Ensure noise is injected when the simulation is paused and a single step is manually requested

PiperOrigin-RevId: 807688008 Change-Id: I8de9706c633565d6d6944b58d34de9da1037a837
2025-09-16 07:34:36 -07:00
parent eacad44a1a
commit afbefc38a6
1 changed files with 3 additions and 0 deletions
@@ -380,6 +380,9 @@ void PhysicsLoop(mj::Simulate& sim) {
            syncSim = d->time;
            sim.speed_changed = false;

+            // inject noise
+            sim.InjectNoise();
+
            // run single step, let next iteration deal with timing
            mj_step(m, d);
            const char* message = Diverged(m->opt.disableflags, d);