diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index b8a479f2..5a466c7d 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -764,7 +764,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
for (int geomid = 0; geomid < m->ngeom; geomid++) {
int meshid = m->geom_dataid[geomid];
// skip if not a mesh or if there is an octree
- if (m->geom_type[geomid] == mjGEOM_SDF || meshid == -1 || m->mesh_octadr[meshid] >= 0) {
+ if (meshid == -1 || m->geom_type[geomid] == mjGEOM_SDF || m->mesh_octadr[meshid] >= 0) {
continue;
}
@@ -813,7 +813,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (vopt->flags[mjVIS_MESHBVH]) {
for (int geomid = 0; geomid < m->ngeom; geomid++) {
int meshid = m->geom_dataid[geomid];
- if (meshid == -1 || (m->geom_type[geomid] == mjGEOM_MESH && m->mesh_octadr[meshid] == -1)) {
+ if (meshid == -1 || m->geom_type[geomid] == mjGEOM_HFIELD || m->mesh_octadr[meshid] == -1) {
continue;
}
diff --git a/test/testdata/model.xml b/test/testdata/model.xml
index ce7ea048..82bc2906 100644
--- a/test/testdata/model.xml
+++ b/test/testdata/model.xml
@@ -116,6 +116,9 @@
+