diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index 961310c9..63fa6123 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -835,48 +835,50 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         int j = m->actuator_trnid[2*i];
 
         // slide and hinge joint actuators
-        if ((m->actuator_trntype[i]==mjTRN_JOINT || m->actuator_trntype[i]==mjTRN_JOINTINPARENT) &&
-            (m->jnt_type[j]==mjJNT_HINGE || m->jnt_type[j]==mjJNT_SLIDE)) {
-          // set length(1) and width(0) of the connectors
-          sz[1] = m->vis.scale.actuatorlength * scl;
-          sz[0] = m->vis.scale.actuatorwidth * scl;
+        if (m->actuator_trntype[i]==mjTRN_JOINT ||
+            m->actuator_trntype[i]==mjTRN_JOINTINPARENT ||
+            m->actuator_trntype[i]==mjTRN_SITE) {
 
           START
 
-          // make geom
-          mjv_makeConnector(thisgeom,
-                            m->jnt_type[j]==mjJNT_SLIDE ? mjGEOM_ARROW : mjGEOM_ARROW1, sz[0],
-                            d->xanchor[3*j+0],
-                            d->xanchor[3*j+1],
-                            d->xanchor[3*j+2],
-                            d->xanchor[3*j+0] + sz[1]*d->xaxis[3*j+0],
-                            d->xanchor[3*j+1] + sz[1]*d->xaxis[3*j+1],
-                            d->xanchor[3*j+2] + sz[1]*d->xaxis[3*j+2]);
+          // site actuators
+          if (m->actuator_trntype[i]==mjTRN_SITE) {
+            // set size of the geometry
+            mju_scl3(sz, m->site_size+3*j, 1.1);
 
-          // set interpolated color
-          f2f(thisgeom->rgba, rgba, 4);
+            // make geom
+            mjv_initGeom(thisgeom,
+                         m->site_type[j], sz,
+                         d->site_xpos + 3*j,
+                         d->site_xmat + 9*j,
+                         thisgeom->rgba);
+          } else if (m->jnt_type[j]==mjJNT_HINGE || m->jnt_type[j]==mjJNT_SLIDE) {
+            // set length(1) and width(0) of the connectors
+            sz[1] = m->vis.scale.actuatorlength * scl;
+            sz[0] = m->vis.scale.actuatorwidth * scl;
 
-          // vopt->label
-          if (vopt->label==mjLABEL_ACTUATOR) {
-            makeLabel(m, mjOBJ_ACTUATOR, i, thisgeom->label);
+            // make geom
+            mjv_makeConnector(thisgeom,
+                              m->jnt_type[j]==mjJNT_SLIDE ? mjGEOM_ARROW : mjGEOM_ARROW1, sz[0],
+                              d->xanchor[3*j+0],
+                              d->xanchor[3*j+1],
+                              d->xanchor[3*j+2],
+                              d->xanchor[3*j+0] + sz[1]*d->xaxis[3*j+0],
+                              d->xanchor[3*j+1] + sz[1]*d->xaxis[3*j+1],
+                              d->xanchor[3*j+2] + sz[1]*d->xaxis[3*j+2]);
           }
 
-          FINISH
-        }
+          // ball or free joint
+          else if (m->jnt_type[j]==mjJNT_BALL || m->jnt_type[j]==mjJNT_FREE) {
+            sz[0] = sz[1] = sz[2] = m->vis.scale.jointlength * scl * 0.33;
 
-        // site actuators
-        if (m->actuator_trntype[i]==mjTRN_SITE) {
-          // actuator size is site size scaled by 1.1
-          mju_scl3(sz, m->site_size+3*j, 1.1);
-
-          START
-
-          // make geom overlapping the actuated site
-          mjv_initGeom(thisgeom,
-                       m->site_type[j], sz,
-                       d->site_xpos + 3*j,
-                       d->site_xmat + 9*j,
-                       thisgeom->rgba);
+            // make geom
+            mjv_initGeom(thisgeom,
+                         m->jnt_type[j]==mjJNT_BALL ? mjGEOM_SPHERE : mjGEOM_BOX, sz,
+                         d->xanchor + 3*j,
+                         d->xmat + 9*m->jnt_bodyid[j],
+                         thisgeom->rgba);
+          }
 
           // set interpolated color
           f2f(thisgeom->rgba, rgba, 4);
diff --git a/test/engine/testdata/rotations.xml b/test/engine/testdata/rotations.xml
new file mode 100644
index 00000000..31473f66
--- /dev/null
+++ b/test/engine/testdata/rotations.xml
@@ -0,0 +1,29 @@
+<!-- This file is a playground for understanding different rotations.
+     Currently, two examples are given:
+     - A rotation in the xy plane about a ball joint located in the corner of a box.
+     - A rotation in the xy plane about a free joing located in the center of a box.
+-->
+
+<mujoco>
+  <option density="1000">
+    <flag gravity="disable"/>
+  </option>
+
+  <worldbody>
+    <geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
+    <light pos="0 0 20"/>
+    <body name="body_ball" pos="0 0 .5">
+      <geom type="box" size=".5 .5 .1" pos="0 0 0"/>
+      <joint name="ball" pos=".5 .5 0" axis="0 0 1" type="ball"/>
+    </body>
+    <body name="body_free" pos="3 0 .5">
+      <freejoint name="free"/>
+      <geom type="box" size=".5 .5 .1" pos="0 0 0"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <general name="ball" joint="ball" dyntype="integrator" gear="0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
+    <general name="free" joint="free" dyntype="integrator" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
+  </actuator>
+</mujoco>