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Fix a bug in mj_recompile.

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The qposadr_ and dofadr_ variables of the joints were not being reset to -1 when a joint is copied. This could lead to errors when calling mj_recompile after attaching a compiled spec.

PiperOrigin-RevId: 686152004
Change-Id: I9e058089ce87ea0d8e51a7f43475bc48c6527a26
This commit is contained in:
Alessio Quaglino
2024-10-15 10:23:43 -07:00
committed by Copybara-Service
parent d646ba8de1
commit 11af1e2a95
5 changed files with 80 additions and 21 deletions
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src/user/user_api.cc
+17 -12
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@@ -96,21 +96,26 @@ mjModel* mj_compile(mjSpec* s, const mjVFS* vfs) {
mjCModel* modelC = static_cast<mjCModel*>(s->element);
std::string state_name = "state";
mjtNum time = 0;
if (d) {
time = d->time;
modelC->SaveState(state_name, d->qpos, d->qvel, d->act, d->ctrl, d->mocap_pos, d->mocap_quat);
}
if (!modelC->Compile(vfs, &m)) {
try {
if (d) {
mj_deleteData(d);
time = d->time;
modelC->SaveState(state_name, d->qpos, d->qvel, d->act, d->ctrl, d->mocap_pos, d->mocap_quat);
}
if (!modelC->Compile(vfs, &m)) {
if (d) {
mj_deleteData(d);
}
return -1;
};
if (d) {
modelC->MakeData(m, &d);
modelC->RestoreState(state_name, m->qpos0, m->body_pos, m->body_quat, d->qpos, d->qvel,
d->act, d->ctrl, d->mocap_pos, d->mocap_quat);
d->time = time;
}
} catch (mjCError& e) {
modelC->SetError(e);
return -1;
};
if (d) {
modelC->MakeData(m, &d);
modelC->RestoreState(state_name, m->qpos0, m->body_pos, m->body_quat, d->qpos, d->qvel,
d->act, d->ctrl, d->mocap_pos, d->mocap_quat);
d->time = time;
}
return 0;
}