From d36f8f09bcde7c5432f0920c411802715a77da52 Mon Sep 17 00:00:00 2001
From: Mark Yang <markyang2005@gmail.com>
Date: Fri, 6 Mar 2026 19:16:06 -0500
Subject: [PATCH] Segfault from <attach> mjCwrap fix

---
 src/user/user_objects.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index a5c77e9cdb..fa8b982192 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -6441,8 +6441,9 @@ void mjCTendon::CopyFromSpec() {
   material_ = spec_material_;
   userdata_ = spec_userdata_;
 
-  // clear precompiled
+  // propagate model pointer to wraps and clear precompiled
   for (int i=0; i < path.size(); i++) {
+    path[i]->model = model;
     if (path[i]->Type() == mjWRAP_CYLINDER) {
       path[i]->spec.type = mjWRAP_SPHERE;
     }