From 7d87bb625c45f885a652e5e1438b8ac2fb5d3d5f Mon Sep 17 00:00:00 2001
From: juan-g-bonilla <juan@garciabonilla.com>
Date: Thu, 19 Jun 2025 23:14:19 -0700
Subject: [PATCH 1/2] Set MuJoCo warning and error callback

---
 .../mujocoDynamics/_GeneralModuleFiles/MJScene.cpp |  4 ++++
 .../mujocoDynamics/_GeneralModuleFiles/MJUtils.cpp | 14 ++++++++++++++
 .../mujocoDynamics/_GeneralModuleFiles/MJUtils.h   | 12 ++++++++++++
 3 files changed, 30 insertions(+)

diff --git a/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJScene.cpp b/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJScene.cpp
index 5c9883df2a..9fd25949cf 100644
--- a/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJScene.cpp
+++ b/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJScene.cpp
@@ -38,6 +38,10 @@ MJScene::MJScene(std::string xml, const std::vector<std::string>& files)
 {
     this->AddFwdKinematicsToDynamicsTask(MJScene::FWD_KINEMATICS_PRIORITY);
     this->integrator = new svIntegratorRK4(this);
+
+    // Replace default MuJoCo error/warning handling with our own
+    mju_user_error = MJBasilisk::detail::logMujocoError;
+    mju_user_warning = MJBasilisk::detail::logMujocoWarning;
 }
 
 MJScene MJScene::fromFile(const std::string& fileName)
diff --git a/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.cpp b/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.cpp
index 5b1e06726b..f1a77a5979 100644
--- a/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.cpp
+++ b/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.cpp
@@ -19,6 +19,20 @@
 
 #include "MJUtils.h"
 
+using namespace std::string_literals;
+
 namespace MJBasilisk::detail
 {
+void
+logMujocoError(const char* err)
+{
+    logAndThrow<std::runtime_error>("MuJoCo internal error: "s + err);
+}
+
+void
+logMujocoWarning(const char* err)
+{
+    BSKLogger{}.bskLog(BSK_WARNING, ("MuJoCo internal warning: "s + err).c_str());
+}
+
 } // namespace MJBasilisk::detail
diff --git a/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.h b/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.h
index a4c015829f..8db662b9c5 100644
--- a/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.h
+++ b/src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.h
@@ -64,6 +64,18 @@ template <typename T = std::invalid_argument>
     throw T(error);
 }
 
+/** Calls ``logAndThrow<std::runtime_error>`` with the given input
+ *
+ * Meant to be used as an error callback for MuJoCo's ``mju_user_error``.
+*/
+void logMujocoError(const char* err);
+
+/** Calls ``BSKLogger::bskLog`` with the given input
+ *
+ * Meant to be used as an error callback for MuJoCo's ``mju_user_warning``.
+*/
+void logMujocoWarning(const char* err);
+
 } // namespace MJBasilisk::detail
 
 #endif

From 834904a5dd2f802c0af2853f141738f6a07b15cf Mon Sep 17 00:00:00 2001
From: juan-g-bonilla <juan@garciabonilla.com>
Date: Thu, 19 Jun 2025 23:15:06 -0700
Subject: [PATCH 2/2] update release notes

---
 docs/source/Support/bskReleaseNotes.rst | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docs/source/Support/bskReleaseNotes.rst b/docs/source/Support/bskReleaseNotes.rst
index ec6dba363c..1c48aaf2a4 100644
--- a/docs/source/Support/bskReleaseNotes.rst
+++ b/docs/source/Support/bskReleaseNotes.rst
@@ -54,6 +54,7 @@ Version |release|
 
 - Improve reading speed of recorded messages by about 75%.
 - Added support for Vizard 2.3.0
+- Redirected MuJoCo errors and warnings to :ref:`bskLogging` instead of printing to file.
 
 
 Version 2.7.0 (April 20, 2025)