From bca5d0c6713e0e0b06fb90cf251872f7eeb83f9a Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 16 Jul 2025 09:22:05 -0700
Subject: [PATCH] Update all references after attaching a plugin with multiple
 references.

PiperOrigin-RevId: 783784916
Change-Id: I11da14f11f9206b466bce424979264659bf9a819
---
 src/user/user_model.cc | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 03132736..657f45e7 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -394,6 +394,14 @@ void mjCModel::CopyPlugin(const std::vector<mjCPlugin*>& source,
       delete candidate;
     }
   }
+
+  // update other elements in the list in case of multiple references
+  for (auto& element : list) {
+    if (!element->plugin_instance_name.empty()) {
+      element->spec.plugin.element =
+          instances.at(element->plugin_instance_name)->spec.plugin.element;
+    }
+  }
 }