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.

See changelog herein for motivation and discussion. PiperOrigin-RevId: 797392841 Change-Id: If50e9f09e1d07e8363169d3589c32097aeca2432
2025-08-20 11:29:13 -07:00
parent bf04103b6f
commit c7a82c32dc
8 changed files with 34 additions and 26 deletions
@@ -193,7 +193,7 @@ class Simulate {
  int info = 0;
  int profiler = 0;
  int sensor = 0;
-  int pause_update = 1;
+  int pause_update = 0;
  int fullscreen = 0;
  int vsync = 1;
  int busywait = 0;