[Bug Report] Pink Solver build fail with urdf composer

[yuecideng]

Describe the bug

When use urdf assembly tool to build a robot with two components with PinkSolver, the joint names can not be recognized by pin (joint names are changed by urdf assembly tool)

Steps to reproduce

Try the following code to reproduce.

import time
import torch
import numpy as np
import argparse

from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
from embodichain.lab.sim.cfg import (
    RobotCfg,
    URDFCfg,
    JointDrivePropertiesCfg,
)

from embodichain.lab.sim.solvers import PinkSolverCfg
from embodichain.data import get_data_path
from embodichain.utils import logger


def main():
    """Main function to create and run the simulation scene."""

    # Parse command line arguments
    parser = argparse.ArgumentParser(
        description="Create a simulation scene with SimulationManager"
    )
    parser.add_argument(
        "--device", type=str, default="cpu", help="Simulation device (cuda or cpu)"
    )
    parser.add_argument(
        "--enable_rt",
        action="store_true",
        default=False,
        help="Enable ray tracing for better visuals",
    )
    args = parser.parse_args()

    # Configure the simulation
    sim_cfg = SimulationManagerCfg(
        width=1920,
        height=1080,
        physics_dt=1.0 / 100.0,
        sim_device=args.device,
        enable_rt=args.enable_rt,
    )

    sim = SimulationManager(sim_cfg)
    sim.set_manual_update(False)

    # Get UR10 URDF path
    urdf_path = get_data_path("UniversalRobots/UR10/UR10.urdf")
    gripper_urdf_path = get_data_path("DH_PGI_140_80/DH_PGI_140_80.urdf")

    # Create UR10 robot
    robot_cfg = RobotCfg(
        uid="ur10_gizmo_test",
        urdf_cfg=URDFCfg(
            components=[{"component_type": "arm", "urdf_path": urdf_path},                    
                        {
                        "component_type": "hand",
                        "urdf_path": gripper_urdf_path,
                    },]
        ),
        control_parts={"arm": ["JOINT[1-6]"]},
        solver_cfg={
            "arm": PinkSolverCfg(
                urdf_path=urdf_path,
                end_link_name="ee_link",
                root_link_name="base_link",
                pos_eps=1e-2,
                rot_eps=5e-2,
                max_iterations=300,
                dt=0.1,
            )
        },
        drive_pros=JointDrivePropertiesCfg(
            stiffness={"JOINT[1-6]": 1e4},
            damping={"JOINT[1-6]": 1e3},
        ),
    )
    robot = sim.add_robot(cfg=robot_cfg)

    # Set initial joint positions
    initial_qpos = torch.tensor(
        [[0, -np.pi / 2, np.pi / 2, 0.0, np.pi / 2, 0.0]],
        dtype=torch.float32,
        device="cpu",
    )
    joint_ids = robot.get_joint_ids("arm")
    robot.set_qpos(qpos=initial_qpos, joint_ids=joint_ids)

    time.sleep(0.2)  # Wait for a moment to ensure everything is set up

    # Enable gizmo using the new API
    sim.enable_gizmo(uid="ur10_gizmo_test", control_part="arm")
    if not sim.has_gizmo("ur10_gizmo_test", control_part="arm"):
        logger.log_error("Failed to enable gizmo!")
        return

    sim.open_window()

    logger.log_info("Gizmo-Robot example started!")
    logger.log_info("Use the gizmo to drag the robot end-effector (EE)")
    logger.log_info("Press Ctrl+C to stop the simulation")

    run_simulation(sim)


def run_simulation(sim: SimulationManager):
    step_count = 0
    try:
        last_time = time.time()
        last_step = 0
        while True:
            time.sleep(0.033)  # 30Hz
            # Update all gizmos managed by sim
            sim.update_gizmos()
            step_count += 1

            if step_count % 100 == 0:
                current_time = time.time()
                elapsed = current_time - last_time
                fps = (
                    sim.num_envs * (step_count - last_step) / elapsed
                    if elapsed > 0
                    else 0
                )
                logger.log_info(f"Simulation step: {step_count}, FPS: {fps:.2f}")
                last_time = current_time
                last_step = step_count
    except KeyboardInterrupt:
        logger.log_info("\nStopping simulation...")
    finally:
        sim.destroy()
        logger.log_info("Simulation terminated successfully")


if __name__ == "__main__":
    main()

System Info

Describe the characteristic of your environment:

• Commit: main
• OS: Ubuntu 22.04
• GPU: RTX 5090
• CUDA: 12.8
• GPU Driver: 570.195.03

Additional context

Add any other context about the problem here.

Checklist

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