I've attempted to run the example given in the README line-by-line on the REPL but upon executing:
t, q, v = simulate(state, 5.0);
have come across this massive Stacktrace (listed at the end of the message due to its length). I tried making sure all packages are up to date and that all prerequisites are installed but no luck. Any ideas what might be causing the issue?
julia> t, q, v = simulate(state, 5.0);
ERROR: MethodError: no method matching GeometricJacobian(::CartesianFrame3D, ::CartesianFrame3D, ::CartesianFrame3D, ::StaticArrays.SArray{Tuple{3,0},Float64,2,0}, ::StaticArrays.SArray{Tuple{3,0},Union{},2,0})
Closest candidates are:
GeometricJacobian(::CartesianFrame3D, ::CartesianFrame3D, ::CartesianFrame3D, ::A<:(AbstractArray{T,2} where T), ::A<:(AbstractArray{T,2} where T)) where A<:(AbstractArray{T,2} where T) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/spatial/spatialmotion.jl:15
Stacktrace:
[1] transform(::GeometricJacobian{StaticArrays.SArray{Tuple{3,0},Float64,2,0}}, ::Transform3D{Float64}) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/spatial/spatialmotion.jl:47
luticorn/.julia/packages/RigidBodyDynamics/0saII/src/spatial/spatialmotion.jl:47
[2] _motion_subspace at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/mechanism_state.jl:711 [inlined]
[3] (::getfield(RigidBodyDynamics, Symbol("##65#66")))(::MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Fixed{Float64}},1},Array{Joint{Float64,Revolute{Float64}},1}},2}}, ::Joint{Float64,Fixed{Float64}}, ::SubArray{Float64,1,Array{Float64,1},Tuple{UnitRange{Int64}},true}) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/mechanism_state.jl:717
[4] _update_motion_subspaces!(::MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Fixed{Float64}},1},Array{Joint{Float64,Revolute{Float64}},1}},2}}) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/custom_collections.jl:42
[5] update_motion_subspaces! at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/mechanism_state.jl:705 [inlined]
[6] mass_matrix!(::LinearAlgebra.Symmetric{Float64,Array{Float64,2}}, ::MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Fixed{Float64}},1},Array{Joint{Float64,Revolute{Float64}},1}},2}}) at /home/polluticorn/.julia/pac{Float64}},1},Array{Joint{Float64,Revolute{Float64}},1}},2}}) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/mechanism_algorithms.jl:251
[7] mass_matrix! at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/mechanism_algorithms.jl:281 [inlined]
[8] #dynamics!#114(::RigidBodyDynamics.CustomCollections.ConstDict{JointID,RigidBodyDynamics.PDControl.SE3PDGains{RigidBodyDynamics.PDControl.PDGains{Float64,Float64},RigidBodyDynamics.PDControl.PDGains{Float64,Float64}}}, ::Function, ::DynamicsResult{Float64,Float64}, ::MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Fixed{Float64}},1},Array{Joint{Float64,Revolute{Float64}},1}},2}}, ::SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}}, ::RigidBodyDynamics.CustomCollections.NullDict{BodyID,Wrench{Float64}}) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/mechanism_algorithms.jl:877
[9] #dynamics! at ./none:0 [inlined] (repeats 2 times)
[10] (::getfield(RigidBodyDynamics, Symbol("##117#118")){typeof(RigidBodyDynamics.zero_torque!),DynamicsResult{Float64,Float64},SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},RigidBodyDynamics.CustomCollections.ConstDict{JointID,RigidBodyDynamics.PDControl.SE3PDGains{RigidBodyDynamics.PDControl.PDGains{Float64,Float64},RigidBodyDynamics.PDControl.PDGains{Float64,Float64}}}})(::SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}}, ::Array{Float64,1}, ::Float64, ::MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Fixed{Float64}},1},Array{Joint{Float64,Revolute{Float64}},1}},2}}) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/simulate.jl:44
[11] step(::RigidBodyDynamics.OdeIntegrators.MuntheKaasIntegrator{4,Float64,getfield(RigidBodyDynamics, Symbol("##117#118")){typeof(RigidBodyDynamics.zero_torque!),DynamicsResult{Float64,Float64},SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},RigidBodyDynamics.CustomCollections.ConstDict{JointID,RigidBodyDynamics.PDControl.SE3PDGains{RigidBodyDynamics.PDControl.PDGains{Float64,Float64},RigidBodyDynamics.PDControl.PDGains{Float64,Float64}}}},RigidBodyDynamics.OdeIntegrators.ExpandingStorage{Float64,SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}}},MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Fixed{Float64}},1},Array{Joint{Float64,Revolute{Float64}},1}},2}},16,RigidBodyDynamics.OdeIntegrators.MuntheKaasStageCache{4,Float64,SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},Array{Float64,1}}}, ::Float64, ::Float64) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/ode_integrators.jl:273
[12] macro expansion at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/ode_integrators.jl:312 [inlined]
[13] macro expansion at /home/polluticorn/.julia/packages/LoopThrottle/KOwMl/src/LoopThrottle.jl:89 [inlined]
[14] #integrate#17(::Float64, ::Function, ::RigidBodyDynamics.OdeIntegrators.MuntheKaasIntegrator{4,Float64,getfield(RigidBodyDynamics, Symbol("##117#118")){typeof(RigidBodyDynamics.zero_torque!),DynamicsResult{Float64,Float64},SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},RigidBodyDynamics.CustomCollections.ConstDict{JointID,RigidBodyDynamics.PDControl.SE3PDGains{RigidBodyDynamics.PDControl.PDGains{Float64,Float64},RigidBodyDynamics.PDControl.PDGains{Float64,Float64}}}},RigidBodyDynamics.OdeIntegrators.ExpandingStorage{Float64,SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}}},MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Fixed{Float64}},1},Array{Joint{Float64,Revolute{Float64}},1}},2}},16,RigidBodyDynamics.OdeIntegrators.MuntheKaasStageCache{4,Float64,SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},Array{Float64,1}}}, ::Float64, ::Float64) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/ode_integrators.jl:311
[15] integrate(::RigidBodyDynamics.OdeIntegrators.MuntheKaasIntegrator{4,Float64,getfield(RigidBodyDynamics, Symbol("##117#118")){typeof(RigidBodyDynamics.zero_torque!),DynamicsResult{Float64,Float64},SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},RigidBodyDynamics.CustomCollections.ConstDict{JointID,RigidBodyDynamics.PDControl.SE3PDGains{RigidBodyDynamics.PDControl.PDGains{Float64,Float64},RigidBodyDynamics.PDControl.PDGains{Float64,Float64}}}},RigidBodyDynamics.OdeIntegrators.ExpandingStorage{Float64,SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}}},MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Fixed{Float64}},1},Array{Joint{Float64,Revolute{Float64}},1}},2}},16,RigidBodyDynamics.OdeIntegrators.MuntheKaasStageCache{4,Float64,SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},SegmentedVector{JointID,Float64,Base.OneTo{JointID},Array{Float64,1}},Array{Float64,1}}}, ::Float64, ::Float64) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/ode_integrators.jl:308
[16] #simulate#116(::Float64, ::RigidBodyDynamics.CustomCollections.ConstDict{JointID,RigidBodyDynamics.PDControl.SE3PDGains{RigidBodyDynamics.PDControl.PDGains{Float64,Float64},RigidBodyDynamics.PDControl.PDGains{Float64,Float64}}}, ::Function, ::MechanismState{Float64,Float64,Float64,TypeSortedCollections.TypeSortedCollection{Tuple{Array{Joint{Float64,Fixed{Float64}},1},Array{Joint{Float64,Revolute{Float64}},1}},2}}, ::Float64, ::typeof(RigidBodyDynamics.zero_torque!)) at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/simulate.jl:53
[17] simulate at /home/polluticorn/.julia/packages/RigidBodyDynamics/0saII/src/simulate.jl:38 [inlined] (repeats 2 times)
[18] top-level scope at none:0