From 549fdddf3d1a77ff7199d201400efae3706fe9eb Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Sat, 4 Nov 2023 10:26:53 -0700
Subject: [PATCH] Fixed a bug with height fields AABB.

PiperOrigin-RevId: 579488048
Change-Id: I69a2d05f922b58947b1d468b5b31a4743d375d71
---
 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 a392d13d..e88f7771 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -1612,7 +1612,7 @@ void mjCGeom::ComputeAABB(void) {
   case mjGEOM_HFIELD:
     aamm[0] = -model->hfields[hfieldid]->size[0];
     aamm[1] = -model->hfields[hfieldid]->size[1];
-    aamm[2] = -model->hfields[hfieldid]->size[3];
+    aamm[2] = -model->hfields[hfieldid]->size[2];
     aamm[3] = model->hfields[hfieldid]->size[0];
     aamm[4] = model->hfields[hfieldid]->size[1];
     aamm[5] = model->hfields[hfieldid]->size[2];