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fix URDF path only working from base dir

master
mcarfagno 2023-10-12 22:03:00 +01:00
parent 57791758ce
commit 12ffa4b9b3
1 changed files with 6 additions and 5 deletions
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11
mpc_pybullet_demo/mpc_demo_pybullet.py
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@ -9,7 +9,7 @@ params = mpcpy.Params()
import sys import sys
import time import time
import pathlib
import pybullet as p import pybullet as p
import time import time
@ -92,11 +92,12 @@ def run_sim():
p.setTimeStep(1.0 / 120.0) p.setTimeStep(1.0 / 120.0)
p.setRealTimeSimulation(useRealTimeSim) # either this p.setRealTimeSimulation(useRealTimeSim) # either this
# TODO(): fix path file_path = pathlib.Path(__file__).parent.resolve()
plane = p.loadURDF("racecar/plane.urdf") plane = p.loadURDF(str(file_path) + "/racecar/plane.urdf")
# track = p.loadSDF("racecar/f10_racecar/meshes/barca_track.sdf", globalScaling=1) car = p.loadURDF(
str(file_path) + "/racecar/f10_racecar/racecar_differential.urdf", [0, 0.3, 0.3]
)
car = p.loadURDF("racecar/f10_racecar/racecar_differential.urdf", [0, 0.3, 0.3])
for wheel in range(p.getNumJoints(car)): for wheel in range(p.getNumJoints(car)):
# print("joint[",wheel,"]=", p.getJointInfo(car,wheel)) # print("joint[",wheel,"]=", p.getJointInfo(car,wheel))
p.setJointMotorControl2( p.setJointMotorControl2(