Modify Simulate::InjectNoise to set target of exponential decay to value from key_ctrl if a valid key is provided as input.

PiperOrigin-RevId: 813819040 Change-Id: I79508039b17fb3484b71ae0d19614c32adacfa10
2025-10-01 10:45:26 -07:00
parent edbdb5195c
commit 401bf431b8
3 changed files with 10 additions and 5 deletions
@@ -381,7 +381,7 @@ void PhysicsLoop(mj::Simulate& sim) {
            sim.speed_changed = false;

            // inject noise
-            sim.InjectNoise();
+            sim.InjectNoise(sim.key);

            // run single step, let next iteration deal with timing
            mj_step(m, d);
@@ -412,7 +412,7 @@ void PhysicsLoop(mj::Simulate& sim) {
              }

              // inject noise
-              sim.InjectNoise();
+              sim.InjectNoise(sim.key);

              // call mj_step
              mj_step(m, d);