Fix get_link_transform method in CudaRobotModel.

2024-07-10 12:32:47 +03:00
parent 1dc81627bc
commit ba4e57ede9
1 changed files with 1 additions and 1 deletions
--- 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