MJCF parser for Rust
Disclaimer. Most of this crate — source, tests, and documentation — was produced by an AI coding assistant working iteratively from MJCF reference scenes (primarily the MuJoCo Menagerie), under human direction and review.
mjcf-rs is a pure-Rust parser for the MuJoCo XML format (MJCF).
It produces a typed AST that mirrors MJCF 1:1 in element names, with all
preprocessing (<include> resolution, <default> class inheritance, angle
unit normalization) already done — so consumers don't need to revisit the
spec for any of those.
This crate has no dependency on rapier3d or any physics engine. Pair
it with rapier3d-mjcf to actually simulate MJCF
models.
Status
See rapier3d-mjcf's feature matrix for an
up-to-date, phase-by-phase list of what's supported.