Clean up tendon wrapping code.

PiperOrigin-RevId: 675185000 Change-Id: I3d93d7ce65b617c4869eb002dfe9440efa9abf66
2024-09-16 09:45:40 -07:00
parent ebcffaf121
commit 48fee9487e
3 changed files with 85 additions and 77 deletions
@@ -755,7 +755,7 @@ void mj_tendon(const mjModel* m, mjData* d) {
        }

        wlen = mju_wrap(wpnt+3, d->site_xpos+3*id0, d->site_xpos+3*id1,
-                        d->geom_xpos+3*idw, d->geom_xmat+9*idw, m->geom_size+3*idw, tpw,
+                        d->geom_xpos+3*idw, d->geom_xmat+9*idw, m->geom_size[3*idw], tpw,
                        (sideid >= 0 ? d->site_xpos+3*sideid : 0));
      } else {
        tpw = mjWRAP_NONE;