Changes to dcmotor:

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- Remove `lugre:viscous`, should now be added directly to actuator `damping`. Trying to do this for the user was incompatible with default inheritance (compounding instead of overriding).
- Move voltage limiting from the `saturation` to the `controller` attribute.
- Fix indexing issues in default inheritance.

PiperOrigin-RevId: 897087642
Change-Id: I5388c2633e15c7e223992e7eb5d6a28db75a6438

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This commit is contained in:

Yuval Tassa

2026-04-09 06:51:57 -07:00

committed by Copybara-Service

parent 26fb65c7a7

commit 81720071b8

14 changed files with 335 additions and 85 deletions

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