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Porf: modify URDF path handling: Pass from urdf_cfg to solver_cfg #135

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Merged
chase6305 merged 4 commits into from
Feb 13, 2026
Merged

Porf: modify URDF path handling: Pass from urdf_cfg to solver_cfg #135

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fda6857
fix urdf path pass
Feb 13, 2026
02b8f5d
Merge branch 'main' into cjt/fix_urdf_path_pass
yuecideng Feb 13, 2026
a35f7a7
Merge branch 'main' into cjt/fix_urdf_path_pass
yuecideng Feb 13, 2026
55131e2
fix
Feb 13, 2026
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6 changes: 6 additions & 0 deletions embodichain/lab/sim/sim_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1085,6 +1085,12 @@ 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

if uid is None:
uid = os.path.splitext(os.path.basename(cfg.fpath))[0]
cfg.uid = uid
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