mjcb_control respects the mjDSBL_ACTUATION flag

PiperOrigin-RevId: 483339817
Change-Id: I0b74e4c03a129f26b3cf2bb991a46f0a263b254b

src/engine/engine_forward.c

@@ -760,7 +760,7 @@ void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor)
   }
 
   // acceleration-dependent
-  if (mjcb_control) {
+  if (mjcb_control && !mjDISABLED(mjDSBL_ACTUATION)) {
     mjcb_control(m, d);
   }
   mj_fwdActuation(m, d);