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Draw body label at the body frame rather than inertial frame, unless inertia is being visualised.

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PiperOrigin-RevId: 507424290
Change-Id: I72ca68e2e47f76c0f70959a1a2c8b5f4b6b6b290
This commit is contained in:
Yuval Tassa
2023-02-06 02:38:05 -08:00
committed by Copybara-Service
parent 7251e7b900
commit 79fffdc0ae
1 changed files with 2 additions and 2 deletions
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src/engine/engine_vis_visualize.c
+2 -2
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@@ -706,8 +706,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// construct geom
thisgeom->type = mjGEOM_LABEL;
mju_n2f(thisgeom->pos, d->xipos+3*i, 3);
mju_n2f(thisgeom->mat, d->ximat+9*i, 9);
mju_n2f(thisgeom->pos, d->xpos+3*i, 3);
mju_n2f(thisgeom->mat, d->xmat+9*i, 9);
// vopt->label
makeLabel(m, mjOBJ_BODY, i, thisgeom->label);