Dynamic model editing.

PiperOrigin-RevId: 640838852 Change-Id: I559b1d60f2a3a2d866788d4006be31757454c619
2024-06-06 03:29:56 -07:00
parent 40755e165d
commit ba8a2d4c8a
9 changed files with 239 additions and 13 deletions
@@ -1733,6 +1733,10 @@ mjCJoint::mjCJoint(mjCModel* _model, mjCDef* _def) {

  // in case this joint is not compiled
  CopyFromSpec();
+
+  // no previous state when a joint is created
+  qpos[0] = mjNAN;
+  qvel[0] = mjNAN;
 }


@@ -5003,6 +5007,9 @@ mjCActuator::mjCActuator(mjCModel* _model, mjCDef* _def) {

  // point to local
  PointToLocal();
+
+  // no previous state when an actuator is created
+  act.push_back(mjNAN);
 }