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

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PiperOrigin-RevId: 807688008
Change-Id: I8de9706c633565d6d6944b58d34de9da1037a837
This commit is contained in:
Matija Kecman
2025-09-16 07:34:36 -07:00
committed by Copybara-Service
parent eacad44a1a
commit afbefc38a6
1 changed files with 3 additions and 0 deletions
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simulate/main.cc
+3
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@@ -380,6 +380,9 @@ void PhysicsLoop(mj::Simulate& sim) {
syncSim = d->time; syncSim = d->time;
sim.speed_changed = false; sim.speed_changed = false;
// inject noise
sim.InjectNoise();
// run single step, let next iteration deal with timing // run single step, let next iteration deal with timing
mj_step(m, d); mj_step(m, d);
const char* message = Diverged(m->opt.disableflags, d); const char* message = Diverged(m->opt.disableflags, d);