From 84c8cf432c262d4b49c1b1195eef1096616758a0 Mon Sep 17 00:00:00 2001
From: Aditya kumar singh <143548997+Adityakk9031@users.noreply.github.com>
Date: Sun, 18 Jan 2026 17:25:49 +0530
Subject: [PATCH] Fix Frame Issue in mjCBody::AccumulateInertia

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

diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index e60f9d93..44fd88c8 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -2263,7 +2263,7 @@ void mjCBody::AccumulateInertia(const mjsBody* other, mjsBody* result) {
   };
   double iquat[2][4] = {
     {result->iquat[0], result->iquat[1], result->iquat[2], result->iquat[3]},
-    {other->iquat[0], other->iquat[1], other->iquat[2], other->iquat[3]}
+    {other_iquat[0], other_iquat[1], other_iquat[2], other_iquat[3]}
   };
 
   // compute total mass