From 977fb913cfaf538079934b7ebb999dc9c8acd1e2 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 4 Dec 2024 10:36:47 -0800
Subject: [PATCH] Remove hanging vertex from flexcomp circle type.

PiperOrigin-RevId: 702777882
Change-Id: I3ce09c0ed81a9b153c606debc8c22fbb47c93e8b
---
 src/user/user_flexcomp.cc | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/user/user_flexcomp.cc b/src/user/user_flexcomp.cc
index 58a50bcb..8ff486ef 100644
--- a/src/user/user_flexcomp.cc
+++ b/src/user/user_flexcomp.cc
@@ -550,6 +550,10 @@ bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
   if (dim == 1) {
     for (int ix=0; ix < count[0]; ix++) {
       if (type == mjFCOMPTYPE_CIRCLE) {
+        if (ix >= count[0]-1) {
+          continue;
+        }
+
         // add point
         double theta = 2*mjPI/(count[0]-1);
         double radius = spacing[0]/std::sin(theta/2)/2;
@@ -558,10 +562,8 @@ bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
         point.push_back(0);
 
         // add element
-        if (ix < count[0]-1) {
-          element.push_back(ix);
-          element.push_back(ix == count[0]-2 ? 0 : ix+1);
-        }
+        element.push_back(ix);
+        element.push_back(ix == count[0]-2 ? 0 : ix+1);
       } else {
         // add point
         point.push_back(spacing[0]*(ix - 0.5*(count[0]-1)));