Rename vehicle_filepath -> vehicle_dynamics_filepath

huawei-noah · Jan 2, 2024 · 496cfa9 · 496cfa9
1 parent 44ebe2c
commit 496cfa9
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Showing 3 changed files with 4 additions and 7 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -15,6 +15,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - `VehicleIndex.build_agent_vehicle()` no longer has `filename` and `surface_patches` parameters.
 - Renamed `vehicle.urdf` to `sedan.urdf`.
 - Environment prefix is now configurable for custom `smarts.core.config()` calls.
+- `Vehicle.build_agent_vehicle()` argument `vehicle_filepath` now renamed to `vehicle_dynamics_filepath`.
 ### Deprecated
 - Module `smarts.core.models` is now deprecated in favour of `smarts.assets`.
 ### Fixed

diff --git a/smarts/core/vehicle.py b/smarts/core/vehicle.py
@@ -322,7 +322,7 @@ def build_agent_vehicle(
         vehicle_id: str,
         agent_interface: AgentInterface,
         plan: Plan,
-        vehicle_filepath: Optional[str],
+        vehicle_dynamics_filepath: Optional[str],
         tire_filepath: str,
         trainable: bool,
         surface_patches: List[Dict[str, Any]],
@@ -331,10 +331,6 @@ def build_agent_vehicle(
         """Create a new vehicle and set up sensors and planning information as required by the
         ego agent.
         """
-        urdf_file = cls.vehicle_urdf_path(
-            vehicle_type=agent_interface.vehicle_type, override_path=vehicle_filepath
-        )
-
         mission = plan.mission
         chassis_dims = cls.agent_vehicle_dims(
             mission, default=agent_interface.vehicle_type
@@ -365,7 +361,7 @@ def build_agent_vehicle(
             chassis = AckermannChassis(
                 pose=start_pose,
                 bullet_client=sim.bc,
-                vehicle_filepath=vehicle_filepath,
+                vehicle_filepath=vehicle_dynamics_filepath,
                 tire_parameters_filepath=tire_filepath,
                 friction_map=surface_patches,
                 controller_parameters=controller_parameters,

diff --git a/smarts/core/vehicle_index.py b/smarts/core/vehicle_index.py
@@ -695,7 +695,7 @@ def build_agent_vehicle(
             vehicle_id=vehicle_id or agent_id,
             agent_interface=agent_interface,
             plan=plan,
-            vehicle_filepath=self.load_vehicle_definition(
+            vehicle_dynamics_filepath=self.load_vehicle_definition(
                 agent_interface.vehicle_type
             ).get("dynamics_model"),
             tire_filepath=self.load_vehicle_definition(