Where is print_xacros ?

[hail-mary]

Hi, I've tried modular_policy/simulate_policy.py to see how your codes work.
However, I encountered an error when loading the URDF file by p.loadURDF in robot_env.py.

I think this is because the urdf folder you provided only contains .xacro or .stl files and necessary to be compiled to urdf format. I found you got the job done in visualize_robot.ipynb using compile_to_urdf function. But I could not find print_xacros where you imported it from.

If possible, I would like you to provide print_xacro's source code. Thanks in advance.

[jsw265]

Thanks for your interest in this work! print_xacros can be found in the urdf folder, https://github.com/biorobotics/learning_modular_policies/blob/master/urdf/print_xacros.py.