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As part of our goal to make Rapier more suitable for robotics, this PR adds two crates:
mjcf-rsfor loading MJCF (MuJoCo scene format) files independently from Rapier.rapier3d-mjcffor loading a MJCF scene into rapier using either impulse joints or multibody joints.This is somewhat similar to the URDF loader.
This adds two examples: one with a simple MJCF robot, and one that allows you to cycle through the robots from the mujoco menagerie (the
mujoco_menagerierepository needs to be cloned separately).It’s not 100% functional as there are still some issues wrt. loop-closing joints, but the goal is to get the bulk of the code merged and continue with followup bug fixes.
Because the implementation of both of these crates involve AI coding, disclaimers have been added to their README and a AI coding disclaimer has been added to the main README of the repository.