Changes to dcmotor:

- 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

include/mujoco/mujoco.h

@@ -1729,9 +1729,9 @@ MJAPI const char* mjs_setToAdhesion(mjsActuator* actuator, double gain);
 // Set actuator to DC motor; return error if any.
 // Nullable: motorconst, nominal, saturation, inductance, cogging, controller, thermal, lugre
 MJAPI const char* mjs_setToDCMotor(mjsActuator* actuator, double motorconst[2], double resistance,
-                                   double nominal[3], double saturation[4], double inductance[2],
-                                   double cogging[3], double controller[5], double thermal[6],
-                                   double lugre[6], int input_mode);
+                                   double nominal[3], double saturation[3], double inductance[2],
+                                   double cogging[3], double controller[6], double thermal[6],
+                                   double lugre[5], int input_mode);
 
 
 //---------------------------------- Assets --------------------------------------------------------