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

test/xml/xml_native_reader_test.cc

@@ -2859,7 +2859,7 @@ TEST_F(ActuatorParseTest, IntvelocityCheckDefaultsIfNotSpecified) {
   EXPECT_DOUBLE_EQ(model->actuator_biasprm[2], 0.0);
 }
 
-TEST_F(ActuatorParseTest, IntvelocityNoActrangeThrowsError) {
+TEST_F(ActuatorParseTest, IntvelocityNoActrangeIsValid) {
   static constexpr char xml[] = R"(
   <mujoco>
     <worldbody>
@@ -2875,9 +2875,9 @@ TEST_F(ActuatorParseTest, IntvelocityNoActrangeThrowsError) {
   )";
   std::array<char, 1024> error;
   MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
-  ASSERT_THAT(model.get(), IsNull());
-  EXPECT_THAT(error.data(), HasSubstr("invalid actrange for actuator"));
-  EXPECT_THAT(error.data(), HasSubstr("line 10"));
+  ASSERT_THAT(model.get(), NotNull()) << error.data();
+  // actlimited resolves to false when no actrange is provided
+  EXPECT_EQ(model->actuator_actlimited[0], 0);
 }
 
 TEST_F(ActuatorParseTest, IntvelocityDefaultsPropagate) {