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,
              ),