clean code

Author: ruziniuuuuu

src/physics_simulator/robot/mujoco_robot.py

@@ -84,10 +84,6 @@ def __init__(self,
             self.set_world_pose(np.concatenate([translation, rotation]))
         else:
             raise ValueError("Invalid pose input")
-        
-        # Store target positions for non-immediate joint control
-        self.joint_position_targets = {}
-        self.position_control_mode = {}
 
     def initialize(self):
         """Initialize the robot with MuJoCo model and data references.

src/physics_simulator/simulator/mujoco.py

@@ -433,6 +433,8 @@ def _convert_config_paths_to_absolute(self, config):
             config.usd_path = self._convert_to_absolute_path(config.usd_path)
         if hasattr(config, "mjcf_path"):
             config.mjcf_path = self._convert_to_absolute_path(config.mjcf_path)
+        if hasattr(config, "urdf_path"):
+            config.urdf_path = self._convert_to_absolute_path(config.urdf_path)
         if hasattr(config, "obj_path"):
             config.obj_path = self._convert_to_absolute_path(config.obj_path)
         if hasattr(config, "srdf_path"):