diff --git a/web/pose_3d.js b/web/pose_3d.js
index 70527d4..8a03061 100644
--- a/web/pose_3d.js
+++ b/web/pose_3d.js
@@ -110,8 +110,10 @@ const ARM_MAX_REACH_M = 0.62;  // braccio teso G1 (upper+forearm+palm ~10+25+25
 async function loadG1Urdf(scene) {
   const loader = new URDFLoader();
   loader.loadMeshCb = function (path, manager, onComplete) {
-    // path arrives like "meshes/pelvis.STL"; resolve to our static path
-    const url = `/static/vendor/g1/${path}`;
+    // URDFLoader risolve gia' i path relativi rispetto alla URL della URDF,
+    // quindi `path` arriva come "/static/vendor/g1/meshes/X.STL". Non
+    // ri-prefissare.
+    const url = path;
     const stl = new STLLoader(manager);
     stl.load(
       url,