From afbefc38a6929c541d421332694557140cb9371f Mon Sep 17 00:00:00 2001
From: Matija Kecman <matijak@google.com>
Date: Tue, 16 Sep 2025 07:34:36 -0700
Subject: [PATCH] Ensure noise is injected when the simulation is paused and a
 single step is manually requested

PiperOrigin-RevId: 807688008
Change-Id: I8de9706c633565d6d6944b58d34de9da1037a837
---
 simulate/main.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/simulate/main.cc b/simulate/main.cc
index d52e4c9d..209be7e8 100644
--- a/simulate/main.cc
+++ b/simulate/main.cc
@@ -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);