Set actuator_force in MJX. Fixes #2068.

PiperOrigin-RevId: 676867005 Change-Id: I80514a050ff40cb6d43a95b74c4a36c4991db588
2024-09-20 09:15:45 -07:00
parent 50f43b8745
commit ab3954d892
3 changed files with 15 additions and 2 deletions
@@ -192,7 +192,9 @@ def fwd_actuation(m: Model, d: Data) -> Data:
  actfrcrange = actfrcrange[m.dof_jntid]
  qfrc_actuator = jp.clip(qfrc_actuator, actfrcrange[:, 0], actfrcrange[:, 1])

-  d = d.replace(act_dot=act_dot, qfrc_actuator=qfrc_actuator)
+  d = d.replace(
+      act_dot=act_dot, qfrc_actuator=qfrc_actuator, actuator_force=force
+  )
  return d