From ba4e57ede9874125f5edff06e4c45f12f4fbd3c1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tahsincan=20K=C3=B6se?= Date: Wed, 10 Jul 2024 12:32:47 +0300 Subject: [PATCH] Fix get_link_transform method in CudaRobotModel. --- src/curobo/cuda_robot_model/cuda_robot_model.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/curobo/cuda_robot_model/cuda_robot_model.py b/src/curobo/cuda_robot_model/cuda_robot_model.py index f52282c..2057ca3 100644 --- a/src/curobo/cuda_robot_model/cuda_robot_model.py +++ b/src/curobo/cuda_robot_model/cuda_robot_model.py @@ -412,7 +412,7 @@ class CudaRobotModel(CudaRobotModelConfig): return mesh def get_link_transform(self, link_name: str) -> Pose: - mat = self._kinematics_config.fixed_transforms[self._name_to_idx_map[link_name]] + mat = self.kinematics_config.fixed_transforms[self.kinematics_config.link_name_to_idx_map[link_name]] pose = Pose(position=mat[:3, 3], rotation=mat[:3, :3]) return pose