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Support hydroelastic properties in mujoco parser #22396

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RussTedrake opened this issue Jan 5, 2025 · 0 comments
Open

Support hydroelastic properties in mujoco parser #22396

RussTedrake opened this issue Jan 5, 2025 · 0 comments
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@rpoyner-tri
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component: multibody parsing Loading models into MultibodyPlant priority: medium type: feature request

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@RussTedrake
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We do not yet support parsing any of the custom drake extensions in the mujoco parser. Some of them are not needed... for instance, the mujoco format supports ball joints directly.

The victory condition for this issue is specifically the ability to specify our custom hydroelastic properties in a mujoco xml file.
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component: multibody parsing Loading models into MultibodyPlant priority: medium type: feature request
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@RussTedrake @rpoyner-tri