Fix bugs in adhesion default parsing.

- `gain` was not inherited, either from `<adhesion gain>` default or from `<general gainprm>` default.
- `dyntype` was not inherited from `<general dyntype>` default.
- Reported by @vaxenburg.

PiperOrigin-RevId: 480707156
Change-Id: I0160531d48186e7658952e72923ceb6cb034be9b

src/xml/xml_native_reader.cc

@@ -1818,11 +1818,6 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
 
   // adhesion
   else if (type=="adhesion") {
-    // clear bias, set default gain
-    mjuu_zerovec(pact->biasprm, mjNBIAS);
-    mjuu_zerovec(pact->gainprm, mjNGAIN);
-    pact->gainprm[0] = 1;
-
     // explicit attributes
     ReadAttr(elem, "gain", 1, pact->gainprm, text);
     if (pact->gainprm[0]<0)
@@ -1836,7 +1831,6 @@ void mjXReader::OneActuator(XMLElement* elem, mjCActuator* pact) {
 
     // implied parameters
     pact->ctrllimited = 1;
-    pact->dyntype = mjDYN_NONE;
     pact->gaintype = mjGAIN_FIXED;
     pact->biastype = mjBIAS_NONE;
   }