diff --git a/genesis/engine/entities/rigid_entity/rigid_joint.py b/genesis/engine/entities/rigid_entity/rigid_joint.py
index 6e57c4a0..e81c25b2 100644
--- a/genesis/engine/entities/rigid_entity/rigid_joint.py
+++ b/genesis/engine/entities/rigid_entity/rigid_joint.py
@@ -125,7 +125,8 @@ def get_quat(self):
     def _kernel_get_quat(self, tensor: ti.types.ndarray()):
 
         for i_b in range(self._solver._B):
-            l_info = self._solver.links_info[self._idx, i_b]
+            I_l = [self._idx, i_b] if ti.static(self._solver._options.batch_links_info) else self._idx
+            l_info = self._solver.links_info[I_l]
             i_p = l_info.parent_idx
 
             p_pos = ti.Vector.zero(gs.ti_float, 3)