Soil simulation in mujoco

I stumbled across a plugin someone made for simulating soil in mujoco: https://github.com/KennyVilella/excavator_simulator_mujoco/blob/main/plugin/soil/README.md

If we are able to use this it could be incredibly useful. Additionally, we will need a complete model of the robot with movable actuators and hinges and everything for this soil simulator to actually be worth the time.