Interpret position and intvelocity setpoints on 3D rotational transmissions (ball joints, site+refsite) on the circle. The force uses the setpoint representative nearest the current length for smooth tracking beyond pi.

- Wrapping in force path is local; act is re-anchored at integration time.
- Remove hardcoded `actrange` for intvelocity actuators.

PiperOrigin-RevId: 949566477
Change-Id: I349fdf17eedfbb2174d698cc1a6a91d52810b4a3

doc/XMLschema.rst

@@ -2660,6 +2660,9 @@
             .. grid-item::
                :ref:`forcelimited<actuator-intvelocity-forcelimited>`
 
+            .. grid-item::
+               :ref:`actlimited<actuator-intvelocity-actlimited>`
+
             .. grid-item::
                :ref:`ctrlrange<actuator-intvelocity-ctrlrange>`
 
@@ -6032,6 +6035,9 @@
             .. grid-item::
                :ref:`forcelimited<default-intvelocity-forcelimited>`
 
+            .. grid-item::
+               :ref:`actlimited<default-intvelocity-actlimited>`
+
             .. grid-item::
                :ref:`ctrlrange<default-intvelocity-ctrlrange>`