From fda6857fb453cb2fdf0c488986fd11cca014501a Mon Sep 17 00:00:00 2001 From: Jietao Chen Date: Fri, 13 Feb 2026 14:40:38 +0800 Subject: [PATCH 1/2] fix urdf path pass --- embodichain/lab/sim/sim_manager.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/embodichain/lab/sim/sim_manager.py b/embodichain/lab/sim/sim_manager.py index 1c97789a..18dac266 100644 --- a/embodichain/lab/sim/sim_manager.py +++ b/embodichain/lab/sim/sim_manager.py @@ -1085,6 +1085,14 @@ def add_robot(self, cfg: RobotCfg) -> Robot | None: cfg.fpath = cfg.urdf_cfg.assemble_urdf() + if cfg.solver_cfg is not None: + if isinstance(cfg.solver_cfg, dict): + for key, value in cfg.solver_cfg.items(): + if hasattr(value, "urdf_path") and value.urdf_path is None: + value.urdf_path = cfg.fpath + elif cfg.solver_cfg.get("urdf_path") is None: + cfg.solver_cfg["urdf_path"] = cfg.fpath + if uid is None: uid = os.path.splitext(os.path.basename(cfg.fpath))[0] cfg.uid = uid From 55131e25b0597ce68851fad88d11c656058cf0c7 Mon Sep 17 00:00:00 2001 From: Jietao Chen Date: Fri, 13 Feb 2026 15:52:52 +0800 Subject: [PATCH 2/2] fix --- embodichain/lab/sim/sim_manager.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/embodichain/lab/sim/sim_manager.py b/embodichain/lab/sim/sim_manager.py index 276cf7d2..1eb607ad 100644 --- a/embodichain/lab/sim/sim_manager.py +++ b/embodichain/lab/sim/sim_manager.py @@ -1090,8 +1090,6 @@ def add_robot(self, cfg: RobotCfg) -> Robot | None: for key, value in cfg.solver_cfg.items(): if hasattr(value, "urdf_path") and value.urdf_path is None: value.urdf_path = cfg.fpath - elif cfg.solver_cfg.get("urdf_path") is None: - cfg.solver_cfg["urdf_path"] = cfg.fpath if uid is None: uid = os.path.splitext(os.path.basename(cfg.fpath))[0]