[BugFix] Populate actuator_force in forward pass for ACTUATORFRC/TENDONACTFRC#78
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…ONACTFRC `actuator_force` was declared in the Data type stubs and zero-initialized in io.py, but was never written during the forward pass. This caused ACTUATORFRC and TENDONACTFRC sensors to silently return all zeros regardless of the control signal. The fix adds `actuator_force=force.contiguous()` to the `d.update_()` call in `_actuation()`, so the field is populated with the actual clamped actuator force after gain/bias computation and forcerange clamping.
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Description
actuator_forcewas declared in the Data type stubs and zero-initialized, but was never written during the forward pass. This caused ACTUATORFRC and TENDONACTFRC sensors to silently return all zeros regardless of the control signal.The fix adds
actuator_force=force.contiguous()to thed.update_()call in_actuation(), so the field is populated with the actual clamped actuator force after gain/bias computation and forcerange clamping.This also replicates MJX (relevant lines here).
Test plan
pytest test/ -x -vpassesruff check .andruff format --check .clean