Fix list of joints per sub-device in Device

include/hpp/manipulation/device.hh

@@ -83,7 +83,7 @@ namespace hpp {
         /// \param robot Robots that manipulate objects,
         /// \param objects Set of objects manipulated by the robot.
         Device (const std::string& name) :
-          Parent_t (name), jointCacheSize_ (0)
+          Parent_t (name), jointCacheSize_ (1)
         {}
 
         void init (const DeviceWkPtr_t& self)

src/device.cc

@@ -34,7 +34,7 @@ namespace hpp {
       std::size_t jvSize = model().joints.size();
       assert (jvSize >= jointCacheSize_);
       JointIndexes_t newJ (jvSize - jointCacheSize_);
-      for (std::size_t i = jointCacheSize_; i < jvSize; ++i) newJ[i] = i;
+      for (std::size_t i = jointCacheSize_; i < jvSize; ++i) newJ[i - jointCacheSize_] = i;
 
       jointCacheSize_ = model().joints.size();
       add (name, newJ);