[MBsysPy][Bug] Functions set_qu/qv/qdriven/... can use MbsData::qu[1:] and similar list as input.

MBsysC/mbs_interface/MBsysPy/mbsyspy/mbs_data.py

@@ -2110,7 +2110,9 @@ class MbsData(object):
 
         """
         if isinstance(indices, (list, np.ndarray)):
-            for index in indices:
+            # local list to avoid self-modification (ie. set all driven joints as independent)
+            local_indices = list(indices)
+            for index in local_indices:
                 libutilities.mbs_set_qu(self.mbs_data_ptr, index)
         else:
             libutilities.mbs_set_qu(self.mbs_data_ptr, indices)
@@ -2125,7 +2127,9 @@ class MbsData(object):
             The ids of the joints to set as dependent.
         """
         if isinstance(indices, (list, np.ndarray)):
-            for index in indices:
+            # local list to avoid self-modification (ie. set all independent to dependent)
+            local_indices = list(indices)
+            for index in local_indices:
                 libutilities.mbs_set_qv(self.mbs_data_ptr, index)
         else:
             libutilities.mbs_set_qv(self.mbs_data_ptr, indices)
@@ -2140,7 +2144,9 @@ class MbsData(object):
             The ids of the joints to set as driven.
         """
         if isinstance(indices, (list, np.ndarray)):
-            for index in indices:
+            # local list to avoid self-modification (ie. set all independent to driven)
+            local_indices = list(indices)
+            for index in local_indices:
                 libutilities.mbs_set_qdriven(self.mbs_data_ptr, index)
         else:
             libutilities.mbs_set_qdriven(self.mbs_data_ptr, indices)
@@ -2159,6 +2165,7 @@ class MbsData(object):
             The ids of the joints to set as actuated.
         """
         if isinstance(indices, (list, np.ndarray)):
+            # No need of local list
             for index in indices:
                 libutilities.mbs_set_qa(self.mbs_data_ptr, index)
         else:
@@ -2174,7 +2181,9 @@ class MbsData(object):
             The ids of the joints to be removed from the actuated list.
         """
         if isinstance(indices, (list, np.ndarray)):
-            for index in indices:
+            # local list to avoid self-modification (ie. unset all qa)
+            local_indices = list(indices)
+            for index in local_indices:
                 libutilities.mbs_unset_qa(self.mbs_data_ptr, index)
         else:
             libutilities.mbs_unset_qa(self.mbs_data_ptr, indices)