fix set_gravity - review comments

Author: Milotrince

genesis/engine/solvers/base_solver.py

@@ -42,7 +42,7 @@ def build(self):
     @gs.assert_built
     def set_gravity(self, gravity, envs_idx=None):
         if self._gravity is None:
-            gs.logger.warning("Gravity is not initialized, skipping set_gravity.")
+            gs.logger.debug("Gravity is not defined, skipping `set_gravity`.")
             return
         g = np.asarray(gravity, dtype=gs.np_float)
         if envs_idx is None:

tests/test_rigid_physics.py

@@ -2191,22 +2191,21 @@ def test_gravity(show_viewer, tol):
     with np.testing.assert_raises(AssertionError):
         scene.sim.set_gravity(torch.tensor([[0.0, 0.0, -10.0], [0.0, 0.0, -10.0]]), envs_idx=1)
 
-    for _ in range(10):
-        scene.step()
+    scene.step()
 
     assert_allclose(
         np.array(
             [
                 [0.0, 0.0, 0.0],
                 [0.0, 0.0, 0.0],
+                [0.0, 0.0, -10.0],
+                [0.0, 0.0, 100.0],
                 [0.0, 0.0, -1.0],
-                [0.0, 0.0, 10.0],
-                [0.0, 0.0, -0.1],
-                [-0.2, 0.0, 0.0],
-                [-0.2, 0.0, 0.0],
+                [-2.0, 0.0, 0.0],
+                [-2.0, 0.0, 0.0],
             ]
         ),
-        sphere.get_vel(),
+        sphere.get_links_acc().squeeze(dim=1),
         tol=tol,
     )