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Log MuJoCo errors through BSKLogger #1022

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Log MuJoCo errors through BSKLogger #1022

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4714d5c
Set MuJoCo warning and error callback
juan-g-bonilla Jun 20, 2025
41040e0
update release notes
juan-g-bonilla Jun 20, 2025
ac26a14
Merge branch 'develop' into feature/1021-mujoco-logging
juan-g-bonilla Jun 25, 2025
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1 change: 1 addition & 0 deletions docs/source/Support/bskReleaseNotes.rst
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Expand Up @@ -50,6 +50,7 @@ Version |release|

If you still want to use Visual Studio 16, then be sure to set the generator
using ``python conanfile.py --generator "Visual Studio 16 2019``
- Redirected MuJoCo errors and warnings to ``BSKLogger`` instead of printing to file.
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make BSKLogger a hyperlink using

:ref:`bskLogging`



Version 2.7.0 (April 20, 2025)
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4 changes: 4 additions & 0 deletions src/simulation/mujocoDynamics/_GeneralModuleFiles/MJScene.cpp
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Expand Up @@ -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)
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14 changes: 14 additions & 0 deletions src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.cpp
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Expand Up @@ -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
12 changes: 12 additions & 0 deletions src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.h
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Expand Up @@ -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
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