[algo/check] Fix data check

stack-of-tasks · Feb 17, 2025 · 48f17ff · 48f17ff
1 parent be09e50
commit 48f17ff
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/include/pinocchio/algorithm/check-data.hxx b/include/pinocchio/algorithm/check-data.hxx
@@ -138,10 +138,10 @@ namespace pinocchio
 
       if (model.mimicking_joints.size() != 0)
       {
-        for (JointIndex k : model.mimicking_joints)
+        for (int k = 0; k < model.mimicking_joints.size(); k++)
         {
           // Check the mimic_subtree_joint
-          const auto & mimicking_sub = model.subtrees[k];
+          const auto & mimicking_sub = model.subtrees[model.mimicking_joints[k]];
           int j = 1;
           JointIndex id_subtree = 0;
           for (; j < mimicking_sub.size(); j++)