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.
Yuval Tassa · Aug 20, 2025, 6:29 PM UTC
c7a82c32dc33Loading commits
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Yuval Tassa · Aug 20, 2025, 6:29 PM UTC
c7a82c32dc33