mend

Author: LeonLiu4

genesis/engine/solvers/rigid/rigid_solver_decomp.py

@@ -2969,7 +2969,6 @@ def _func_update_acc(self, update_cacc: ti.template()):
                     i_p = self.links_info[I_l].parent_idx
 
                     if i_p == -1:
-                        self.links_state[i_l, i_b].cdd_vel = -self._gravity[None] * (1 - e_info.gravity_compensation)
                         self.links_state[i_l, i_b].cdd_vel = -self._gravity[i_b] * (1 - e_info.gravity_compensation)
                         self.links_state[i_l, i_b].cdd_ang = ti.Vector.zero(gs.ti_float, 3)
                         if ti.static(update_cacc):