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[parser/mjcf] Armature uses nv
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Megane Millan committed Nov 13, 2024
1 parent ea6a22e commit fa22d52
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion src/parsers/mjcf/mjcf-graph.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -1012,7 +1012,7 @@ namespace pinocchio
FrameIndex jointFrameId = urdfVisitor.model.addJointFrame(joint_id, (int)parentFrameId);
urdfVisitor.appendBodyToJoint(jointFrameId, inert, bodyInJoint, nameOfBody);

urdfVisitor.model.armature.segment(urdfVisitor.model.joints[joint_id].idx_q(), urdfVisitor.model.joints[joint_id].nq()) = rangeCompo.armature;
urdfVisitor.model.armature.segment(urdfVisitor.model.joints[joint_id].idx_v(), urdfVisitor.model.joints[joint_id].nv()) = rangeCompo.armature;
}

FrameIndex previousFrameId = urdfVisitor.model.frames.size();
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