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fix(user): Make skin and bone compatible with attachImplements Resolv… #2937

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fix(user): Make skin and bone compatible with attachImplements Resolv… #2937

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14 changes: 14 additions & 0 deletions src/user/user_model.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -447,7 +447,20 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
// do not copy assets for self-attach
// TODO: asset should be copied only when referenced
CopyList(meshes_, other.meshes_);
int old_nskin = skins_.size();
CopyList(skins_, other.skins_);
int new_nskin = skins_.size();

// Iterate ONLY over the newly added skins
for (int i = old_nskin; i < new_nskin; ++i) {
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@quagla quagla Nov 18, 2025

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Is there a reason why this can't happen in mjCSkin::Namespace?

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@darknight0847 darknight0847 Dec 4, 2025

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sorry for the late reply, was busy with my endsems. actually i dont recall what and why i did but it does not,as if what i did is working in MacOS and not in windows and linux. would try from scratch and will get back to you on this

mjCSkin* skin = skins_[i];
for (std::string& bodyname : skin->bodyname_) {
if (!bodyname.empty()) {
bodyname = prefix + bodyname;
}
}
}

CopyList(hfields_, other.hfields_);
CopyList(textures_, other.textures_);
CopyList(materials_, other.materials_);
Expand Down Expand Up @@ -1921,6 +1934,7 @@ void mjCModel::IndexAssets(bool discard) {
throw mjCError(skin, "material '%s' not found in skin %d", skin->material_.c_str(), i);
}
}
skin->ResolveReferences(this);
}

// materials referenced in sites
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23 changes: 22 additions & 1 deletion src/user/user_objects.cc
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Expand Up @@ -2598,7 +2598,28 @@ void mjCBody::Compile(void) {
}



// skin attach issue fix---------
void mjCSkin::ResolveReferences(const mjCModel* m) {
// Resize the bodyid list to match the bodyname list
bodyid.resize(bodyname_.size());

for (int i = 0; i < bodyname_.size(); ++i) {
if (!bodyname_[i].empty()) {
// Find the body object using the (now prefixed) name
mjCBody* b = (mjCBody*)m->FindObject(mjOBJ_BODY, bodyname_[i]);
if (b) {
// Success! Store the numerical ID.
bodyid[i] = b->id;
} else {
// This is the error we are fixing!
throw mjCError(this, "unknown body '%s' in skin", bodyname_[i].c_str());
}
} else {
// This bone doesn't reference a body.
bodyid[i] = -1;
}
}
}
//------------------ class mjCFrame implementation -------------------------------------------------

// initialize frame
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