From fa22d529876e47aae6a000d5f3e1f03fc7a3733e Mon Sep 17 00:00:00 2001
From: Megane Millan <megane.millan@inria.fr>
Date: Wed, 13 Nov 2024 11:50:09 +0100
Subject: [PATCH] [parser/mjcf] Armature uses nv

---
 src/parsers/mjcf/mjcf-graph.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/parsers/mjcf/mjcf-graph.cpp b/src/parsers/mjcf/mjcf-graph.cpp
index e4a98b170..a6fd36195 100644
--- a/src/parsers/mjcf/mjcf-graph.cpp
+++ b/src/parsers/mjcf/mjcf-graph.cpp
@@ -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();