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

python/mujoco/introspect/functions.py

@@ -10823,7 +10823,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  name='saturation',
                  type=ArrayType(
                      inner_type=ValueType(name='double'),
-                     extents=(4,),
+                     extents=(3,),
                  ),
                  nullable=True,
              ),
@@ -10847,7 +10847,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  name='controller',
                  type=ArrayType(
                      inner_type=ValueType(name='double'),
-                     extents=(5,),
+                     extents=(6,),
                  ),
                  nullable=True,
              ),
@@ -10863,7 +10863,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  name='lugre',
                  type=ArrayType(
                      inner_type=ValueType(name='double'),
-                     extents=(6,),
+                     extents=(5,),
                  ),
                  nullable=True,
              ),

python/mujoco/specs.cc

@@ -1307,10 +1307,10 @@ PYBIND11_MODULE(_specs, m) {
       "set_to_dcmotor",
       [](raw::MjsActuator* self, std::array<double, 2> motorconst,
          double resistance,
-         std::array<double, 3> nominal, std::array<double, 4> saturation,
+         std::array<double, 3> nominal, std::array<double, 3> saturation,
          std::array<double, 2> inductance, std::array<double, 3> cogging,
-         std::array<double, 5> controller, std::array<double, 6> thermal,
-         std::array<double, 6> lugre, int input_mode) {
+         std::array<double, 6> controller, std::array<double, 6> thermal,
+         std::array<double, 5> lugre, int input_mode) {
         std::string err = mjs_setToDCMotor(
             self, motorconst.data(), resistance, nominal.data(),
             saturation.data(), inductance.data(), cogging.data(),
@@ -1321,12 +1321,12 @@ PYBIND11_MODULE(_specs, m) {
       },
       py::arg("motorconst"), py::arg("resistance"),
       py::arg("nominal") = std::array<double, 3>{0, 0, 0},
-      py::arg("saturation") = std::array<double, 4>{0, 0, 0, 0},
+      py::arg("saturation") = std::array<double, 3>{0, 0, 0},
       py::arg("inductance") = std::array<double, 2>{0, 0},
       py::arg("cogging") = std::array<double, 3>{0, 0, 0},
-      py::arg("controller") = std::array<double, 5>{0, 0, 0, 0, 0},
+      py::arg("controller") = std::array<double, 6>{0, 0, 0, 0, 0, 0},
       py::arg("thermal") = std::array<double, 6>{0, 0, 0, 0, 0, 0},
-      py::arg("lugre") = std::array<double, 6>{0, 0, 0, 0, 0, 0},
+      py::arg("lugre") = std::array<double, 5>{0, 0, 0, 0, 0},
       py::arg("input_mode") = 0);
 
   // ============================= MJSTENDONPATH ===============================