Forces and torques induced by an external magnetic field

Hello!

I'm a PhD student using MuJoCo for my research. I'm working on a project that requires moving a robot within a magnetic field.

For now, I've already implemented a plugin that computes and applies the forces and torques on a body given a uniform magnetic field and its gradient.

The magnetic field I'm working on is quite complex and cannot be easily described by a simple mathematical function. For this reason, I was thinking of providing the option to read the magnetic field from a precomputed 3D grid (for a region in space).

My main question would be if this is something that you would be interested in having in MuJoCo as an official plugin. I could polish the code and provide some documentation if you think this is something that could be useful for the community. If you think some extra functionality is needed, I could also implement it depending on how much load it is.

Thank you for your time and for the amazing work you've done on MuJoCo!