Add SO3 transmission and native orientation actuator.

https://youtu.be/17XpwnqyCXs

New transmission type mjTRN_SO3: a relative orientation, targeting a ball
joint or a site+refsite pair. It is the first transmission with more than
one force output: its length is the norm of the expmap vector of the
relative rotation and its moment axes are the 3 rows of the
relative rotational Jacobian, without projecting onto per-actuator gears.

New force law mjGAIN_SO3/mjBIAS_SO3: a geodesic PD servo, force =
kp * log(q_current^-1 * q_target) - kv * velocity, exact for arbitrary axis
combinations with a unique equilibrium at every commanded orientation.
Error, moment rows and velocity all live in the child frame (joint or
site): the right-difference error is the gradient of the geodesic
potential in that frame. The parent-frame (left) error is not: driving
child-frame torques with it pumps energy at large angles, settling into
steady-spinning limit cycles (the SO3LargeAngleConvergence test). The
integrator variant stores the 3D orientation setpoint in act (actnum = 3,
re-anchored to a bounded representative at integration time). Exposed in
MJCF as <orientation joint=|site=+refsite= kp kv|dampratio>, or via
<general gaintype="so3" biastype="so3">.

The setpoint input has two charts: an expmap target (3 controls, default)
or a quaternion target (4 controls) -- <orientation input="quat">, the
first actuator with different input and output widths. The signature is
recorded in a new per-actuator field actuator_ctrlspec (mjtCtrlChart),
whose meaning is scoped by the gain type the way gain/bias parameters are;
ctrlnum is derived from it at compile time and remains the layout
authority. An explicit field rather than width inference or a prm slot:
width-as-chart cannot express same-width signatures (upcoming servo input
subsets), and prm slots are the input_mode pattern this stack retires.
The force law normalizes the commanded quaternion, making it scale- and
antipodally-invariant. The all-zero ctrl still maps to the identity via
mju_normalize4, but it is a degenerate point (a nudge of any component
commands a half-turn), so quat inputs reset to the identity quaternion:
new mj_resetCtrl sets neutral ctrl values (zero, except qw = 1), called
by mj_resetData and the viewers' Clear All. The quat chart is
restricted to dyntype 'none': integrating a quaternion setpoint linearly
is not meaningful on the manifold. New mjsActuator.ctrlspec field carries
the signature through the spec and XML round-trip.

Actuator sensors (actuatorpos/vel/frc) now report one value per force
output; dim = 3 on an SO3 actuator.

As the first actuator with nu != nactuator, this commit also makes the
viewers multi-input aware: the control sliders in simulate and studio,
which indexed per-actuator arrays by control index (out of bounds on
this model class), are generated per control and labeled with the
actuator name plus an input suffix ("orient/qw"), via the new
introspection helper mj_actuatorInputName -- the single source of truth
for input names, extended by each new multi-input type (quaternion
components are w-first: qw, qx, qy, qz). Slider ranges now honor a
defined ctrlrange even when ctrllimited is false: range is the UI hint,
limited is the clamp -- wrapped and expmap setpoints are unbounded but
still want finite sliders, while quat components are truly bounded.

The rotational demo model is orientation.xml under
test/engine/testdata/actuation/, upgraded to a three-way contrast:
per-axis wrapped servos vs an expmap-commanded vs a quat-commanded
orientation actuator, on identical checker-textured boxes. It is loaded
by the mixed-axis contrast and input-name tests, and doubles as the
viewer test model (slider groups of 3 independent, 3 grouped, 4 grouped).

PiperOrigin-RevId: 951607063
Change-Id: If235dba8e2f2ca72672e7c62531a27e967c6a373

python/mujoco/introspect/functions.py

@@ -1102,6 +1102,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Copy mjData, skip large arrays not required for visualization.',
      )),
+    ('mj_resetCtrl',
+     FunctionDecl(
+         name='mj_resetCtrl',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+         ),
+         doc='Reset ctrl to neutral values: zero, except quaternion inputs which reset to the identity.',  # pylint: disable=line-too-long
+     )),
     ('mj_resetData',
      FunctionDecl(
          name='mj_resetData',
@@ -3467,6 +3487,30 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Get name of object with the specified mjtObj type and id; return NULL if name not found.',  # pylint: disable=line-too-long
      )),
+    ('mj_actuatorInputName',
+     FunctionDecl(
+         name='mj_actuatorInputName',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='id',
+                 type=ValueType(name='int'),
+             ),
+             FunctionParameterDecl(
+                 name='input',
+                 type=ValueType(name='int'),
+             ),
+         ),
+         doc='Get name of actuator input, determined by the actuator type and input signature; return NULL if the actuator type defines no input names.',  # pylint: disable=line-too-long
+     )),
     ('mj_fullM',
      FunctionDecl(
          name='mj_fullM',
@@ -10927,6 +10971,44 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Set actuator to velocity servo; return error if any.',
      )),
+    ('mjs_setToOrientation',
+     FunctionDecl(
+         name='mjs_setToOrientation',
+         return_type=PointerType(
+             inner_type=ValueType(name='char', is_const=True),
+         ),
+         parameters=(
+             FunctionParameterDecl(
+                 name='actuator',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsActuator'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='kp',
+                 type=ValueType(name='double'),
+             ),
+             FunctionParameterDecl(
+                 name='kv',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(1,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='dampratio',
+                 type=ArrayType(
+                     inner_type=ValueType(name='double'),
+                     extents=(1,),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='ctrlspec',
+                 type=ValueType(name='int'),
+             ),
+         ),
+         doc='Set actuator to orientation servo.',
+     )),
     ('mjs_setToDamper',
      FunctionDecl(
          name='mjs_setToDamper',