diff --git a/include/pinocchio/parsers/mjcf/mjcf-graph.hpp b/include/pinocchio/parsers/mjcf/mjcf-graph.hpp
index 7e4af8f56..9dde1fadc 100644
--- a/include/pinocchio/parsers/mjcf/mjcf-graph.hpp
+++ b/include/pinocchio/parsers/mjcf/mjcf-graph.hpp
@@ -149,7 +149,6 @@ namespace pinocchio
           maxConfig = Eigen::VectorXd::Constant(1, infty);
           springStiffness = Eigen::VectorXd::Constant(1, v);
           springReference = Eigen::VectorXd::Constant(1, v);
-          ;
           friction = Eigen::VectorXd::Constant(1, 0.);
           damping = Eigen::VectorXd::Constant(1, 0.);
           armature = Eigen::VectorXd::Constant(1, 0.);
diff --git a/src/parsers/mjcf/mjcf-graph.cpp b/src/parsers/mjcf/mjcf-graph.cpp
index 216c1fcd5..e4a98b170 100644
--- a/src/parsers/mjcf/mjcf-graph.cpp
+++ b/src/parsers/mjcf/mjcf-graph.cpp
@@ -163,7 +163,7 @@ namespace pinocchio
         ret.springStiffness.tail(1) = range.springStiffness;
 
         ret.armature.conservativeResize(armature.size() + Nv);
-        ret.armature.tail(Nv) = Vector::Constant(Nv, range.armature[0]);
+        ret.armature.tail(Nv) = range.armature;
 
         return ret;
       }