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

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PiperOrigin-RevId: 568948943
Change-Id: I2f401508555e272f348e97627aeb85cb3e9cf017
This commit is contained in:
Yuval Tassa
2023-09-27 13:45:25 -07:00
committed by Copybara-Service
parent 8ed321d469
commit ac74c72657
2 changed files with 2 additions and 0 deletions
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python/mujoco/viewer.py
+1
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@@ -298,6 +298,7 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
# Run mj_forward, to update rendering and joint sliders. # Run mj_forward, to update rendering and joint sliders.
mujoco.mj_forward(m, d) mujoco.mj_forward(m, d)
synccpu = time.time()
def _launch_internal( def _launch_internal(
simulate/main.cc
+1
View File
@@ -392,6 +392,7 @@ void PhysicsLoop(mj::Simulate& sim) {
else { else {
// run mj_forward, to update rendering and joint sliders // run mj_forward, to update rendering and joint sliders
mj_forward(m, d); mj_forward(m, d);
syncCPU = mj::Simulate::Clock::now();
} }
} }
} // release std::lock_guard<std::mutex> } // release std::lock_guard<std::mutex>