Fix get_link_transform method in CudaRobotModel.

kelvin34501 · Jul 10, 2024 · ba4e57e · ba4e57e
1 parent 1dc8162
commit ba4e57e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/curobo/cuda_robot_model/cuda_robot_model.py b/src/curobo/cuda_robot_model/cuda_robot_model.py
@@ -412,7 +412,7 @@ def get_link_mesh(self, link_name: str) -> Mesh:
         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