Implement sleeping in engine

PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e

src/engine/engine_core_util.h

@@ -114,17 +114,20 @@ MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d,
 MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d,
                                  int objtype, int objid, mjtNum res[6], int flg_local);
 
-
-//-------------------------- miscellaneous ---------------------------------------------------------
-
 // map from body local to global Cartesian coordinates
 MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9],
                            const mjtNum pos[3], const mjtNum quat[4],
                            int body, mjtByte sameframe);
 
+
+//-------------------------- miscellaneous ---------------------------------------------------------
+
 // extract 6D force:torque for one contact, in contact frame
 MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]);
 
+// count the number of length limit violations for tendon i (0, 1 or 2)
+int tendonLimit(const mjModel* m, const mjtNum* ten_length, int i);
+
 // high-level warning function: count warnings in mjData, print only the first time
 MJAPI void mj_warning(mjData* d, int warning, int info);