Fix issue where unpausing the simulation (especially under slowdown) causes a jump in simulation time, in both native simulate and Python viewer.

PiperOrigin-RevId: 568948943 Change-Id: I2f401508555e272f348e97627aeb85cb3e9cf017
2023-09-27 13:45:25 -07:00
parent 8ed321d469
commit ac74c72657
2 changed files with 2 additions and 0 deletions
@@ -298,6 +298,7 @@ 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()


 def _launch_internal(