From bfd4cc13fb1cfbbdf04e3a41a30778a0fc85c5a4 Mon Sep 17 00:00:00 2001
From: Adriano Dal Pastro <adrianodalpastro@tielogic.com>
Date: Thu, 21 May 2026 17:37:25 +0200
Subject: [PATCH] fix(pose_3d): URDFLoader path resolution (rimuovi doppio
 prefisso /static/vendor/g1/)

---
 web/pose_3d.js | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

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,