #eval_with_signatures#90
          @ ~/.julia/packages/Revise/VskYC/src/packagedef.jl:464 [inlined]
        [3] instantiate_sigs!(modexsigs::OrderedCollections.OrderedDict{Module, OrderedCollections.OrderedDict{Revise.RelocatableExpr, Union{Nothing, Vector{Any}}}}; mode::Symbol, kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
          @ Revise ~/.julia/packages/Revise/VskYC/src/packagedef.jl:472
        [4] #invokelatest#2
          @ ./essentials.jl:718 [inlined]
        [5] maybe_add_includes_to_pkgdata!(pkgdata::Revise.PkgData, file::String, includes::Vector{Pair{Module, String}}; eval_now::Bool)
          @ Revise ~/.julia/packages/Revise/VskYC/src/pkgs.jl:170
        [6] eval_require_now(pkgdata::Revise.PkgData, fileidx::Int64, filekey::String, sourcefile::String, modcaller::Module, expr::Expr)
          @ Revise ~/.julia/packages/Revise/VskYC/src/pkgs.jl:284
        [7] #invokelatest#2
          @ ./essentials.jl:716 [inlined]
        [8] invokelatest
          @ ./essentials.jl:714 [inlined]
        [9] add_require(sourcefile::String, modcaller::Module, idmod::String, modname::String, expr::Expr)
          @ Revise ~/.julia/packages/Revise/VskYC/src/pkgs.jl:229
       [10] withnotifications(::Any, ::Vararg{Any})
          @ Requires ~/.julia/packages/Requires/Z8rfN/src/require.jl:70
       [11] (::WebIO.var"#81#93")()
          @ WebIO ~/.julia/packages/Requires/Z8rfN/src/require.jl:106
       [12] listenpkg(f::Any, pkg::Base.PkgId)
          @ Requires ~/.julia/packages/Requires/Z8rfN/src/require.jl:20
       [13] macro expansion
          @ ~/.julia/packages/Requires/Z8rfN/src/require.jl:98 [inlined]
       [14] __init__()
          @ WebIO ~/.julia/packages/WebIO/cOHMI/src/WebIO.jl:110
       [15] _include_from_serialized(path::String, depmods::Vector{Any})
          @ Base ./loading.jl:768
       [16] _require_search_from_serialized(pkg::Base.PkgId, sourcepath::String)
          @ Base ./loading.jl:854
       [17] _tryrequire_from_serialized(modkey::Base.PkgId, build_id::UInt64, modpath::String)
          @ Base ./loading.jl:783
       [18] _require_search_from_serialized(pkg::Base.PkgId, sourcepath::String)
          @ Base ./loading.jl:843
       [19] _tryrequire_from_serialized(modkey::Base.PkgId, build_id::UInt64, modpath::String)
          @ Base ./loading.jl:783
       [20] _require_search_from_serialized(pkg::Base.PkgId, sourcepath::String)
          @ Base ./loading.jl:843
       [21] _tryrequire_from_serialized(modkey::Base.PkgId, build_id::UInt64, modpath::Nothing)
          @ Base ./loading.jl:783
       [22] _require_from_serialized(path::String)
          @ Base ./loading.jl:816
       [23] _require(pkg::Base.PkgId)
          @ Base ./loading.jl:1130
       [24] require(uuidkey::Base.PkgId)
          @ Base ./loading.jl:1013
       [25] require(into::Module, mod::Symbol)
          @ Base ./loading.jl:997
      during initialization of module WebIO
      
      caused by: Unable to find WebIO JavaScript bundle for generic HTTP provider; try rebuilding WebIO (via `Pkg.build("WebIO")`).
      Stacktrace:
        [1] error(s::String)
          @ Base ./error.jl:33
        [2] top-level scope
          @ ~/.julia/packages/WebIO/cOHMI/src/providers/generic_http.jl:16
        [3] eval
          @ ./boot.jl:373 [inlined]
        [4] methods_by_execution!(recurse::Any, methodinfo::Revise.CodeTrackingMethodInfo, docexprs::Dict{Module, Vector{Expr}}, mod::Module, ex::Expr; mode::Symbol, disablebp::Bool, always_rethrow::Bool, kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
          @ Revise ~/.julia/packages/Revise/VskYC/src/lowered.jl:194
        [5] #eval_with_signatures#90
          @ ~/.julia/packages/Revise/VskYC/src/packagedef.jl:464 [inlined]
        [6] instantiate_sigs!(modexsigs::OrderedCollections.OrderedDict{Module, OrderedCollections.OrderedDict{Revise.RelocatableExpr, Union{Nothing, Vector{Any}}}}; mode::Symbol, kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
          @ Revise ~/.julia/packages/Revise/VskYC/src/packagedef.jl:472
        [7] #invokelatest#2
          @ ./essentials.jl:718 [inlined]
        [8] maybe_add_includes_to_pkgdata!(pkgdata::Revise.PkgData, file::String, includes::Vector{Pair{Module, String}}; eval_now::Bool)
          @ Revise ~/.julia/packages/Revise/VskYC/src/pkgs.jl:170
        [9] eval_require_now(pkgdata::Revise.PkgData, fileidx::Int64, filekey::String, sourcefile::String, modcaller::Module, expr::Expr)
          @ Revise ~/.julia/packages/Revise/VskYC/src/pkgs.jl:284
       [10] #invokelatest#2
          @ ./essentials.jl:716 [inlined]
       [11] invokelatest
          @ ./essentials.jl:714 [inlined]
       [12] add_require(sourcefile::String, modcaller::Module, idmod::String, modname::String, expr::Expr)
          @ Revise ~/.julia/packages/Revise/VskYC/src/pkgs.jl:229
       [13] withnotifications(::Any, ::Vararg{Any})
          @ Requires ~/.julia/packages/Requires/Z8rfN/src/require.jl:70
       [14] (::WebIO.var"#81#93")()
          @ WebIO ~/.julia/packages/Requires/Z8rfN/src/require.jl:106
       [15] listenpkg(f::Any, pkg::Base.PkgId)
          @ Requires ~/.julia/packages/Requires/Z8rfN/src/require.jl:20
       [16] macro expansion
          @ ~/.julia/packages/Requires/Z8rfN/src/require.jl:98 [inlined]
       [17] __init__()
          @ WebIO ~/.julia/packages/WebIO/cOHMI/src/WebIO.jl:110
       [18] _include_from_serialized(path::String, depmods::Vector{Any})
          @ Base ./loading.jl:768
       [19] _require_search_from_serialized(pkg::Base.PkgId, sourcepath::String)
          @ Base ./loading.jl:854
       [20] _tryrequire_from_serialized(modkey::Base.PkgId, build_id::UInt64, modpath::String)
          @ Base ./loading.jl:783
       [21] _require_search_from_serialized(pkg::Base.PkgId, sourcepath::String)
          @ Base ./loading.jl:843
       [22] _tryrequire_from_serialized(modkey::Base.PkgId, build_id::UInt64, modpath::String)
          @ Base ./loading.jl:783
       [23] _require_search_from_serialized(pkg::Base.PkgId, sourcepath::String)
          @ Base ./loading.jl:843
       [24] _tryrequire_from_serialized(modkey::Base.PkgId, build_id::UInt64, modpath::Nothing)
          @ Base ./loading.jl:783
       [25] _require_from_serialized(path::String)
          @ Base ./loading.jl:816
       [26] _require(pkg::Base.PkgId)
          @ Base ./loading.jl:1130
       [27] require(uuidkey::Base.PkgId)
          @ Base ./loading.jl:1013
       [28] require(into::Module, mod::Symbol)
          @ Base ./loading.jl:997
      
      julia> using Pkg
      
      julia> Pkg.build("WebIO")
          Building WebIO → `~/.julia/scratchspaces/44cfe95a-1eb2-52ea-b672-e2afdf69b78f/7564c65eeb3f31be72f6a3b54e1e929ccf040abd/build.log`
      ERROR: Error building `WebIO`:
      [ Info: Downloading WebIO core bundle from unpkg...
      ERROR: LoadError: HTTP/2 404 while requesting https://pkg.julialang.org/binary/WebIO.jl/v0.8.90/webio.bundle.js
      Stacktrace:
        [1] #3
          @ /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Downloads/src/Downloads.jl:233 [inlined]
        [2] open(f::Downloads.var"#3#4"{Nothing, Vector{Pair{String, String}}, Float64, Pkg.PlatformEngines.var"#16#18", Bool, Nothing, String}, args::String; kwargs::Base.Pairs{Symbol, Bool, Tuple{Symbol}, NamedTuple{(:write,), Tuple{Bool}}})
          @ Base ./io.jl:330
        [3] arg_write(f::Function, arg::String)
          @ ArgTools /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/ArgTools/src/ArgTools.jl:86
        [4] #download#2
          @ /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Downloads/src/Downloads.jl:221 [inlined]
        [5] download(url::String, dest::String; verbose::Bool, headers::Vector{Pair{String, String}}, auth_header::Nothing, io::IOContext{IOStream})
          @ Pkg.PlatformEngines /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/PlatformEngines.jl:282
        [6] download(url::String, dest::String)
          @ Pkg.PlatformEngines /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/PlatformEngines.jl:259
        [7] download_bundle(name::String, path::String, url::String)
          @ Main ~/.julia/packages/WebIO/cOHMI/deps/bundlepaths.jl:39
        [8] download_js_bundles()
          @ Main ~/.julia/packages/WebIO/cOHMI/deps/bundlepaths.jl:52
        [9] top-level scope
          @ ~/.julia/packages/WebIO/cOHMI/deps/build.jl:15
       [10] include(fname::String)
          @ Base.MainInclude ./client.jl:451
       [11] top-level scope
          @ none:5
      in expression starting at /Users/glenhenshaw/.julia/packages/WebIO/cOHMI/deps/build.jl:15
      Stacktrace:
        [1] pkgerror(msg::String)
          @ Pkg.Types /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/Types.jl:68
        [2] (::Pkg.Operations.var"#62#67"{Bool, Pkg.Types.Context, String, Pkg.Types.PackageSpec})()
          @ Pkg.Operations /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/Operations.jl:962
        [3] withenv(::Pkg.Operations.var"#62#67"{Bool, Pkg.Types.Context, String, Pkg.Types.PackageSpec}, ::Pair{String, String}, ::Vararg{Pair{String}})
          @ Base ./env.jl:172
        [4] (::Pkg.Operations.var"#99#103"{String, Bool, Bool, Bool, Pkg.Operations.var"#62#67"{Bool, Pkg.Types.Context, String, Pkg.Types.PackageSpec}, Pkg.Types.PackageSpec})()
          @ Pkg.Operations /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/Operations.jl:1506
        [5] with_temp_env(fn::Pkg.Operations.var"#99#103"{String, Bool, Bool, Bool, Pkg.Operations.var"#62#67"{Bool, Pkg.Types.Context, String, Pkg.Types.PackageSpec}, Pkg.Types.PackageSpec}, temp_env::String)
          @ Pkg.Operations /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/Operations.jl:1390
        [6] (::Pkg.Operations.var"#98#102"{Bool, Bool, Bool, Pkg.Operations.var"#62#67"{Bool, Pkg.Types.Context, String, Pkg.Types.PackageSpec}, Pkg.Types.Context, Pkg.Types.PackageSpec, String, Pkg.Types.Project, String})(tmp::String)
          @ Pkg.Operations /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/Operations.jl:1469
        [7] mktempdir(fn::Pkg.Operations.var"#98#102"{Bool, Bool, Bool, Pkg.Operations.var"#62#67"{Bool, Pkg.Types.Context, String, Pkg.Types.PackageSpec}, Pkg.Types.Context, Pkg.Types.PackageSpec, String, Pkg.Types.Project, String}, parent::String; prefix::String)
          @ Base.Filesystem ./file.jl:750
        [8] mktempdir(fn::Function, parent::String) (repeats 2 times)
          @ Base.Filesystem ./file.jl:748
        [9] sandbox(fn::Function, ctx::Pkg.Types.Context, target::Pkg.Types.PackageSpec, target_path::String, sandbox_path::String, sandbox_project_override::Pkg.Types.Project; force_latest_compatible_version::Bool, allow_earlier_backwards_compatible_versions::Bool, allow_reresolve::Bool)
          @ Pkg.Operations /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/Operations.jl:1435
       [10] sandbox(fn::Function, ctx::Pkg.Types.Context, target::Pkg.Types.PackageSpec, target_path::String, sandbox_path::String, sandbox_project_override::Pkg.Types.Project)
          @ Pkg.Operations /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/Operations.jl:1432
       [11] build_versions(ctx::Pkg.Types.Context, uuids::Set{Base.UUID}; verbose::Bool)
          @ Pkg.Operations /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/Operations.jl:943
       [12] build(ctx::Pkg.Types.Context, uuids::Set{Base.UUID}, verbose::Bool)
          @ Pkg.Operations /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/Operations.jl:822
       [13] build(ctx::Pkg.Types.Context, pkgs::Vector{Pkg.Types.PackageSpec}; verbose::Bool, kwargs::Base.Pairs{Symbol, Base.TTY, Tuple{Symbol}, NamedTuple{(:io,), Tuple{Base.TTY}}})
          @ Pkg.API /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/API.jl:992
       [14] build(pkgs::Vector{Pkg.Types.PackageSpec}; io::Base.TTY, kwargs::Base.Pairs{Symbol, Union{}, Tuple{}, NamedTuple{(), Tuple{}}})
          @ Pkg.API /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/API.jl:149
       [15] build(pkgs::Vector{Pkg.Types.PackageSpec})
          @ Pkg.API /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/API.jl:144
       [16] #build#99
          @ /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/API.jl:142 [inlined]
       [17] build
          @ /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/API.jl:142 [inlined]
       [18] #build#98
          @ /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/API.jl:141 [inlined]
       [19] build(pkg::String)
          @ Pkg.API /Applications/Julia-1.7.app/Contents/Resources/julia/share/julia/stdlib/v1.7/Pkg/src/API.jl:141
       [20] top-level scope
          @ REPL[13]:1

StackOverflowError while running get_trajectory in examples

When I tried to run the examples, when it went to the "Reference Trajectory" part, like:

ref_traj = deepcopy(get_trajectory(s.model, s.env,
    joinpath(module_dir(), "src/dynamics/flamingo/gaits/gait_forward_36_4.jld2"),
    load_type = :split_traj_alt));

I always got this error:

StackOverflowError:

Stacktrace:
 [1] StaticArrays.SizedVector{9, Int64, Vector{Int64}}(a::UnitRange{Int64}) (repeats 79984 times)
   @ StaticArrays ~/.julia/packages/StaticArrays/6D1fn/src/SizedArray.jl:48

My Julia version is 1.6.6.

TagBot trigger issue

This issue is used to trigger TagBot; feel free to unsubscribe.

If you haven't already, you should update your TagBot.yml to include issue comment triggers.
Please see this post on Discourse for instructions and more details.

If you'd like for me to do this for you, comment TagBot fix on this issue.
I'll open a PR within a few hours, please be patient!

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