Add pulley support to spatial tendons in MJX.

PiperOrigin-RevId: 683103659
Change-Id: I22544071a3fc6fbd09f9a59690106701b101ee6a

doc/mjx.rst

@@ -196,7 +196,7 @@ The following features are **fully supported** in MJX:
    * - :ref:`Actuator Bias <mjtBias>`
      - ``NONE``, ``AFFINE``
    * - :ref:`Tendon Wrapping <mjtWrap>`
-     - ``JOINT``, ``SITE``
+     - ``JOINT``, ``SITE``, ``PULLEY``
    * - :ref:`Geom <mjtGeom>`
      - ``PLANE``, ``HFIELD``, ``SPHERE``, ``CAPSULE``, ``BOX``, ``MESH`` are fully implemented. ``ELLIPSOID`` and
        ``CYLINDER`` are implemented but only collide with other primitives, note that ``BOX`` is implemented as a mesh.
@@ -247,7 +247,7 @@ The following features are **in development** and coming soon:
    * - :ref:`Actuator Bias <mjtBias>`
      - ``MUSCLE``
    * - :ref:`Tendon Wrapping <mjtWrap>`
-     - ``PULLEY``, ``SPHERE``, ``CYLINDER``
+     - ``SPHERE``, ``CYLINDER``
    * - Fluid Model
      - :ref:`flEllipsoid`
    * - :ref:`Tendons <tendon>`