Merge pull request #3134 from kevinzakka:sensoracc-rnepost

PiperOrigin-RevId: 875703097 Change-Id: I564c1afa1cc1f88a712984c6714611056f6e26eb
2026-02-26 06:58:48 -08:00
parent 137a504625 43cde9716c
commit 19b583a421
2 changed files with 36 additions and 0 deletions
@@ -1530,6 +1530,7 @@ void mj_step2(const mjModel* m, mjData* d) {
  mj_fwdActuation(m, d);
  mj_fwdAcceleration(m, d);
  mj_fwdConstraint(m, d);
+  d->flg_rnepost = 0;  // clear flag for lazy evaluation
  mj_sensorAcc(m, d);
  mj_checkAcc(m, d);