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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_model.cc
+9 -7
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@@ -353,9 +353,7 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
// create global lists
mjCBody *world = bodies_[0];
if (compiled) {
ResetTreeLists();
}
ResetTreeLists();
MakeLists(world);
ProcessLists(/*checkrepeat=*/false);
@@ -3034,11 +3032,15 @@ template <class T>
void mjCModel::SaveState(const std::string& state_name, const T* qpos, const T* qvel, const T* act,
const T* ctrl, const T* mpos, const T* mquat) {
for (auto joint : joints_) {
if (joint->qposadr_ == -1 || joint->dofadr_ == -1) {
throw mjCError(nullptr, "SaveState: joint %s has no address", joint->name.c_str());
if (joint->qposadr_ < -1 || joint->dofadr_ < -1) {
throw mjCError(nullptr, "SaveState: joint %s has invalid address", joint->name.c_str());
}
if (qpos && joint->qposadr_ != -1) {
mjuu_copyvec(joint->qpos(state_name), qpos + joint->qposadr_, joint->nq());
}
if (qvel && joint->dofadr_ != -1) {
mjuu_copyvec(joint->qvel(state_name), qvel + joint->dofadr_, joint->nv());
}
if (qpos) mjuu_copyvec(joint->qpos(state_name), qpos + joint->qposadr_, joint->nq());
if (qvel) mjuu_copyvec(joint->qvel(state_name), qvel + joint->dofadr_, joint->nv());
}
for (unsigned int i=0; i<actuators_.size(); i++) {