How to compute inverse kinematics for specific env_idx?

[Riften]

In RigidEntity.inverse_kinematics, there is

if self._solver.n_envs > 0:
  if pos is not None:
      if pos.shape[0] != self._solver.n_envs:
          gs.raise_exception("First dimension of `pos` must be equal to `scene.n_envs`.")
  if quat is not None:
      if quat.shape[0] != self._solver.n_envs:
          gs.raise_exception("First dimension of `quat` must be equal to `scene.n_envs`.")

I wonder if I can compute inverse_kinematics for specific env_idx.

[Riften]

It seems that this feature has been added through #732 . I will close this disscussion.