'Joints must be inserted into a ImpulseJointSet'?

[gsteinLTU]

Please correct me if I'm misunderstanding, but this seems to ignore the existence of Multibody joints:

https://github.com/dimforge/rapier.rs/blob/7307c9074e72e3e84ed1286cce57f0614c439ada/docs/user_guides/templates/joints.mdx?plain=1#L44-L45

This other page referencing ImpulseJointSet as the only joint set may also need a change to include Multibody joints:

https://github.com/dimforge/rapier.rs/blob/7307c9074e72e3e84ed1286cce57f0614c439ada/docs/user_guides/templates/simulation_structures.mdx?plain=1#L132-L138