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

src/xml/xml_native_reader.cc

@@ -266,8 +266,8 @@ std::vector<const char*> MJCF[nMJCF] = {
             "delay", "kp", "kv", "dampratio", "timeconst"},
         {"velocity", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange", "gear",
             "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay", "kv"},
-        {"intvelocity", "?", "ctrllimited", "forcelimited", "ctrlrange", "forcerange", "actrange",
-            "inheritrange", "gear", "damping", "armature", "cranklength", "user", "group",
+        {"intvelocity", "?", "ctrllimited", "forcelimited", "actlimited", "ctrlrange", "forcerange",
+             "actrange", "inheritrange", "gear", "damping", "armature", "cranklength", "user", "group",
             "nsample", "interp", "delay", "kp", "kv", "dampratio"},
         {"damper", "?", "forcelimited", "ctrlrange", "forcerange",
             "gear", "damping", "armature", "cranklength", "user", "group", "nsample", "interp", "delay", "kv"},
@@ -491,7 +491,7 @@ std::vector<const char*> MJCF[nMJCF] = {
             "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",
             "kv"},
         {"intvelocity", "*", "name", "class", "group", "nsample", "interp", "delay",
-            "ctrllimited", "forcelimited",
+            "ctrllimited", "forcelimited", "actlimited",
             "ctrlrange", "forcerange", "actrange", "inheritrange", "lengthrange",
             "gear", "damping", "armature", "cranklength", "user",
             "joint", "jointinparent", "tendon", "slidersite", "cranksite", "site", "refsite",