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Add history scrubbing mechanism to simulate.

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[screen capture](https://www.youtube.com/watch?v=YSvWn_poqWs)

PiperOrigin-RevId: 570676968
Change-Id: Id9a1fccc9418b851e007ddcf3fa89acd4edff3e9
This commit is contained in:
Yuval Tassa
2023-10-04 06:35:14 -07:00
committed by Copybara-Service
parent 1e94c12cdd
commit 3e12f0d50c
6 changed files with 177 additions and 26 deletions
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python/mujoco/simulate.cc
+2 -1
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@@ -210,7 +210,8 @@ PYBIND11_MODULE(_simulate, pymodule) {
py::call_guard<py::gil_scoped_release>())
.def("sync", CallIfNotNull(&mujoco::Simulate::Sync),
py::call_guard<py::gil_scoped_release>())
.def("add_to_history", CallIfNotNull(&mujoco::Simulate::AddToHistory),
py::call_guard<py::gil_scoped_release>())
.def("render_loop", CallIfNotNull(&mujoco::Simulate::RenderLoop),
py::call_guard<py::gil_scoped_release>())
.def("lock", GetIfNotNull(&mujoco::Simulate::mtx),