From cbf787df119baab2dffcbb30f40b02014405422e Mon Sep 17 00:00:00 2001
From: yuanhaonan <yuanhaonan@dexforce.top>
Date: Sat, 14 Feb 2026 16:18:42 +0800
Subject: [PATCH] cached property

---
 embodichain/lab/gym/envs/embodied_env.py    |  2 +-
 embodichain/lab/sim/objects/articulation.py | 12 ++++++------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/embodichain/lab/gym/envs/embodied_env.py b/embodichain/lab/gym/envs/embodied_env.py
index f58850ec..f89621c7 100644
--- a/embodichain/lab/gym/envs/embodied_env.py
+++ b/embodichain/lab/gym/envs/embodied_env.py
@@ -575,7 +575,7 @@ def preview_sensor_data(
                 cv2.imshow(window_name, cv2.cvtColor(view, cv2.COLOR_RGB2BGR))
                 cv2.waitKey(0)
                 cv2.destroyWindow(window_name)
-                
+
         elif method == "plt":
             from matplotlib import pyplot as plt
 
diff --git a/embodichain/lab/sim/objects/articulation.py b/embodichain/lab/sim/objects/articulation.py
index c5534432..d6ebe2aa 100644
--- a/embodichain/lab/sim/objects/articulation.py
+++ b/embodichain/lab/sim/objects/articulation.py
@@ -651,7 +651,7 @@ def __str__(self) -> str:
         parent_str = super().__str__()
         return parent_str + f" | dof: {self.dof} | num_links: {self.num_links}"
 
-    @property
+    @cached_property
     def dof(self) -> int:
         """Get the degree of freedom of the articulation.
 
@@ -660,7 +660,7 @@ def dof(self) -> int:
         """
         return self._data.dof
 
-    @property
+    @cached_property
     def num_links(self) -> int:
         """Get the number of links in the articulation.
 
@@ -669,7 +669,7 @@ def num_links(self) -> int:
         """
         return self._data.num_links
 
-    @property
+    @cached_property
     def link_names(self) -> List[str]:
         """Get the names of the links in the articulation.
 
@@ -678,7 +678,7 @@ def link_names(self) -> List[str]:
         """
         return self._data.link_names
 
-    @property
+    @cached_property
     def root_link_name(self) -> str:
         """Get the name of the root link of the articulation.
 
@@ -687,7 +687,7 @@ def root_link_name(self) -> str:
         """
         return self.entities[0].get_root_link_name()
 
-    @property
+    @cached_property
     def joint_names(self) -> List[str]:
         """Get the names of the actived joints in the articulation.
 
@@ -696,7 +696,7 @@ def joint_names(self) -> List[str]:
         """
         return self._entities[0].get_actived_joint_names()
 
-    @property
+    @cached_property
     def all_joint_names(self) -> List[str]:
         """Get the names of the joints in the articulation.