Added a new test to check rewindability using a simple simulation example.
Two changes were necessary to get the sim to be rewindable:
The robot frames are now updated at the beginning of the physics tick instead of being at the end. This ensures that the physics step is executed using updated frame data.
Listeners in SimFloatingRootJoint that are used to maintain different representations of the joint state, were incompatible with rewindability. A simple revision on these was enough to fix the issue.
Added a new test to check rewindability using a simple simulation example.
Two changes were necessary to get the sim to be rewindable:
SimFloatingRootJointthat are used to maintain different representations of the joint state, were incompatible with rewindability. A simple revision on these was enough to fix the issue.