Resolve conflicts in rigid_solver_decomp.py after merging with simulation migration

Author: yuhongyi

genesis/engine/solvers/rigid/rigid_solver_decomp.py

@@ -2882,6 +2882,7 @@ def kernel_init_vgeom_fields(
     vgeoms_vface_start: ti.types.ndarray(),
     vgeoms_vvert_end: ti.types.ndarray(),
     vgeoms_vface_end: ti.types.ndarray(),
+    vgeoms_color: ti.types.ndarray(),
     # taichi variables
     vgeoms_info: array_class.VGeomsInfo,
     static_rigid_sim_config: ti.template(),
@@ -2904,6 +2905,8 @@ def kernel_init_vgeom_fields(
         vgeoms_info.vface_num[i] = vgeoms_vface_end[i] - vgeoms_vface_start[i]
 
         vgeoms_info.link_idx[i] = vgeoms_link_idx[i]
+        for j in ti.static(range(4)):
+            vgeoms_info.color[i][j] = vgeoms_color[i, j]
 
 
 @ti.kernel

genesis/utils/array_class.py

@@ -1731,7 +1731,7 @@ class StructVgeomsInfo:
     pos: V_ANNOTATION
     quat: V_ANNOTATION
     link_idx: V_ANNOTATION
-    vvert_num: V_ANNOTATION
+    : V_ANNOTATION
     vvert_start: V_ANNOTATION
     vvert_end: V_ANNOTATION
     vface_num: V_ANNOTATION
@@ -1751,6 +1751,7 @@ def get_vgeoms_info(solver):
         "vface_num": V(dtype=gs.ti_int, shape=shape),
         "vface_start": V(dtype=gs.ti_int, shape=shape),
         "vface_end": V(dtype=gs.ti_int, shape=shape),
+        "color": V(dtype=gs.ti_vec4, shape=shape),
     }
 
     if use_ndarray: