Happy Fern🤩

Hi, I’m seeing the same behavior and I can reproduce the issue. **Changes (per your advice)** - Switched to `genesis.utils.geom` (no external transform utils). - Replaced `control_dofs_position(...)` with `set_dofs_position(...)`. **Result...

Hi, these days I have investigated about this problem and I've found an interesting sentence in your codes: rigid_entity._func_get_jacobian( tgt_link_idx=i_l_ee, i_b=i_b, p_local=ti.Vector.zero(gs.ti_float, 3), pos_mask=pos_mask, rot_mask=rot_mask, dofs_info=dofs_info, joints_info=joints_info, links_info=links_info, links_state=links_state, )...