use the index from the lookup table

CommonWealthRobotics · Mar 21, 2024 · 0859837 · 0859837
1 parent 38a73a0
commit 0859837
Showing 1 changed file with 1 addition and 1 deletion.
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() {