fix _tendon_armature

thowell · thowell · commit 8a511adc78ef · 2026-02-27T13:21:58.000Z
diff --git a/mujoco_warp/_src/smooth.py b/mujoco_warp/_src/smooth.py
@@ -908,7 +908,7 @@ def _tendon_armature(
   if is_sparse:  # is_sparse is not batched
     madr_ij = dof_Madr[dofid]
 
-  armature = tendon_armature[worldid, tenid]
+  armature = tendon_armature[worldid % tendon_armature.shape[0], tenid]
 
   if armature == 0.0:
     return
