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Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.

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See changelog herein for motivation and discussion.

PiperOrigin-RevId: 797392841
Change-Id: If50e9f09e1d07e8363169d3589c32097aeca2432
This commit is contained in:
Yuval Tassa
2025-08-20 11:29:13 -07:00
committed by Copybara-Service
parent bf04103b6f
commit c7a82c32dc
8 changed files with 34 additions and 26 deletions
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simulate/simulate.cc
+2 -2
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@@ -1922,8 +1922,8 @@ void Simulate::Sync(bool state_only) {
return;
}
bool update_profiler = this->profiler && (this->pause_update || this->run);
bool update_sensor = this->sensor && (this->pause_update || this->run);
bool update_profiler = this->profiler;
bool update_sensor = this->sensor;
for (int i = 0; i < m_->njnt; ++i) {
std::optional<std::pair<mjtNum, mjtNum>> range;