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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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test/user/user_api_test.cc
+48
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@@ -1368,6 +1368,54 @@ TEST_F(MujocoTest, PreserveState) {
mj_deleteModel(m_expected);
}
TEST_F(MujocoTest, RecompileAttach) {
std::array<char, 1000> er;
std::string field = "";
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="body">
<joint type="slide" axis="0 0 1"/>
<geom size=".2"/>
</body>
</worldbody>
</mujoco>)";
mjSpec* parent = mj_makeSpec();
EXPECT_THAT(parent, NotNull());
mjSpec* child = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull());
mjsFrame* frame1 = mjs_addFrame(mjs_findBody(parent, "world"), 0);
mjs_attachBody(frame1, mjs_findBody(child, "body"), "child-", "-1");
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nq, 1);
mjData* data = mj_makeData(model);
EXPECT_THAT(data, NotNull());
for (int i = 0; i < 100; i++) {
mj_step(model, data);
}
mjsFrame* frame2 = mjs_addFrame(mjs_findBody(parent, "world"), 0);
mjs_attachBody(frame2, mjs_findBody(child, "body"), "child-", "-2");
EXPECT_EQ(mj_recompile(parent, 0, model, data), 0);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nq, 2);
EXPECT_NE(data->qpos[0], data->qpos[1]);
EXPECT_EQ(data->qpos[1], 0);
mj_deleteData(data);
mj_deleteModel(model);
mj_deleteSpec(child);
mj_deleteSpec(parent);
}
TEST_F(MujocoTest, AttachMocap) {
std::array<char, 1000> er;
mjtNum tol = 0;