After missing Monday's light session, right tackle Marshal Yanda returned to the Ravens practice field with two days to go before meeting rival Pittsburgh.
The Ravens had both Yanda and cornerback Lardarius Webb (back) fully participating in practice.
The Steelers had a lot of limited guys a day ago, with half becoming full participants and the other half sitting out on Tuesday.
Here's the full injury report:
FULL PARTICIPATION: CB Lardarius Webb (back), RT Marshal Yanda (foot)
DID NOT PARTICIPATE: RB Dri Archer (ankle/knee), DE Brett Keisel (not injury related), TE Heath Miller (not injury related), WR Lance Moore (groin), S Troy Polamalu (not injury related), CB Ivan Taylor (not injury related), C Cody Wallace (finger)
FULL PARTICIPATION: RB Le'Veon Bell (not injury related), WR Antonio Brown (not injury related), WR Martavis Bryant (shoulder), CB Brice McCain (groin), DT Steve McLendon (stinger), QB Ben Roethlisberger (not injury related), S Shamarko Thomas (achilles/ankle), WR Markus Wheaton (not injury related)