From 25ddb3e6e86f31079d69c5f9a92784742e2d0314 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 27 Nov 2023 04:44:54 -0800
Subject: [PATCH] simulate: Add states to history when stepping with right
 arrow key.

PiperOrigin-RevId: 585613870
Change-Id: I7fb051946e8a91a900442e3d7048dfa8b8bd7c5c
---
 simulate/simulate.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 676b1594..f1d27cf3 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -1566,9 +1566,10 @@ void UiEvent(mjuiState* state) {
           mjui0_update_section(sim, SECT_SIMULATION);
         }
 
-        // not in scrubber: step
+        // not in scrubber: step, add to history buffer
         else {
           mj_step(sim->m_, sim->d_);
+          sim->AddToHistory();
         }
 
         UpdateProfiler(sim, sim->m_, sim->d_);