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Fix SoftObject property getter #93

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Fix SoftObject property getter #93

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Jan 27, 2026
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Jan 27, 2026
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48 changes: 24 additions & 24 deletions embodichain/lab/sim/objects/soft_object.py
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Original file line number Diff line number Diff line change
Expand Up @@ -64,18 +64,18 @@ def __init__(
self.ps = ps
self.num_instances = len(entities)

softbodies = [
self.softbodies = [
self.entities[i].get_physical_body() for i in range(self.num_instances)
]
self.n_collision_vertices = softbodies[0].get_num_vertices()
self.n_sim_vertices = softbodies[0].get_num_sim_vertices()
self.n_collision_vertices = self.softbodies[0].get_num_vertices()
self.n_sim_vertices = self.softbodies[0].get_num_sim_vertices()

self._rest_position_buffer = torch.empty(
(self.num_instances, self.n_collision_vertices, 4),
device=self.device,
dtype=torch.float32,
)
for i, softbody in enumerate(softbodies):
for i, softbody in enumerate(self.softbodies):
self._rest_position_buffer[i] = softbody.get_position_inv_mass_buffer()

self._rest_sim_position_buffer = torch.empty(
Expand All @@ -84,23 +84,23 @@ def __init__(
dtype=torch.float32,
)

for i, softbody in enumerate(softbodies):
for i, softbody in enumerate(self.softbodies):
self._rest_sim_position_buffer[i] = (
softbody.get_sim_position_inv_mass_buffer()
)

self._collision_position_buffer = torch.zeros(
(self.num_instances, self.n_collision_vertices, 4),
self._collision_position = torch.zeros(
(self.num_instances, self.n_collision_vertices, 3),
device=self.device,
dtype=torch.float32,
)
self._sim_vertex_velocity_buffer = torch.zeros(
(self.num_instances, self.n_sim_vertices, 4),
self._sim_vertex_velocity = torch.zeros(
(self.num_instances, self.n_sim_vertices, 3),
device=self.device,
dtype=torch.float32,
)
self._sim_vertex_position_buffer = torch.zeros(
(self.num_instances, self.n_sim_vertices, 4),
self._sim_vertex_position = torch.zeros(
(self.num_instances, self.n_sim_vertices, 3),
device=self.device,
dtype=torch.float32,
)
Expand Down Expand Up @@ -129,29 +129,29 @@ def rest_sim_vertices(self):
return self._rest_sim_position_buffer[:, :, :3].clone()

@property
def collision_position_buffer(self):
def collision_position(self):
"""Get the current vertex position buffer of the soft bodies."""
for i, softbody in enumerate(self.soft_bodies):
self._collision_position_buffer[i] = softbody.get_position_inv_mass_buffer()
return self._collision_position_buffer.clone()
self._collision_position[i] = softbody.get_position_inv_mass_buffer()[:, :3]
return self._collision_position.clone()

@property
def sim_vertex_position_buffer(self):
def sim_vertex_position(self):
"""Get the current sim vertex position buffer of the soft bodies."""
for i, softbody in enumerate(self.soft_bodies):
self._sim_vertex_position_buffer[i] = (
softbody.get_sim_position_inv_mass_buffer()
)
return self._sim_vertex_position_buffer.clone()
self._sim_vertex_position[i] = softbody.get_sim_position_inv_mass_buffer()[
:, :3
]
return self._sim_vertex_position.clone()

@property
def sim_vertex_velocity_buffer(self):
def sim_vertex_velocity(self):
"""Get the current vertex velocity buffer of the soft bodies."""
for i, softbody in enumerate(self.soft_bodies):
self._sim_vertex_velocity_buffer[i] = (
softbody.get_sim_position_inv_mass_buffer()
)
return self._sim_vertex_velocity_buffer.clone()
self._sim_vertex_velocity[i] = softbody.get_sim_position_inv_mass_buffer()[
:, :3
]
return self._sim_vertex_velocity.clone()


class SoftObject(BatchEntity):
Expand Down