bug: batch reference to links_info

Genesis-Embodied-AI · Dec 26, 2024 · 659ad37 · 659ad37
1 parent 66e3f84
commit 659ad37
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/genesis/engine/entities/rigid_entity/rigid_joint.py b/genesis/engine/entities/rigid_entity/rigid_joint.py
@@ -88,9 +88,8 @@ def get_pos(self):
 
     @ti.kernel
     def _kernel_get_pos(self, tensor: ti.types.ndarray()):
-
         for i_b in range(self._solver._B):
-            l_info = self._solver.links_info[self._idx, i_b]
+            l_info = self._solver.links_info[self._idx]
             i_p = l_info.parent_idx
 
             p_pos = ti.Vector.zero(gs.ti_float, 3)
@@ -122,9 +121,8 @@ def get_quat(self):
 
     @ti.kernel
     def _kernel_get_quat(self, tensor: ti.types.ndarray()):
-
         for i_b in range(self._solver._B):
-            l_info = self._solver.links_info[self._idx, i_b]
+            l_info = self._solver.links_info[self._idx]
             i_p = l_info.parent_idx
 
             p_pos = ti.Vector.zero(gs.ti_float, 3)