use the index from the lookup table

madhephaestus · madhephaestus · commit 0859837d6747 · 2024-03-20T22:58:45.000-04:00
diff --git a/src/main/java/org/mujoco/MuJoCoModelManager.java b/src/main/java/org/mujoco/MuJoCoModelManager.java
@@ -181,7 +181,7 @@ public void setAllJointPositions(HashMap<String, Double> putPositions) {
 		for (String jointName:putPositions.keySet()) {
 			int i = getJointIndex(jointName);
 			double position =putPositions.get(jointName);
-			data.qpos().put(i, position);
+			data.qpos().put(model.jnt_qposadr().get(i), position);
 		}
 	}
 	public HashMap<String, Double> getControlInstance() {

Original file line number	Diff line number	Diff line change
`@@ -181,7 +181,7 @@ public void setAllJointPositions(HashMap<String, Double> putPositions) {`
`181`	`181`	`for (String jointName:putPositions.keySet()) {`
`182`	`182`	`int i = getJointIndex(jointName);`
`183`	`183`	`double position =putPositions.get(jointName);`
`184`		`- data.qpos().put(i, position);`
	`184`	`+ data.qpos().put(model.jnt_qposadr().get(i), position);`
`185`	`185`	`}`
`186`	`186`	`}`
`187`	`187`	`public HashMap<String, Double> getControlInstance() {`