diff --git a/README.md b/README.md
index 30d72a6..017b53a 100644
--- a/README.md
+++ b/README.md
@@ -13,6 +13,7 @@
   - body = red
 - Play/pause, reset, speed slider, angle scrubber.
 - Foot trajectory traces for both sides.
+- Optional linkage annotation overlay (joint and link labels).
 - Diagnostics panel with closure error and fallback counters.
 
 ## File layout
@@ -47,4 +48,3 @@ Then open:
 - No collision/ground dynamics and no body translation.
 - Side B is driven by `theta + pi`.
 - Lower branch of each circle-circle intersection is selected to maintain leg-down posture.
-
diff --git a/index.html b/index.html
index 363b078..739d6ad 100644
--- a/index.html
+++ b/index.html
@@ -47,6 +47,11 @@
           <span>Show foot traces</span>
         </label>
 
+        <label class="check">
+          <input id="show-annotations" type="checkbox" />
+          <span>Overlay linkage annotations</span>
+        </label>
+
         <section class="diag">
           <h2>Diagnostics</h2>
           <pre id="diag">loading…</pre>
@@ -57,4 +62,3 @@
     <script type="module" src="./src/main.js"></script>
   </body>
 </html>
-
diff --git a/src/main.js b/src/main.js
index 0455a52..a9c4346 100644
--- a/src/main.js
+++ b/src/main.js
@@ -14,6 +14,7 @@ const state = {
   showNear: true,
   showFar: true,
   showTrace: true,
+  showAnnotations: false,
   fallbackCount: 0,
   pose: null,
   ground: {
diff --git a/src/renderer.js b/src/renderer.js
index a8e1dd4..763d924 100644
--- a/src/renderer.js
+++ b/src/renderer.js
@@ -160,6 +160,52 @@ function drawHUD(ctx, data) {
   ctx.restore();
 }
 
+function drawLabel(ctx, p, text, dx = 0, dy = 0) {
+  ctx.save();
+  ctx.font = '12px ui-monospace, SFMono-Regular, Menlo, monospace';
+  ctx.textAlign = 'center';
+  ctx.textBaseline = 'middle';
+
+  const x = p.x + dx;
+  const y = p.y + dy;
+  const padX = 4;
+  const padY = 2;
+  const metrics = ctx.measureText(text);
+  const w = metrics.width + padX * 2;
+  const h = 14 + padY * 2;
+
+  ctx.fillStyle = 'rgba(10, 12, 18, 0.72)';
+  ctx.fillRect(x - w * 0.5, y - h * 0.5, w, h);
+
+  ctx.fillStyle = '#f4f7ff';
+  ctx.fillText(text, x, y + 0.5);
+  ctx.restore();
+}
+
+function drawAnnotations(ctx, tf, side) {
+  if (!side) return;
+
+  const A = tf.toScreen(side.A);
+  const B = tf.toScreen(side.B);
+  const O = tf.toScreen(side.O);
+  const C = tf.toScreen(side.C);
+  const D = tf.toScreen(side.D);
+  const E = tf.toScreen(side.E);
+  const F = tf.toScreen(side.F);
+  const G = tf.toScreen(side.G);
+
+  // Joint labels
+  drawLabel(ctx, A, 'A', -12, -10);
+  drawLabel(ctx, B, 'B', 12, -10);
+  drawLabel(ctx, O, 'O', 0, -14);
+  drawLabel(ctx, C, 'C', 0, 14);
+  drawLabel(ctx, D, 'D', -12, 10);
+  drawLabel(ctx, E, 'E', 12, 10);
+  drawLabel(ctx, F, 'F', -12, 12);
+  drawLabel(ctx, G, 'G', 12, 12);
+
+}
+
 export function renderScene(canvas, state) {
   const ctx = canvas.getContext('2d');
   ctx.fillStyle = COLORS.bg;
@@ -208,5 +254,9 @@ export function renderScene(canvas, state) {
     drawSide(ctx, tf, state.pose.near, 1, 2.6);
   }
 
+  if (state.showAnnotations && state.showNear) {
+    drawAnnotations(ctx, tf, state.pose.near);
+  }
+
   drawHUD(ctx, state.pose);
 }
diff --git a/src/ui.js b/src/ui.js
index 7ee6c26..f043088 100644
--- a/src/ui.js
+++ b/src/ui.js
@@ -10,6 +10,7 @@ export function wireUI(state, hooks) {
   const showNear = document.getElementById('show-near');
   const showFar = document.getElementById('show-far');
   const showTrace = document.getElementById('show-trace');
+  const showAnnotations = document.getElementById('show-annotations');
 
   speed.value = String(state.speedRps);
   speedOut.value = Number(state.speedRps).toFixed(2);
@@ -20,6 +21,7 @@ export function wireUI(state, hooks) {
   showNear.checked = state.showNear;
   showFar.checked = state.showFar;
   showTrace.checked = state.showTrace;
+  showAnnotations.checked = state.showAnnotations;
 
   speed.addEventListener('input', () => {
     const v = Number(speed.value);
@@ -55,6 +57,10 @@ export function wireUI(state, hooks) {
     state.showTrace = showTrace.checked;
   });
 
+  showAnnotations.addEventListener('change', () => {
+    state.showAnnotations = showAnnotations.checked;
+  });
+
   return {
     syncAngle(theta) {
       const deg = radToDeg(theta);