google-deepmind / google-deepmind/mujoco
Adhesion actuator `dyntype`
Open
enhancement
- Dominant language
- C++
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- Avg merge
- 10d 16h
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Description
### The feature, motivation and pitch
Is there a good reason the `dyntype` of adhesion actuators can only be `none`? Can't we expose `dyntype` (along with `dynprm`) as another custom attribute of the adhesion actuators, like e.g. gain? For example, having a `filter` dynamics for adhesion could be quite useful (and realistic in some cases).
### Alternatives
_No response_
### Additional context
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