Update sim/base_sim.py

sim/base_sim.py

@@ -16,7 +16,7 @@ except ImportError:
     print("Warning: rclpy not found. Camera image publishing will be disabled.")
 from unitree_sdk2py.core.channel import ChannelFactoryInitialize
 import yaml
-
+import os
 from .image_publish_utils import ImagePublishProcess
 from .metric_utils import check_contact, check_height
 from .sim_utilts import get_subtree_body_names
@@ -84,8 +84,9 @@ class DefaultEnv:
 
     def init_scene(self):
         """Initialize the default robot scene"""
+        assets_root = Path(__file__).parent.parent
         self.mj_model = mujoco.MjModel.from_xml_path(
-            str(pathlib.Path(GR00T_WBC_ROOT) / self.config["ROBOT_SCENE"])
+            str(assets_root / self.config["ROBOT_SCENE"])
         )
         self.mj_data = mujoco.MjData(self.mj_model)
         self.mj_model.opt.timestep = self.sim_dt