[Feature]: Add support of Mujoco-like generic gaintype and biastype.

[MandiZhao]

When loading the h1 model from DIAL-MPC the actuator force range does not get properly parsed and throws warnings [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`. I attached the h1 model assets and xml here, run load_h1.py to reproduce: h1_mjcf_loading.zip

Full error msg below:

[Genesis] [21:41:19] [INFO] ╭─────────────────────────────────────────────────────────────────────────────────────╮
[Genesis] [21:41:19] [INFO] │┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉ Genesis ┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉┈┉│
[Genesis] [21:41:19] [INFO] ╰─────────────────────────────────────────────────────────────────────────────────────╯
[Genesis] [21:41:19] [INFO] Running on [NVIDIA GeForce RTX 4080 SUPER] with backend gs.cuda. Device memory: 15.70 GB.
[Genesis] [21:41:19] [INFO] 🚀 Genesis initialized. 🔖 version: 0.2.1, 🌱 seed: None, 📏 precision: '32', 🐛 debug: False, 🎨 theme: 'dark'.
[Genesis] [21:41:19] [INFO] Scene <8e5f0b1> created.
[Genesis] [21:41:19] [INFO] Adding <gs.RigidEntity>. idx: 0, uid: <774fe82>, morph: <gs.morphs.Plane>, material: <gs.materials.Rigid>.
[Genesis] [21:41:19] [INFO] Adding <gs.RigidEntity>. idx: 1, uid: <2a5693d>, morph: <gs.morphs.MJCF(file='/home/mandiz/pr-genesis/unitree_h1/h1_real_feet.xml')>, material: <gs.materials.Rigid>.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.
[Genesis] [21:41:19] [WARNING] `kp` in `gainprm` doesn't match `-kp` in `biasprm`.

[Hippozhibos]

get same WARNING when using Genesis

[bxtbold]

When loading the h1 model from DIAL-MPC the actuator force range does not get properly

First of all, xml model doesn't provide force range. Instead, it provides control range. Force range in Genesis is by default [-100, 100] which is assigned here, but it is overwritten by mujoco defaults in this case [0, 0]

[WARNING] kp in gainprm doesn't match -kp in biasprm.

This warning has nothing to do with force or control range, but it is about control gains. Both gainprm kp and biasprm kp gains are same for actuator/position. Not really sure why those values enforced to be equal.

If you wanna add force range, you need to add force range argument to your actuators

-    <motor class="h1" name="left_hip_yaw" joint="left_hip_yaw" ctrlrange="-200 200"/>
+    <motor class="h1" name="left_hip_yaw" joint="left_hip_yaw" forcerange="-200 200" ctrlrange="-200 200"/>

[duburcqa]

Genesis only supports PD control for now, hence this requirement. This may change in the future.