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v1.22.0 — MuJoCo dynamics backend

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@asbis asbis released this 08 Jul 13:00
· 49 commits to master since this release
v1.22.0
fddd98a

Adds MuJoCo as a second force-based simulation backend beside Rapier.

Highlights

  • @shapeitup/sim-mujoco: SimSpec→MJCF translator + runMujoco engine.
  • Select it per run: export const sim = { engine: "mujoco", ... }.
  • Scripted bodies collide (weld-driven), stiff servos stabilised, mesh-geom colliders (convex hull), and contact force + penetration reporting.
  • Four-bar linkages verified on MuJoCo.
  • Viewer playback (runtime-loaded WASM; graceful fallback to Rapier/kinematic).

The MCP path is fully tested (802 tests green). Viewer in-webview MuJoCo playback ships behind a graceful fallback and is pending an interactive smoke-test. See docs/mujoco-integration.md.

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