Don't compute sensors in mjd_transitionFD, if not requested.

PiperOrigin-RevId: 507878658 Change-Id: I97ece521fd177d97fa5758dda1eb012ba26bcabe
2023-02-07 14:01:43 -08:00
parent 15b6e6f060
commit 48e95817e4
2 changed files with 41 additions and 1 deletions
@@ -1510,7 +1510,7 @@ void mjd_stepFD(const mjModel* m, mjData* d, mjtNum eps, mjtByte centered,
  }

  // step input
-  mj_step(m, d);
+  mj_stepSkip(m, d, mjSTAGE_NONE, skipsensor);

  // save output
  getState(m, d, next, sensor);