text: import pybullet as p
  import os
  
  
  class Goal:
      def __init__(self, client, base):
          f_name = os.path.join(os.path.dirname(__file__), 'simplegoal.urdf')
          p.loadURDF(fileName=f_name,
                     basePosition=[base[0], base[1], 0],
                     physicsClientId=client)
  
  
  