# Description

* Fixed bugs in actuator model implementation for actuator nets.
Earlier, the DC motor clipping was not working.
* Fixed bug in applying actuator model in the
`omni.isaac.orbit.asset.Articulation` class. The new
implementation caches the outputs from the explicit actuator model into
the `_joint_pos_*_sim` buffer to
  avoid feedback loops in the tensor operation.

## Type of change

- Bug fix (non-breaking change which fixes an issue)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file