feat: update model dir config

RoboJackets · Nov 13, 2024 · fac9089 · fac9089
1 parent ef7e566
commit fac9089
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Showing 3 changed files with 12 additions and 4 deletions.
diff --git a/urc_arm/config/controller_config.yaml b/urc_arm/config/controller_config.yaml
@@ -0,0 +1,3 @@
+arm_mj_sim:
+  ros__parameters:
+    model_dir: "/home/keseterg/Documents/RoboJackets/urc_ws/src/urc-software/urc_arm_models/urdf/walli_arm_v2_block_mjcf/walli_arm_v2_block.xml"
diff --git a/urc_arm/launch/mjsim.launch.py b/urc_arm/launch/mjsim.launch.py
@@ -20,7 +20,11 @@
 
 def generate_launch_description():
     # mujoco simulator
-    mjsim = Node(package="urc_arm_py", executable="arm_sim_mj")
+    mjsim = Node(
+        package="urc_arm_py",
+        executable="arm_sim_mj",
+        parameters=[controller_config_file_dir],
+    )
 
     control_node = Node(
         package="controller_manager",

diff --git a/urc_arm_py/urc_arm_py/arm_sim_mj.py b/urc_arm_py/urc_arm_py/arm_sim_mj.py
@@ -10,10 +10,11 @@ class MjSimNode(Node):
     def __init__(self):
         super().__init__("arm_mj_sim")
 
+        self.declare_parameter("model_dir", "")
+        model_dir = self.get_parameter("model_dir").get_parameter_value().string_value
+        self.get_logger().warn(f"Loading model from: {model_dir}")
         # Load the MuJoCo model
-        self.model = mujoco.MjModel.from_xml_path(
-            "/home/keseterg/Documents/RoboJackets/urc_ws/src/urc-software/urc_arm_models/urdf/walli_arm_v2_block_mjcf/walli_arm_v2_block.xml"
-        )
+        self.model = mujoco.MjModel.from_xml_path(model_dir)
         self.data = mujoco.MjData(self.model)
 
         # Initialize GLFW