Improved unpause behavior in simulate.

PiperOrigin-RevId: 570030315 Change-Id: I5822f8686ba2fd7c5c59a9fa73fc29000a8406ec
2023-10-02 04:59:59 -07:00
parent e1549376f6
commit 639e77876d
2 changed files with 2 additions and 2 deletions
@@ -300,7 +300,7 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):

          # Run mj_forward, to update rendering and joint sliders.
          mujoco.mj_forward(m, d)
-          synccpu = time.time()
+          simulate.speed_changed = True


 def _launch_internal(
@@ -400,7 +400,7 @@ void PhysicsLoop(mj::Simulate& sim) {
        else {
          // run mj_forward, to update rendering and joint sliders
          mj_forward(m, d);
-          syncCPU = mj::Simulate::Clock::now();
+          sim.speed_changed = true;
        }
      }
    }  // release std::lock_guard<std::mutex>