From 6ccc4f77bce3a3449f8f72141760f8b12c41c702 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 7 Jul 2025 05:36:44 -0700
Subject: [PATCH] Defer sensor reference id resolution from sensor compiler to
 model compiler

PiperOrigin-RevId: 780070082
Change-Id: I7166f589f15bb0cd14b92e213d7a9f2a3bbad4e4
---
 src/user/user_model.cc   | 2 +-
 src/user/user_objects.cc | 8 ++------
 src/user/user_objects.h  | 2 --
 3 files changed, 3 insertions(+), 9 deletions(-)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index cd765679..7b671ed5 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3447,7 +3447,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->sensor_objtype[i] = psen->objtype;
     m->sensor_objid[i] = psen->obj ? psen->obj->id : -1;
     m->sensor_reftype[i] = psen->reftype;
-    m->sensor_refid[i] = psen->refid;
+    m->sensor_refid[i] = psen->ref ? psen->ref->id : -1;
     m->sensor_dim[i] = psen->dim;
     m->sensor_cutoff[i] = (mjtNum)psen->cutoff;
     m->sensor_noise[i] = (mjtNum)psen->noise;
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 1e754f73..9b0c8e54 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -6508,7 +6508,6 @@ mjCSensor::mjCSensor(mjCModel* _model) {
   spec_userdata_.clear();
   obj = nullptr;
   ref = nullptr;
-  refid = -1;
 
   // in case this sensor is not compiled
   CopyFromSpec();
@@ -6610,7 +6609,7 @@ void mjCSensor::ResolveReferences(const mjCModel* m) {
     ref = m->FindObject(reftype, refname_);
   }
 
-  // get objid from objtype and objname
+  // check object
   if (objtype != mjOBJ_UNKNOWN) {
     // check for missing object name
     if (objname_.empty()) {
@@ -6635,7 +6634,7 @@ void mjCSensor::ResolveReferences(const mjCModel* m) {
     throw mjCError(this, "invalid type in sensor");
   }
 
-  // get refid from reftype and refname
+  // check reference object
   if (reftype != mjOBJ_UNKNOWN) {
     // check for missing object name
     if (refname_.empty()) {
@@ -6653,9 +6652,6 @@ void mjCSensor::ResolveReferences(const mjCModel* m) {
       throw mjCError(this,
                      "reference frame object must be (x)body, geom, site or camera in sensor");
     }
-
-    // get sensorized object id
-    refid = ref->id;
   }
 
   spec_objname_ = objname_;
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 06e8e60a..b1b172f4 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -1764,8 +1764,6 @@ class mjCActuator : public mjCActuator_, private mjsActuator {
 
 class mjCSensor_ : public mjCBase {
  protected:
-  int refid;                      // id of reference frame
-
   // variable-size data
   std::string plugin_name;
   std::string plugin_instance_name;