From 79fffdc0ae5badf21544351c97ee468b9ed4a460 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 6 Feb 2023 02:38:05 -0800
Subject: [PATCH] Draw body label at the body frame rather than inertial frame,
 unless inertia is being visualised.

PiperOrigin-RevId: 507424290
Change-Id: I72ca68e2e47f76c0f70959a1a2c8b5f4b6b6b290
---
 src/engine/engine_vis_visualize.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index 0d18f52c..c61c9b17 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -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);