From 71faea0e62c6271acd93f604aeb321895b92c9c6 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Tue, 12 Sep 2023 07:17:04 -0700
Subject: [PATCH] BEGIN_PUBLIC Don't update actuator state when actuation is
 disabled. END_PUBLIC

PiperOrigin-RevId: 564712814
Change-Id: I3cb656e81c9018a48d46348960cc07b14ae15b4a
---
 src/engine/engine_forward.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index e406ed7a..cb168b71 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -551,7 +551,7 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
 static void mj_advance(const mjModel* m, mjData* d,
                        const mjtNum* act_dot, const mjtNum* qacc, const mjtNum* qvel) {
   // advance activations and clamp
-  if (m->na) {
+  if (m->na && !mjDISABLED(mjDSBL_ACTUATION)) {
     for (int i=0; i < m->nu; i++) {
       int actadr = m->actuator_actadr[i];
       int actadr_end = actadr + m->actuator_actnum[i];