From 9ff2ce74d21fb1dab5af6b23041e489200fde98d Mon Sep 17 00:00:00 2001
From: AlexanderGri <grishin.alexgri@yandex.ru>
Date: Tue, 15 Oct 2019 16:52:34 +0300
Subject: [PATCH] Automatic evaluation of cfrc_ext

---
 mujoco_py/mjsim.pyx | 1 +
 1 file changed, 1 insertion(+)

diff --git a/mujoco_py/mjsim.pyx b/mujoco_py/mjsim.pyx
index 9e5946cb..a856a27c 100644
--- a/mujoco_py/mjsim.pyx
+++ b/mujoco_py/mjsim.pyx
@@ -127,6 +127,7 @@ cdef class MjSim(object):
             for _ in range(self.nsubsteps):
                 self.substep_callback()
                 mj_step(self.model.ptr, self.data.ptr)
+            mj_rnePostConstraint(self.model.ptr, self.data.ptr)
 
     def render(self, width=None, height=None, *, camera_name=None, depth=False,
                mode='offscreen', device_id=-1):