instance_id string | repo string | domain string | domain_code string | pull_request string | issue_url string | base_commit string | merge_commit string | merged_at string | problem_statement string | patch string | test_patch string | FAIL_TO_PASS list | PASS_TO_PASS list | statement_kind string | file_hint bool | automated_review string | harbor_archive string | source_license_labels list | source_license_evidence string | source_commercial_notice bool |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
AtsushiSakai__PythonRobotics-1168 | AtsushiSakai/PythonRobotics | Algorithms | C | https://github.com/AtsushiSakai/PythonRobotics/pull/1168 | https://github.com/AtsushiSakai/PythonRobotics/issues/877 | c7fb228d24856d6c7a0cb28c715176bfb8b17281 | f343573a7bb9b99fd8fcfc72cef7336ccf859c28 | 2025-02-20T10:09:32Z | # AtsushiSakai/PythonRobotics — fix the reported defect
move_to_pose.py not consistent with book when alpha > pi/2
**Describe the bug**
As the book says,
> For the case where the goal is behind the robot, that is α ∉ (−pi/2 , pi/2 ], we reverse the vehicle by negating v and γ in the control law
But the implementati... | diff --git a/Control/move_to_pose/move_to_pose.py b/Control/move_to_pose/move_to_pose.py
index 279ba0625bd240ae81c00e2818d7987756725d3e..34736a2e21322acce92b4a153fb8c3c004450dc2 100644
--- a/Control/move_to_pose/move_to_pose.py
+++ b/Control/move_to_pose/move_to_pose.py
@@ -5,6 +5,7 @@ Move to specified pose
Author: D... | diff --git a/tests/test_move_to_pose.py b/tests/test_move_to_pose.py
index 8bc11a8d24c9eecf2553e97259502e253f52394b..94c3ec110232cbec40543dafcc814818578dd244 100644
--- a/tests/test_move_to_pose.py
+++ b/tests/test_move_to_pose.py
@@ -1,13 +1,81 @@
+import itertools
+import numpy as np
import conftest # Add root path... | [
"pytest::tests.test_move_to_pose::test_reach_goal",
"pytest::tests.test_move_to_pose::test_stability"
] | [
"pytest::tests.test_move_to_pose::test_max_speed",
"pytest::tests.test_move_to_pose::test_random"
] | original_issue | false | unfair | harbor/tasks/AtsushiSakai__PythonRobotics-1168.tar.gz | [
"MIT"
] | provenance/source-licenses.json | false |
KJdotIO__innex1-rover-177 | KJdotIO/innex1-rover | ROS | ROS | https://github.com/KJdotIO/innex1-rover/pull/177 | https://github.com/KJdotIO/innex1-rover/issues/162 | 6b563304b378ac470634d8c0e25969f2ff34600f | 884311e1c4c99ac8a6dd5196a24af22353f53aee | 2026-04-03T12:14:26Z | # KJdotIO/innex1-rover — fix the defect described below
Fix accepted-goal deadlock in navigate_to_pose_gate
## Summary
Fix the accepted-goal deadlock in `navigate_to_pose_gate.py`.
## Why
This is a real blocker. Right now an accepted travel goal can hang indefinitely because the action server busy-waits on futures w... | diff --git a/src/lunabot_bringup/lunabot_bringup/navigate_to_pose_gate.py b/src/lunabot_bringup/lunabot_bringup/navigate_to_pose_gate.py
index f4c223d..f9ccc3c 100644
--- a/src/lunabot_bringup/lunabot_bringup/navigate_to_pose_gate.py
+++ b/src/lunabot_bringup/lunabot_bringup/navigate_to_pose_gate.py
@@ -2,7 +2,7 @@
... | diff --git a/src/lunabot_bringup/package.xml b/src/lunabot_bringup/package.xml
index 447cde8..f4f6e55 100644
--- a/src/lunabot_bringup/package.xml
+++ b/src/lunabot_bringup/package.xml
@@ -10,6 +10,8 @@
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257... | [
"lunabot_bringup.test.test_navigate_to_pose_gate_launch::test_navigate_to_pose_gate_launch"
] | [
"lunabot_bringup.test.test_flake8::test_flake8",
"lunabot_bringup.test.test_launch_gate::test_select_preflight_config_path_uses_default_in_normal_mode",
"lunabot_bringup.test.test_launch_gate::test_select_preflight_config_path_uses_lidar_debug_config_in_debug_mode",
"lunabot_bringup.test.test_localisation_rea... | original_issue | false | questionable | harbor/tasks/KJdotIO__innex1-rover-177.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
KJdotIO__innex1-rover-182 | KJdotIO/innex1-rover | ROS | ROS | https://github.com/KJdotIO/innex1-rover/pull/182 | https://github.com/KJdotIO/innex1-rover/issues/164 | 5e48bb4284bef9ada71f801401167f32c8090bf5 | 73dd33049552ac979b2c1ff91d3f2899412e7b0a | 2026-04-03T21:32:46Z | # KJdotIO/innex1-rover — fix the defect described below
Decide the visual odometry baseline and stop fusing raw /visual_odometry by accident
## Summary
Make one clear decision about visual odometry for the June baseline, then wire the stack to match that decision.
## Why
The repo is in the worst middle state here:
-... | diff --git a/src/lunabot_bringup/launch/localisation.launch.py b/src/lunabot_bringup/launch/localisation.launch.py
index 8fd23bf..de64550 100644
--- a/src/lunabot_bringup/launch/localisation.launch.py
+++ b/src/lunabot_bringup/launch/localisation.launch.py
@@ -45,8 +45,8 @@ def generate_launch_description():
... | diff --git a/src/lunabot_localisation/test/test_localisation_launch.py b/src/lunabot_localisation/test/test_localisation_launch.py
index e63445b..c1d71e7 100644
--- a/src/lunabot_localisation/test/test_localisation_launch.py
+++ b/src/lunabot_localisation/test/test_localisation_launch.py
@@ -5,6 +5,7 @@
from pathlib i... | [
"lunabot_localisation.test.test_localisation_launch::test_june_baseline_ekf_does_not_fuse_visual_odometry[ekf.yaml]"
] | [
"lunabot_bringup.test.test_flake8::test_flake8",
"lunabot_bringup.test.test_launch_gate::test_select_preflight_config_path_uses_default_in_normal_mode",
"lunabot_bringup.test.test_launch_gate::test_select_preflight_config_path_uses_lidar_debug_config_in_debug_mode",
"lunabot_bringup.test.test_localisation_rea... | original_issue | false | not_reviewed | harbor/tasks/KJdotIO__innex1-rover-182.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
KJdotIO__innex1-rover-229 | KJdotIO/innex1-rover | ROS | ROS | https://github.com/KJdotIO/innex1-rover/pull/229 | https://github.com/KJdotIO/innex1-rover/issues/205 | e4241a39838db583bc4a5b91cef8ac18ccfc7ee6 | 554554faa9c200e9c3060ac62e182e6e51a3a45a | 2026-04-13T23:13:06Z | # KJdotIO/innex1-rover — fix the defect described below
Add pre-hoc traversal timing logic to full sim missions
## Summary
Add first-cycle pre-hoc traversal timing logic to the full mission simulation path by introducing a `PREHOC_TRAVERSAL` state in `mission_manager.py` and extending `MissionTimer.canStartCycle()` t... | diff --git a/src/lunabot_bringup/lunabot_bringup/mission_manager.py b/src/lunabot_bringup/lunabot_bringup/mission_manager.py
index 32c838a..467b1dc 100644
--- a/src/lunabot_bringup/lunabot_bringup/mission_manager.py
+++ b/src/lunabot_bringup/lunabot_bringup/mission_manager.py
@@ -2,6 +2,7 @@
from __future__ import a... | diff --git a/src/lunabot_bringup/test/test_mission_manager.py b/src/lunabot_bringup/test/test_mission_manager.py
index 0ca9517..b08abe7 100644
--- a/src/lunabot_bringup/test/test_mission_manager.py
+++ b/src/lunabot_bringup/test/test_mission_manager.py
@@ -3,6 +3,8 @@
from types import SimpleNamespace
from unittest.m... | [
"lunabot_bringup.test.test_mission_manager::test_acquire_tag_transitions_to_prehoc_on_first_cycle",
"lunabot_bringup.test.test_mission_manager::test_prehoc_traversal_halts_on_invalid_parameters[prehoc_s_exc_dep_m--1.0]",
"lunabot_bringup.test.test_mission_manager::test_prehoc_traversal_halts_on_invalid_paramete... | [
"lunabot_bringup.test.test_flake8::test_flake8",
"lunabot_bringup.test.test_launch_gate::test_select_preflight_config_path_uses_default_in_normal_mode",
"lunabot_bringup.test.test_launch_gate::test_select_preflight_config_path_uses_lidar_debug_config_in_debug_mode",
"lunabot_bringup.test.test_localisation_rea... | original_issue | false | not_reviewed | harbor/tasks/KJdotIO__innex1-rover-229.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
KJdotIO__innex1-rover-244 | KJdotIO/innex1-rover | ROS | ROS | https://github.com/KJdotIO/innex1-rover/pull/244 | https://github.com/KJdotIO/innex1-rover/issues/239 | c4ef7458628ab54677abb644573d56a6114c6258 | 9417734ed4fdd862d279e605f390a042582147b9 | 2026-04-14T10:31:40Z | # KJdotIO/innex1-rover — fix the defect described below
Wire rear depth camera into Nav2 costmaps
Add the rear depth camera point cloud as an observation source in both global and local Nav2 costmaps.
## Motivation
For the shuttle strategy, the planner needs obstacle data behind the rover to plan safe reverse paths.... | diff --git a/src/lunabot_bringup/config/arena_waypoints.yaml b/src/lunabot_bringup/config/arena_waypoints.yaml
index 8a15557..41b995a 100644
--- a/src/lunabot_bringup/config/arena_waypoints.yaml
+++ b/src/lunabot_bringup/config/arena_waypoints.yaml
@@ -24,7 +24,9 @@ mission_manager:
waypoint_excavation_yaw: 0.0
... | diff --git a/src/lunabot_navigation/test/test_obstacle_avoidance_config.py b/src/lunabot_navigation/test/test_obstacle_avoidance_config.py
index ebbb85c..1f95a97 100644
--- a/src/lunabot_navigation/test/test_obstacle_avoidance_config.py
+++ b/src/lunabot_navigation/test/test_obstacle_avoidance_config.py
@@ -66,23 +66,3... | [
"lunabot_navigation.test.test_obstacle_avoidance_config.TestObstacleLayerConfig::test_front_depth_camera_topic",
"lunabot_navigation.test.test_obstacle_avoidance_config.TestObstacleLayerConfig::test_height_bounds_are_positive",
"lunabot_navigation.test.test_obstacle_avoidance_config.TestObstacleLayerConfig::tes... | [
"lunabot_bringup.test.test_flake8::test_flake8",
"lunabot_bringup.test.test_launch_gate::test_select_preflight_config_path_uses_default_in_normal_mode",
"lunabot_bringup.test.test_launch_gate::test_select_preflight_config_path_uses_lidar_debug_config_in_debug_mode",
"lunabot_bringup.test.test_localisation_rea... | original_issue | false | not_reviewed | harbor/tasks/KJdotIO__innex1-rover-244.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
PlanSys2__ros2_planning_system-281 | PlanSys2/ros2_planning_system | ROS | ROS | https://github.com/PlanSys2/ros2_planning_system/pull/281 | https://github.com/PlanSys2/ros2_planning_system/issues/280 | 20dbf57c9f5ce4436206bb3d265914bf9bb020d0 | 4c3b9ffe497e350655bb947c1bfd717765d04331 | 2023-11-19T07:48:43Z | # PlanSys2/ros2_planning_system — fix the defect described below
`ProblemExpert::addInstance` is case-sensitive, but `ProblemExpert::addPredicate` is not
Consider the following code:
```c++
const auto domain_test_str = R"(
(define (domain simple)
(:requirements :strips :typing :adl :fluents)
(:types
Robot
L... | diff --git a/plansys2_problem_expert/src/plansys2_problem_expert/ProblemExpert.cpp b/plansys2_problem_expert/src/plansys2_problem_expert/ProblemExpert.cpp
index 764aa5a4f..9f6effca2 100644
--- a/plansys2_problem_expert/src/plansys2_problem_expert/ProblemExpert.cpp
+++ b/plansys2_problem_expert/src/plansys2_problem_expe... | diff --git a/plansys2_problem_expert/test/unit/problem_expert_test.cpp b/plansys2_problem_expert/test/unit/problem_expert_test.cpp
index fa70886b3..906a8fe31 100644
--- a/plansys2_problem_expert/test/unit/problem_expert_test.cpp
+++ b/plansys2_problem_expert/test/unit/problem_expert_test.cpp
@@ -47,17 +47,22 @@ TEST(pr... | [
"problem_expert.add_problem",
"problem_expert.addget_instances"
] | [
"problem_expert.add_functions",
"problem_expert.add_problem_with_constants",
"problem_expert.addget_functions",
"problem_expert.addget_goals",
"problem_expert.addget_predicates",
"problem_expert.empty_goals",
"problem_expert.get_problem",
"problem_expert.is_goal_satisfied"
] | original_issue | false | not_reviewed | harbor/tasks/PlanSys2__ros2_planning_system-281.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
PlanSys2__ros2_planning_system-421 | PlanSys2/ros2_planning_system | ROS | ROS | https://github.com/PlanSys2/ros2_planning_system/pull/421 | https://github.com/PlanSys2/ros2_planning_system/issues/418 | b2fa798ec9bc660a8b6c5388851906422da9355f | 4fbe1c819bb3933c564997120fd68882b543b915 | 2026-10-09T19:40:37Z | # PlanSys2/ros2_planning_system — fix the defect described below
plan_solver_timeout is not enforced and POPF is left running
Hi PlanSys2 users,
`plan_solver_timeout` is not enforced, and cancelling a plan request does not stop the solver.
How to reproduce: set `plan_solver_timeout: 2.0` and ask for a plan on a pro... | diff --git a/plansys2_core/include/plansys2_core/PlanSolverBase.hpp b/plansys2_core/include/plansys2_core/PlanSolverBase.hpp
index ce40797f5..0873da705 100644
--- a/plansys2_core/include/plansys2_core/PlanSolverBase.hpp
+++ b/plansys2_core/include/plansys2_core/PlanSolverBase.hpp
@@ -46,6 +46,11 @@ class PlanSolverBase... | diff --git a/plansys2_core/test/CMakeLists.txt b/plansys2_core/test/CMakeLists.txt
index 7ba42a3ec..ba92f9c0a 100644
--- a/plansys2_core/test/CMakeLists.txt
+++ b/plansys2_core/test/CMakeLists.txt
@@ -4,6 +4,9 @@ target_link_libraries(utils_test
ament_index_cpp::ament_index_cpp
)
+ament_add_gtest(plan_solver_base... | [
"PlanSolverBaseTest.cancel_stops_the_planner",
"PlanSolverBaseTest.finished_planner_with_background_child_succeeds",
"PlanSolverBaseTest.killed_by_signal_fails",
"PlanSolverBaseTest.many_sequential_runs_leave_no_processes",
"PlanSolverBaseTest.non_zero_exit_fails",
"PlanSolverBaseTest.output_bigger_than_p... | [] | original_issue | false | questionable | harbor/tasks/PlanSys2__ros2_planning_system-421.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
PlanSys2__ros2_planning_system-424 | PlanSys2/ros2_planning_system | ROS | ROS | https://github.com/PlanSys2/ros2_planning_system/pull/424 | https://github.com/PlanSys2/ros2_planning_system/issues/416 | 546c43475a1a25ada0bb8d52052b665c976e99ff | b36e92dc99a72722aeec7a415333f26a4426001a | 2026-10-09T20:56:09Z | # PlanSys2/ros2_planning_system — fix the defect described below
Malformed PDDL in a service call crashes the whole PlanSys2
Hi PlanSys2 users,
A single service call with malformed PDDL takes down the whole of PlanSys2. With the monolithic bringup, that means domain expert, problem expert, planner and executor all d... | diff --git a/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpert.cpp b/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpert.cpp
index 1f37d3203..2e83a66e5 100644
--- a/plansys2_domain_expert/src/plansys2_domain_expert/DomainExpert.cpp
+++ b/plansys2_domain_expert/src/plansys2_domain_expert/DomainEx... | diff --git a/plansys2_domain_expert/test/pddl/domain_no_predicates.pddl b/plansys2_domain_expert/test/pddl/domain_no_predicates.pddl
new file mode 100644
index 000000000..2c0d18dc3
--- /dev/null
+++ b/plansys2_domain_expert/test/pddl/domain_no_predicates.pddl
@@ -0,0 +1,8 @@
+(define (domain no_predicates)
+(:requireme... | [
"domain_expert/MalformedDomainTest.is_rejected_and_domain_is_untouched/garbage",
"domain_expert/MalformedDomainTest.is_rejected_and_domain_is_untouched/no_predicates_section",
"domain_expert/MalformedDomainTest.is_rejected_and_domain_is_untouched/only_open_paren",
"domain_expert/MalformedDomainTest.is_rejecte... | [] | original_issue | false | not_reviewed | harbor/tasks/PlanSys2__ros2_planning_system-424.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
PlanSys2__ros2_planning_system-428 | PlanSys2/ros2_planning_system | ROS | ROS | https://github.com/PlanSys2/ros2_planning_system/pull/428 | https://github.com/PlanSys2/ros2_planning_system/issues/427 | 59cd0559437e0fe2d92881f8c3b2676f82c2502c | bbbc253629411637938202a39b63cbe9e072e9b2 | 2026-10-10T04:40:44Z | # PlanSys2/ros2_planning_system — fix the defect described below
bt_action_node segfaults on shutdown (node never destroyed)
Hi PlanSys2 users,
Every `bt_action_node` crashes with SIGSEGV on Ctrl-C when it runs together with the rest of the system, e.g. the seven BT action nodes of `plansys2_bt_example`, with or wit... | diff --git a/plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp b/plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp
index b9371ce9a..39479ee46 100644
--- a/plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp
+++ b/plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp
@@ -77,7 +77,12 @@ BTAction::on... | diff --git a/plansys2_bt_actions/test/unit/bt_action_test.cpp b/plansys2_bt_actions/test/unit/bt_action_test.cpp
index 9441a81ab..b744cd042 100644
--- a/plansys2_bt_actions/test/unit/bt_action_test.cpp
+++ b/plansys2_bt_actions/test/unit/bt_action_test.cpp
@@ -12,6 +12,7 @@
// See the License for the specific language... | [
"BTActionsTestCase.bt_action_node_is_destroyed"
] | [
"BTActionsTestCase.bt_action",
"BTActionsTestCase.bt_action_old_constructor",
"BTActionsTestCase.cancel_bt_action",
"BTActionsTestCase.load_plugins",
"BTActionsTestCase.on_feedback_failure",
"BTActionsTestCase.on_tick_failure"
] | original_issue | false | not_reviewed | harbor/tasks/PlanSys2__ros2_planning_system-428.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
PlanSys2__ros2_planning_system-448 | PlanSys2/ros2_planning_system | ROS | ROS | https://github.com/PlanSys2/ros2_planning_system/pull/448 | https://github.com/PlanSys2/ros2_planning_system/issues/446 | 9caaffd7f2d54746c82b444ef8df39c507f255c1 | 4dfd219c49dcc77945185637de64a3c16d11ba4d | 2026-10-10T20:05:06Z | # PlanSys2/ros2_planning_system — fix the defect described below
Performers, executor clients and the TUI do not notice when PlanSys2 goes down
Hi PlanSys2 users,
If PlanSys2 goes down (Ctrl-C, crash), nothing around it notices:
- An action performer (`ActionExecutorClient`) running an action keeps going until the ... | diff --git a/plansys2_executor/include/plansys2_executor/ActionExecutorClient.hpp b/plansys2_executor/include/plansys2_executor/ActionExecutorClient.hpp
index 301649b56..c7a2c611e 100644
--- a/plansys2_executor/include/plansys2_executor/ActionExecutorClient.hpp
+++ b/plansys2_executor/include/plansys2_executor/ActionEx... | diff --git a/plansys2_executor/test/unit/CMakeLists.txt b/plansys2_executor/test/unit/CMakeLists.txt
index 8489ed907..083c4d082 100644
--- a/plansys2_executor/test/unit/CMakeLists.txt
+++ b/plansys2_executor/test/unit/CMakeLists.txt
@@ -89,3 +89,17 @@ foreach(scenario
ENV GTEST_FILTER=ExecutorGoalHandlingTest.${sc... | [
"ExecutorClientSupervision.client_stops_waiting_when_the_executor_is_gone",
"PerformerSupervisionTest.performer_stops_when_its_executor_is_gone",
"plansys2_support_py.test.test_executor_client.TestExecutorClient::test_executor_gone_ends_the_plan",
"plansys2_support_py.test.test_executor_client.TestExecutorCli... | [
"plansys2_support_py.test.test_action_executor_client.TestActionExecutorClient::test_action_hub_callback_confirm",
"plansys2_support_py.test.test_action_executor_client.TestActionExecutorClient::test_action_hub_callback_reject",
"plansys2_support_py.test.test_action_executor_client.TestActionExecutorClient::tes... | original_issue | false | not_reviewed | harbor/tasks/PlanSys2__ros2_planning_system-448.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
SCHUNK-SE-Co-KG__schunk_mechatronic_gripper-65 | SCHUNK-SE-Co-KG/schunk_mechatronic_gripper | ROS | ROS | https://github.com/SCHUNK-SE-Co-KG/schunk_mechatronic_gripper/pull/65 | https://github.com/SCHUNK-SE-Co-KG/schunk_mechatronic_gripper/issues/51 | 58f81280a771b4c454125023d1a1853c16cc8451 | 70083475c913d6ea56ffdaca460fa58735930726 | 2025-07-15T15:36:57Z | # SCHUNK-SE-Co-KG/schunk_mechatronic_gripper — fix the defect described below
Driver starts with default gripper with device_id 12
**Problem description**
When I start the driver using the command: _ros2 launch schunk_gripper_driver driver.launch.py_ a default gripper is created with serial port /dev/ttyUSB0 and devi... | diff --git a/schunk_gripper_driver/launch/driver.launch.py b/schunk_gripper_driver/launch/driver.launch.py
index d61dea9f..975b0bbf 100644
--- a/schunk_gripper_driver/launch/driver.launch.py
+++ b/schunk_gripper_driver/launch/driver.launch.py
@@ -39,7 +39,14 @@
default_value="12",
description="The gripper's M... | diff --git a/schunk_gripper_driver/schunk_gripper_driver/tests/conftest.py b/schunk_gripper_driver/schunk_gripper_driver/tests/conftest.py
index af026156..5c961dc9 100644
--- a/schunk_gripper_driver/schunk_gripper_driver/tests/conftest.py
+++ b/schunk_gripper_driver/schunk_gripper_driver/tests/conftest.py
@@ -24,6 +24,... | [
"schunk_gripper_driver.schunk_gripper_driver.tests.test_launch::test_driver_can_start_without_initial_gripper"
] | [
"schunk_gripper_driver.schunk_gripper_driver.tests.test_configuration::test_driver_keeps_current_grippers_when_loading_invalid_configuration",
"schunk_gripper_driver.schunk_gripper_driver.tests.test_configuration::test_driver_offers_loading_previous_gripper_configuration",
"schunk_gripper_driver.schunk_gripper_... | original_issue | false | not_reviewed | harbor/tasks/SCHUNK-SE-Co-KG__schunk_mechatronic_gripper-65.tar.gz | [
"GPL-3.0"
] | provenance/source-licenses.json | false |
UBCSailbot__sailbot_workspace-1021 | UBCSailbot/sailbot_workspace | ROS | ROS | https://github.com/UBCSailbot/sailbot_workspace/pull/1021 | https://github.com/UBCSailbot/sailbot_workspace/issues/1020 | c629727a4985a9218142f1c2fa3f48f44823fc2a | 32ea3446ff6816ae8da4535c2987ed8e0d571ed9 | 2026-07-22T21:56:38Z | # UBCSailbot/sailbot_workspace — fix the defect described below
PATH: Handle unavailable COG and ROT values from NET
For AIS ships, COG represents course over ground, the direction in which the boat is moving on the ground (this is not necessarily heading, but that part is inconsequential to this issue) and ROT repre... | diff --git a/] b/]
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_ais.py b/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_ais.py
index 8c6337c14..743c40518 100644
--- a/src/local_pathfinding/local_pathfinding/mock_nodes/node_mock_a... | diff --git a/src/local_pathfinding/test/test_obstacles.py b/src/local_pathfinding/test/test_obstacles.py
index b4f8e690e..ba1e57e62 100644
--- a/src/local_pathfinding/test/test_obstacles.py
+++ b/src/local_pathfinding/test/test_obstacles.py
@@ -618,6 +618,93 @@ def test_collision_zone_turning_boat(
assert boat1.co... | [
"local_pathfinding.test.test_obstacles::test_collision_zone_cog_unavailable[reference_point0-sailbot_position0-ais_ship0-15.0]",
"local_pathfinding.test.test_obstacles::test_collision_zone_rot_unavailable[reference_point0-sailbot_position0-ais_ship0-15.0]"
] | [
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-180.0-180.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-181.0-179.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[0.0-0.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[179.0-179.0]",
"l... | original_issue | false | not_reviewed | harbor/tasks/UBCSailbot__sailbot_workspace-1021.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
UBCSailbot__sailbot_workspace-311 | UBCSailbot/sailbot_workspace | ROS | ROS | https://github.com/UBCSailbot/sailbot_workspace/pull/311 | https://github.com/UBCSailbot/sailbot_workspace/issues/310 | f25552877d2fcfd2762742288195bfe98058e380 | a9134f015898aa59505b6e0dc31c43ca7c3952d9 | 2024-03-19T21:25:08Z | # UBCSailbot/sailbot_workspace — fix the defect described below
Adding Realism to Simulated Sensor Data
<!--
Tasklist guidelines:
- Considering pinning the tasklist issue
- Add the tasklist issue and task issues to the Software project
- To create a task from an existing issue, reference its number: e.g., #739
- ... | diff --git a/src/boat_simulator/boat_simulator/common/sensors.py b/src/boat_simulator/boat_simulator/common/sensors.py
index a03940815..d1bf9d3b1 100644
--- a/src/boat_simulator/boat_simulator/common/sensors.py
+++ b/src/boat_simulator/boat_simulator/common/sensors.py
@@ -1,24 +1,43 @@
-from dataclasses import dataclas... | diff --git a/src/boat_simulator/tests/unit/common/test_gps_sensor.py b/src/boat_simulator/tests/unit/common/test_gps_sensor.py
index 60f2568d8..90a3ab982 100644
--- a/src/boat_simulator/tests/unit/common/test_gps_sensor.py
+++ b/src/boat_simulator/tests/unit/common/test_gps_sensor.py
@@ -1,9 +1,5 @@
from boat_simulato... | [
"boat_simulator.tests.unit.common.test_gps_sensor.TestGPS::test_gps_read_no_noise",
"boat_simulator.tests.unit.common.test_gps_sensor.TestGPS::test_gps_sensor_update_delay",
"boat_simulator.tests.unit.common.test_wind_sensor.TestWindSensor::test_wind_sensor_read_mv_gaussian_noise",
"boat_simulator.tests.unit.... | [
"boat_simulator.tests.unit.common.test_generators.TestConstantGenerator::test_constant_vector_generator[10111]",
"boat_simulator.tests.unit.common.test_generators.TestConstantGenerator::test_constant_vector_generator[12.3456789]",
"boat_simulator.tests.unit.common.test_generators.TestConstantGenerator::test_con... | original_issue | false | not_reviewed | harbor/tasks/UBCSailbot__sailbot_workspace-311.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
UBCSailbot__sailbot_workspace-328 | UBCSailbot/sailbot_workspace | ROS | ROS | https://github.com/UBCSailbot/sailbot_workspace/pull/328 | https://github.com/UBCSailbot/sailbot_workspace/issues/304 | fce7bb68e8cb9ee5ef5cce6d97a07294a2a07c7a | 52e2e64565ef3dd5364a06c77ffba7cb41d10ff0 | 2024-06-01T23:42:49Z | # UBCSailbot/sailbot_workspace — fix the defect described below
Create Fluid Generator class
### Purpose
<!-- Why is this feature being implemented? Describe what lead to this feature being perceived. -->
To implement the Python class that perform the fluid simulation for wind and current. See [this](https://ubcsailb... | diff --git a/src/boat_simulator/boat_simulator/nodes/physics_engine/fluid_generation.py b/src/boat_simulator/boat_simulator/nodes/physics_engine/fluid_generation.py
index 8c544ee02..731f290e1 100644
--- a/src/boat_simulator/boat_simulator/nodes/physics_engine/fluid_generation.py
+++ b/src/boat_simulator/boat_simulator/... | diff --git a/src/boat_simulator/tests/unit/nodes/physics_engine/test_fluids.py b/src/boat_simulator/tests/unit/nodes/physics_engine/test_fluids.py
index 28277d0c9..f7d260a99 100644
--- a/src/boat_simulator/tests/unit/nodes/physics_engine/test_fluids.py
+++ b/src/boat_simulator/tests/unit/nodes/physics_engine/test_fluid... | [
"boat_simulator.tests.unit.nodes.physics_engine.test_fluids.TestFluidGenerator::test_direction[vector0-0]",
"boat_simulator.tests.unit.nodes.physics_engine.test_fluids.TestFluidGenerator::test_direction[vector1-90]",
"boat_simulator.tests.unit.nodes.physics_engine.test_fluids.TestFluidGenerator::test_direction[... | [
"boat_simulator.tests.unit.common.test_generators.TestConstantGenerator::test_constant_vector_generator[10111]",
"boat_simulator.tests.unit.common.test_generators.TestConstantGenerator::test_constant_vector_generator[12.3456789]",
"boat_simulator.tests.unit.common.test_generators.TestConstantGenerator::test_con... | original_issue | false | not_reviewed | harbor/tasks/UBCSailbot__sailbot_workspace-328.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
UBCSailbot__sailbot_workspace-454 | UBCSailbot/sailbot_workspace | ROS | ROS | https://github.com/UBCSailbot/sailbot_workspace/pull/454 | https://github.com/UBCSailbot/sailbot_workspace/issues/447 | e1947db36316a85fc3028adea99be06bf71be552 | 70ad2545be724683811702360cdc0bf62e5f98a1 | 2024-11-02T22:51:48Z | # UBCSailbot/sailbot_workspace — fix the defect described below
Generate 2D fluids with z-component zeroed out
## Purpose
The purpose of this issue is to modify the `FluidGenerator` class to generate 2D fluid vectors, setting the third component to zero.
## Description
- Modify the [FluidGenerator](https://github.co... | diff --git a/src/boat_simulator/boat_simulator/nodes/physics_engine/fluid_generation.py b/src/boat_simulator/boat_simulator/nodes/physics_engine/fluid_generation.py
index f24f0eb34..c4feadcc0 100644
--- a/src/boat_simulator/boat_simulator/nodes/physics_engine/fluid_generation.py
+++ b/src/boat_simulator/boat_simulator/... | diff --git a/src/boat_simulator/tests/unit/nodes/physics_engine/test_fluids.py b/src/boat_simulator/tests/unit/nodes/physics_engine/test_fluids.py
index 645295a04..f7d260a99 100644
--- a/src/boat_simulator/tests/unit/nodes/physics_engine/test_fluids.py
+++ b/src/boat_simulator/tests/unit/nodes/physics_engine/test_fluid... | [
"boat_simulator.tests.unit.nodes.physics_engine.test_fluids.TestFluidGenerator::test_direction[vector0-0]",
"boat_simulator.tests.unit.nodes.physics_engine.test_fluids.TestFluidGenerator::test_direction[vector1-90]",
"boat_simulator.tests.unit.nodes.physics_engine.test_fluids.TestFluidGenerator::test_direction[... | [
"boat_simulator.tests.unit.common.test_generators.TestConstantGenerator::test_constant_vector_generator[10111]",
"boat_simulator.tests.unit.common.test_generators.TestConstantGenerator::test_constant_vector_generator[12.3456789]",
"boat_simulator.tests.unit.common.test_generators.TestConstantGenerator::test_con... | original_issue | false | not_reviewed | harbor/tasks/UBCSailbot__sailbot_workspace-454.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
UBCSailbot__sailbot_workspace-527 | UBCSailbot/sailbot_workspace | ROS | ROS | https://github.com/UBCSailbot/sailbot_workspace/pull/527 | https://github.com/UBCSailbot/sailbot_workspace/issues/283 | dfd6dee43e04ef8aba7543687944bc993ca7aeea | 61f297eefc66a19dca3b887584de5dc4aab1dbcb | 2025-04-08T03:22:36Z | # UBCSailbot/sailbot_workspace — fix the defect described below
Publish desired heading
### Purpose
<!-- Why is this feature being implemented? Describe what lead to this feature being perceived. -->
Currently, we return 0.0 as the desired heading in `node_navigate.py`. We need to return the heading of the next local... | diff --git a/src/local_pathfinding/local_pathfinding/coord_systems.py b/src/local_pathfinding/local_pathfinding/coord_systems.py
index dc3da22c1..1757bc10c 100644
--- a/src/local_pathfinding/local_pathfinding/coord_systems.py
+++ b/src/local_pathfinding/local_pathfinding/coord_systems.py
@@ -42,6 +42,10 @@ def km_to_me... | diff --git a/src/local_pathfinding/test/test_coord_systems.py b/src/local_pathfinding/test/test_coord_systems.py
index 97a50a01a..fae36e0b1 100644
--- a/src/local_pathfinding/test/test_coord_systems.py
+++ b/src/local_pathfinding/test/test_coord_systems.py
@@ -39,6 +39,21 @@ def test_km_to_meters(km: float, meters: flo... | [
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-180.0--180.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-181.0-179.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[0.0-0.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[179.0-179.0]",
"... | [
"local_pathfinding.test.test_coord_systems::test_cartesian_to_true_bearing[0.0-90.0]",
"local_pathfinding.test.test_coord_systems::test_cartesian_to_true_bearing[180.0-270.0]",
"local_pathfinding.test.test_coord_systems::test_cartesian_to_true_bearing[270.0-180.0]",
"local_pathfinding.test.test_coord_systems:... | original_issue | false | not_reviewed | harbor/tasks/UBCSailbot__sailbot_workspace-527.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
UBCSailbot__sailbot_workspace-705 | UBCSailbot/sailbot_workspace | ROS | ROS | https://github.com/UBCSailbot/sailbot_workspace/pull/705 | https://github.com/UBCSailbot/sailbot_workspace/issues/704 | 3158323f3012a827ffa9fd39a3e23e0bf9291e26 | 91f0cf0ff90e7819da5e7a6e99717b6e6aa16e05 | 2025-11-15T19:42:24Z | # UBCSailbot/sailbot_workspace — fix the defect described below
Visualizer Wind Vectors Bug
### Description
<!-- Add a description of the bug. What went wrong and what did you observe? -->
- Visualizer is not handling wind vectors properly.
- Mock Wind Sensor/ Wind Sensor publishes apparent wind in boat coordinates.... | diff --git a/src/local_pathfinding/local_pathfinding/coord_systems.py b/src/local_pathfinding/local_pathfinding/coord_systems.py
index 8051187b5..5a79f70f7 100644
--- a/src/local_pathfinding/local_pathfinding/coord_systems.py
+++ b/src/local_pathfinding/local_pathfinding/coord_systems.py
@@ -52,6 +52,56 @@ def true_bea... | diff --git a/src/local_pathfinding/test/test_coord_systems.py b/src/local_pathfinding/test/test_coord_systems.py
index 00987b629..669ebfd39 100644
--- a/src/local_pathfinding/test/test_coord_systems.py
+++ b/src/local_pathfinding/test/test_coord_systems.py
@@ -46,6 +46,68 @@ def test_true_bearing_to_plotly_cartesian(tr... | [
"local_pathfinding.test.test_coord_systems::test_angle_to_xy_vector[-1.5707963267948966-4.0-expected_xy3]",
"local_pathfinding.test.test_coord_systems::test_angle_to_xy_vector[-3.141592653589793-3.0-expected_xy4]",
"local_pathfinding.test.test_coord_systems::test_angle_to_xy_vector[0.0-10.0-expected_xy0]",
"l... | [
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-180.0-180.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-181.0-179.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[0.0-0.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[179.0-179.0]",
"l... | original_issue | false | not_reviewed | harbor/tasks/UBCSailbot__sailbot_workspace-705.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
UBCSailbot__sailbot_workspace-798 | UBCSailbot/sailbot_workspace | ROS | ROS | https://github.com/UBCSailbot/sailbot_workspace/pull/798 | https://github.com/UBCSailbot/sailbot_workspace/issues/778 | ea03e372c265184f7bc5ac61d37ac7129d966d0a | d412813fee55f1858a3dca88c8b64a28d81cc5e4 | 2026-02-21T21:16:31Z | # UBCSailbot/sailbot_workspace — fix the defect described below
PATH: Fix get_cost
### Description
<!-- Add a description of the bug. What went wrong and what did you observe? -->
`get_cost` is not tracking the index of the waypoint to get the `cost`
## Where you are
The repository is checked out at `/ws/src/sailbo... | diff --git a/src/local_pathfinding/local_pathfinding/local_path.py b/src/local_pathfinding/local_pathfinding/local_path.py
index 7b83b6b91..4ea181650 100644
--- a/src/local_pathfinding/local_pathfinding/local_path.py
+++ b/src/local_pathfinding/local_pathfinding/local_path.py
@@ -3,11 +3,11 @@
import math
from typing... | diff --git a/src/local_pathfinding/test/test_node_navigate.py b/src/local_pathfinding/test/test_node_navigate.py
index 2f8c9a65a..54f3ae18a 100644
--- a/src/local_pathfinding/test/test_node_navigate.py
+++ b/src/local_pathfinding/test/test_node_navigate.py
@@ -3,6 +3,7 @@
import local_pathfinding.node_navigate as nn... | [
"local_pathfinding.test.test_node_navigate::test_calculate_desired_heading_and_waypoint_index[path0-0-boat_lat_lon0-90.0-0]",
"local_pathfinding.test.test_node_navigate::test_calculate_desired_heading_and_waypoint_index[path1-0-boat_lat_lon1-180.0-0]",
"local_pathfinding.test.test_node_navigate::test_calculate_... | [
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-180.0-180.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-181.0-179.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[0.0-0.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[179.0-179.0]",
"l... | original_issue | false | not_reviewed | harbor/tasks/UBCSailbot__sailbot_workspace-798.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
UBCSailbot__sailbot_workspace-881 | UBCSailbot/sailbot_workspace | ROS | ROS | https://github.com/UBCSailbot/sailbot_workspace/pull/881 | https://github.com/UBCSailbot/sailbot_workspace/issues/862 | d2362f129234143501f8cb7cdc5428c542d3bbc8 | feccba28e71cec258a914c9b57d4fe00cafd79fe | 2026-05-23T20:28:28Z | # UBCSailbot/sailbot_workspace — fix the defect described below
PATH: `update_collision_zone` throws`ValueError`. Make changes to handle it gracefully.
Checkout `obstacles.py`. `update_collision_zone` throws `ValueError` and `is_valid` throws `RuntimeError` which is not handled anywhere in the codebase. eg. for `up... | diff --git a/src/local_pathfinding/local_pathfinding/obstacles.py b/src/local_pathfinding/local_pathfinding/obstacles.py
index 489be210a..83ef2959b 100644
--- a/src/local_pathfinding/local_pathfinding/obstacles.py
+++ b/src/local_pathfinding/local_pathfinding/obstacles.py
@@ -4,14 +4,18 @@
from abc import abstractmeth... | diff --git a/src/local_pathfinding/test/test_obstacles.py b/src/local_pathfinding/test/test_obstacles.py
index 19d1b3fe6..56d766eea 100644
--- a/src/local_pathfinding/test/test_obstacles.py
+++ b/src/local_pathfinding/test/test_obstacles.py
@@ -3,6 +3,9 @@
import numpy as np
import pytest
+from shapely.geometry imp... | [
"local_pathfinding.test.test_obstacles::test_create_collision_zone_id_mismatch_boat[reference_point0-sailbot_position0-ais_ship_10-ais_ship_20-15.0]",
"local_pathfinding.test.test_obstacles::test_create_land_no_state_space",
"local_pathfinding.test.test_obstacles::test_is_valid_no_collision_zone_boat[reference_... | [
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-180.0-180.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-181.0-179.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[0.0-0.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[179.0-179.0]",
"l... | original_issue | false | not_reviewed | harbor/tasks/UBCSailbot__sailbot_workspace-881.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
UBCSailbot__sailbot_workspace-913 | UBCSailbot/sailbot_workspace | ROS | ROS | https://github.com/UBCSailbot/sailbot_workspace/pull/913 | https://github.com/UBCSailbot/sailbot_workspace/issues/908 | 404aedfdb72b790fa39515f133bafa16b20fd8bb | 9879790f96cca2c4f996c3dc801e14c3941d2f9f | 2026-06-06T21:11:23Z | # UBCSailbot/sailbot_workspace — fix the defect described below
PATH: Connect Segment deviation box to `update_if_needed`
### Purpose
<!-- Why is this feature being implemented? Describe what lead to this feature being perceived. -->
In the function `update_if_needed` (here: https://github.com/UBCSailbot/sailbot_work... | diff --git a/src/local_pathfinding/local_pathfinding/local_path.py b/src/local_pathfinding/local_pathfinding/local_path.py
index 069014bbe..666a59046 100644
--- a/src/local_pathfinding/local_pathfinding/local_path.py
+++ b/src/local_pathfinding/local_pathfinding/local_path.py
@@ -390,8 +390,8 @@ def exceeded_segment_de... | diff --git a/src/local_pathfinding/test/test_local_path.py b/src/local_pathfinding/test/test_local_path.py
index a5b9c7954..7ba59c179 100644
--- a/src/local_pathfinding/test/test_local_path.py
+++ b/src/local_pathfinding/test/test_local_path.py
@@ -1517,6 +1517,80 @@ def test_update_if_needed_regenerates_path_for_signi... | [
"local_pathfinding.test.test_local_path::test_update_if_needed_regenerates_path_when_segment_deviation_exceeded",
"local_pathfinding.test.test_local_path::test_update_if_needed_reuses_path_when_boat_not_deviated"
] | [
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-180.0-180.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-181.0-179.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[0.0-0.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[179.0-179.0]",
"l... | original_issue | false | not_reviewed | harbor/tasks/UBCSailbot__sailbot_workspace-913.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
UBCSailbot__sailbot_workspace-965 | UBCSailbot/sailbot_workspace | ROS | ROS | https://github.com/UBCSailbot/sailbot_workspace/pull/965 | https://github.com/UBCSailbot/sailbot_workspace/issues/963 | f7740b398d78a9efb2d491f24429a93a51feef65 | b8d66f5699e2a3257e423fdb765ed592b2415d54 | 2026-06-25T21:05:39Z | # UBCSailbot/sailbot_workspace — fix the defect described below
Add a Visualizer Mode to Global Launch for deployment
### Purpose
<!-- Why is this feature being implemented? Describe what lead to this feature being perceived. -->
During on-water testing, we want to use the pathfinding's visualizer to check how Polari... | diff --git a/src/global_launch/config/README.md b/src/global_launch/config/README.md
index 03508bfae..21ec52017 100644
--- a/src/global_launch/config/README.md
+++ b/src/global_launch/config/README.md
@@ -115,6 +115,12 @@ configurable noise and drift.
- _Datatype_: `string`
- _Acceptable Values_: `"rrtstar"`
+**`vi... | diff --git a/src/local_pathfinding/test/test_main_launch.py b/src/local_pathfinding/test/test_main_launch.py
new file mode 100644
index 000000000..548f48f51
--- /dev/null
+++ b/src/local_pathfinding/test/test_main_launch.py
@@ -0,0 +1,89 @@
+import importlib.util
+from pathlib import Path
+
+import pytest
+import yaml
... | [
"local_pathfinding.test.test_main_launch::test_get_launch_bool_or_config[-True]",
"local_pathfinding.test.test_main_launch::test_get_launch_bool_or_config[False-False]",
"local_pathfinding.test.test_main_launch::test_get_launch_bool_or_config[True-True]",
"local_pathfinding.test.test_main_launch::test_get_lau... | [
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-180.0-180.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[-181.0-179.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[0.0-0.0]",
"local_pathfinding.test.test_coord_systems::test_bound_to_180[179.0-179.0]",
"l... | original_issue | false | not_reviewed | harbor/tasks/UBCSailbot__sailbot_workspace-965.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
UniversalRobots__Universal_Robots_ROS2_Driver-1753 | UniversalRobots/Universal_Robots_ROS2_Driver | ROS | ROS | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/1753 | https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1749 | 1e10cb66cfd5b3b605e4a5cc7ec7d3241ff14e02 | 4683ee695d8a0eef349c71522452b18a7183fbef | 2026-04-09T08:26:04Z | # UniversalRobots/Universal_Robots_ROS2_Driver — fix the defect described below
Sudden Jump in Desired Position Generated by Scaled Joint Trajectory Controller
The scaled_joint_trajectory_controller randomly produces a sudden large jump in the desired position during trajectory execution. This causes the robot to att... | diff --git a/ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp b/ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp
index 7ec1814f1..1139c8b34 100644
--- a/ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp
+++ b/ur_controllers/include/ur_co... | diff --git a/ur_controllers/CMakeLists.txt b/ur_controllers/CMakeLists.txt
index 35d11c4f4..990883613 100644
--- a/ur_controllers/CMakeLists.txt
+++ b/ur_controllers/CMakeLists.txt
@@ -184,6 +184,31 @@ if(BUILD_TESTING)
controller_manager
ros2_control_test_assets
)
+ ament_add_gmock(test_load_scaled_joint... | [
"ScaledJointTrajectorySamplingTest.half_speed_scaling_samples_half_as_far",
"ScaledJointTrajectorySamplingTest.no_scaling_interface_matches_explicit_unit_scaling"
] | [] | original_issue | false | unfair | harbor/tasks/UniversalRobots__Universal_Robots_ROS2_Driver-1753.tar.gz | [
"BSD-3-Clause"
] | provenance/source-licenses.json | false |
WATonomous__wato_monorepo-467 | WATonomous/wato_monorepo | ROS | ROS | https://github.com/WATonomous/wato_monorepo/pull/467 | https://github.com/WATonomous/wato_monorepo/issues/457 | bc4bc46ea339da013c6adf002129d82c823d9653 | ab5726f018e660a510553d2bc176948f1b048d99 | 2026-06-20T23:22:20Z | # WATonomous/wato_monorepo — fix the defect described below
error when switching between control mode
When switching between Ackermann and roscco control mode while the deadman switch is pressed, the steering command will somehow be processed after the deadman switch is released.
Solution could be disabling switchin... | diff --git a/src/interfacing/ackermann_mux/DEVELOPING.md b/src/interfacing/ackermann_mux/DEVELOPING.md
index 326326ef4..dbed56354 100644
--- a/src/interfacing/ackermann_mux/DEVELOPING.md
+++ b/src/interfacing/ackermann_mux/DEVELOPING.md
@@ -46,7 +46,7 @@ ackermann_mux:
topic: /joystick/ackermann
prior... | diff --git a/src/interfacing/joystick_interfacing/test/joystick_interfacing_test.cpp b/src/interfacing/joystick_interfacing/test/joystick_interfacing_test.cpp
index 14cfe11f6..e39aba4e7 100644
--- a/src/interfacing/joystick_interfacing/test/joystick_interfacing_test.cpp
+++ b/src/interfacing/joystick_interfacing/test/j... | [
"joystick_interfacing::joystick_interfacing_test.missing_result"
] | [] | original_issue | false | not_reviewed | harbor/tasks/WATonomous__wato_monorepo-467.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
aerostack2__aerostack2-828 | aerostack2/aerostack2 | ROS | ROS | https://github.com/aerostack2/aerostack2/pull/828 | https://github.com/aerostack2/aerostack2/issues/827 | 53c097c04f3746fcfad871756e50e288dd2571f4 | 3e6e9c09173d522bbb7394ef0cd5e95a1d083d4e | 2025-09-15T09:33:10Z | # aerostack2/aerostack2 — fix the defect described below
[as2_python_api] Missing __call__ implementation in subclasses after introducing abstract method in ModuleBase
### ROS2 Version
humble
### Version
main
### Installation
source
### What happened?
In [PR #797](https://github.com/aerostack2/aerostack2/pull... | diff --git a/as2_python_api/as2_python_api/modules/motion_reference_handler_module.py b/as2_python_api/as2_python_api/modules/motion_reference_handler_module.py
index c7d806dcb..cf04c4757 100644
--- a/as2_python_api/as2_python_api/modules/motion_reference_handler_module.py
+++ b/as2_python_api/as2_python_api/modules/mo... | diff --git a/as2_python_api/as2_python_api/test/modules/test_module_base_subclasses.py b/as2_python_api/as2_python_api/test/modules/test_module_base_subclasses.py
new file mode 100644
index 000000000..a51627d17
--- /dev/null
+++ b/as2_python_api/as2_python_api/test/modules/test_module_base_subclasses.py
@@ -0,0 +1,73 @... | [
"as2_python_api.as2_python_api.test.modules.test_module_base_subclasses.TestModuleBaseSubclasses::test_subclasses_implement_call"
] | [
"as2_python_api.as2_python_api.test.test_interpreter.TestDummyMission::test_drone",
"as2_python_api.as2_python_api.test.test_interpreter.TestDummyMission::test_mission",
"as2_python_api.as2_python_api.test.test_interpreter.TestDummyMission::test_mission_stack",
"as2_python_api.as2_python_api.test.test_interpr... | original_issue | false | questionable | harbor/tasks/aerostack2__aerostack2-828.tar.gz | [
"BSD-3-Clause"
] | provenance/source-licenses.json | false |
autowarefoundation__agnocast-1379 | autowarefoundation/agnocast | ROS | ROS | https://github.com/autowarefoundation/agnocast/pull/1379 | https://github.com/autowarefoundation/agnocast/issues/1182 | 9a4616820c993e7d765a626995d27a608ed19cb0 | f73086b965819429e0f042753ac8b45c2c09c526 | 2026-06-08T02:19:46Z | # autowarefoundation/agnocast — fix the defect described below
glog doesn't work when using `AgnocastOnly*` executors
As in title.
This must be something related to the current signal handling for `agnocast::Node` and `AgnocastOnly*` executor. Must look into it.
## Where you are
The repository is checked out at `/... | diff --git a/src/agnocastlib/src/node/agnocast_signal_handler.cpp b/src/agnocastlib/src/node/agnocast_signal_handler.cpp
index ce062000b..fec28173e 100644
--- a/src/agnocastlib/src/node/agnocast_signal_handler.cpp
+++ b/src/agnocastlib/src/node/agnocast_signal_handler.cpp
@@ -75,8 +75,8 @@ void SignalHandler::install()... | diff --git a/src/agnocastlib/test/unit/test_agnocast_signal_handler.cpp b/src/agnocastlib/test/unit/test_agnocast_signal_handler.cpp
index a96723107..f68865714 100644
--- a/src/agnocastlib/test/unit/test_agnocast_signal_handler.cpp
+++ b/src/agnocastlib/test/unit/test_agnocast_signal_handler.cpp
@@ -99,6 +99,54 @@ stru... | [
"SignalHandlerTest.OldSaHandlerIsCalledWithCorrectSigintArgument",
"SignalHandlerTest.OldSaHandlerIsCalledWithCorrectSigtermArgument",
"SignalHandlerTest.OldSaSigactionHandlerIsCalledWithCorrectArguments"
] | [
"AgnocastCallbackInfoTest.get_erased_callback_const_ptr",
"AgnocastCallbackInfoTest.get_erased_callback_invalid_type",
"AgnocastCallbackInfoTest.get_erased_callback_normal",
"AgnocastContextStdoutLogsTest.disable_stdout_logs_suppresses_console_output",
"AgnocastContextStdoutLogsTest.flag_after_double_dash_t... | original_issue | false | unfair | harbor/tasks/autowarefoundation__agnocast-1379.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
dfki-ric__pytransform3d-282 | dfki-ric/pytransform3d | Algorithms | C | https://github.com/dfki-ric/pytransform3d/pull/282 | https://github.com/dfki-ric/pytransform3d/issues/277 | c15b97e88fcdb5decff493b199c9c413bb13efe2 | 31a42b4c900b6a7324d97715180ab035fdd46da1 | 2025-01-03T19:12:37Z | # dfki-ric/pytransform3d — fix the reported defect
Implement estimate_gaussian_matrix_from_samples
... to estimate distribution of rotation matrices, similarly to estimate_gaussian_transform_from_samples according to https://ethaneade.com/lie.pdf, section 8.5
The repository is available at `/workspace`. Implement th... | diff --git a/doc/source/api.rst b/doc/source/api.rst
index dafc5cf8686b9acecc1b8a656770ba99f5f1461d..1007b38e77d11e7c0cb43b7f10170064aeb2dbf8 100644
--- a/doc/source/api.rst
+++ b/doc/source/api.rst
@@ -28,6 +28,8 @@ Rotation Matrix
~matrix_requires_renormalization
~norm_matrix
+ ~random_matrix
+
~plot_... | diff --git a/pytransform3d/test/test_batch_rotations.py b/pytransform3d/test/test_batch_rotations.py
index be7bb58d1374b96a13f4ca7faf2776164323568b..c65d73924f35b18a06185ac5c1f634179a3a60f9 100644
--- a/pytransform3d/test/test_batch_rotations.py
+++ b/pytransform3d/test/test_batch_rotations.py
@@ -356,6 +356,23 @@ def ... | [
"pytest::pytransform3d.test.test_batch_rotations::test_axis_angles_from_matrices_norot",
"pytest::pytransform3d.test.test_rotations::test_random_matrices",
"pytest::pytransform3d.test.test_uncertainty::test_estimate_gaussian_rotation_matrix_from_samples"
] | [
"pytest::pytransform3d.test.test_batch_rotations::test_active_matrices_from_angles_0dims",
"pytest::pytransform3d.test.test_batch_rotations::test_active_matrices_from_angles_1dim",
"pytest::pytransform3d.test.test_batch_rotations::test_active_matrices_from_angles_3dims",
"pytest::pytransform3d.test.test_batch... | original_issue | false | unfair | harbor/tasks/dfki-ric__pytransform3d-282.tar.gz | [
"BSD-3-Clause"
] | provenance/source-licenses.json | false |
dfki-ric__pytransform3d-327 | dfki-ric/pytransform3d | Algorithms | C | https://github.com/dfki-ric/pytransform3d/pull/327 | https://github.com/dfki-ric/pytransform3d/issues/326 | 1afe3570f5653e523e33d5c740e328a00d047bfa | c5f2fe46de1f2d6afd452f5a46e2ef28541a5fb4 | 2025-01-19T21:50:34Z | # dfki-ric/pytransform3d — fix the reported defect
Implement rotation matrix normalization through polar decomposition
Explanation: https://zalo.github.io/blog/polar-decomposition/
The repository is available at `/workspace`. Implement the correction while preserving existing behavior. The verifier adds the upstream... | diff --git a/doc/source/api.rst b/doc/source/api.rst
index 9c62ed63a3beea9ef264eebf49238ffb67d71bcc..a22948746cd771fb31a69747f511a1bdcbaa412c 100644
--- a/doc/source/api.rst
+++ b/doc/source/api.rst
@@ -27,6 +27,7 @@ Rotation Matrix
~matrix_requires_renormalization
~norm_matrix
+ ~polar_decomposition
... | diff --git a/pytransform3d/test/test_rotations.py b/pytransform3d/test/test_rotations.py
index 923f02c5da39e8fb86853a32f3b43d355e182d13..acba1caae09c98adc112afebfdc7e4206daed390 100644
--- a/pytransform3d/test/test_rotations.py
+++ b/pytransform3d/test/test_rotations.py
@@ -2467,3 +2467,50 @@ def test_random_matrices()... | [
"pytest::pytransform3d.test.test_rotations::test_polar_decomposition"
] | [
"pytest::pytransform3d.test.test_rotations::test_active_matrix_from_angle",
"pytest::pytransform3d.test.test_rotations::test_active_matrix_from_extrinsic_euler_zxz",
"pytest::pytransform3d.test.test_rotations::test_active_matrix_from_extrinsic_euler_zyz",
"pytest::pytransform3d.test.test_rotations::test_activ... | original_issue | false | unfair | harbor/tasks/dfki-ric__pytransform3d-327.tar.gz | [
"BSD-3-Clause"
] | provenance/source-licenses.json | false |
dfki-ric__pytransform3d-329 | dfki-ric/pytransform3d | Algorithms | C | https://github.com/dfki-ric/pytransform3d/pull/329 | https://github.com/dfki-ric/pytransform3d/issues/328 | 12cc47fb6e1a25f1156f7f0dcd9091be8c6fb288 | 1afe3570f5653e523e33d5c740e328a00d047bfa | 2025-01-18T22:30:24Z | # dfki-ric/pytransform3d — fix the reported defect
Dual quaternion normalization
Make sure that real and dual quaternion are orthogonal: https://stackoverflow.com/questions/23174899/properly-normalizing-a-dual-quaternion
* [x] update `check_dual_quaternion`
* [x] update `dual_quaternion_requires_renormalization`
* [... | diff --git a/.github/workflows/python-package.yml b/.github/workflows/python-package.yml
index 7be89c8f1665d8a823e2574d8289fdd7f6b1d67f..f4b4ca7590d93769a69c951bdf5a596c2623f28a 100644
--- a/.github/workflows/python-package.yml
+++ b/.github/workflows/python-package.yml
@@ -14,7 +14,7 @@ jobs:
runs-on: ubuntu-late... | diff --git a/pytransform3d/test/test_transformations.py b/pytransform3d/test/test_transformations.py
index a90bfde6a620a0a37f7ec3275ed1907ffd6c1f36..b71486c91d433314c701832f8c97391746ea4668 100644
--- a/pytransform3d/test/test_transformations.py
+++ b/pytransform3d/test/test_transformations.py
@@ -603,24 +603,45 @@ def... | [
"pytest::pytransform3d.test.test_transformations::test_check_dual_quaternion",
"pytest::pytransform3d.test.test_transformations::test_normalize_dual_quaternion"
] | [
"pytest::pytransform3d.test.test_transformations::test_adjoint_from_transform_without_check",
"pytest::pytransform3d.test.test_transformations::test_adjoint_of_transformation",
"pytest::pytransform3d.test.test_transformations::test_assert_screw_parameters_equal",
"pytest::pytransform3d.test.test_transformatio... | original_issue | false | minor_issues | harbor/tasks/dfki-ric__pytransform3d-329.tar.gz | [
"BSD-3-Clause"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1191 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1191 | https://github.com/google-deepmind/mujoco_warp/issues/738 | 9c8a5605b220daeab8fc3ccf65925bc4e4887295 | 368bdcafb23562f83a5692952b9d1fabdfea0ee9 | 2026-04-01T13:13:49Z | # google-deepmind/mujoco_warp — fix the reported defect
Simulating different meshes in parallel envs
In MJX, it appears to be infeasible to simultaneously import different object meshes in different parallel environments. Is this feature available in mj warp?
The repository is available at `/workspace`. Implement th... | diff --git a/mujoco_warp/_src/bvh.py b/mujoco_warp/_src/bvh.py
index 60c4093cfd26d4af9a7697de341c207053090ad7..3f9a1b79cbe73d5ec33a652cef649fd023eb6b16 100644
--- a/mujoco_warp/_src/bvh.py
+++ b/mujoco_warp/_src/bvh.py
@@ -174,7 +174,7 @@ def _compute_cylinder_bounds(
def _compute_bvh_bounds(
# Model:
geom_type:... | diff --git a/mujoco_warp/_src/collision_gjk_test.py b/mujoco_warp/_src/collision_gjk_test.py
index 234110bde23e645c1ba0a2ceffb6c43719867e1e..3a3b38aa3f2bd9b50047fcc9c697a243b1d41c76 100644
--- a/mujoco_warp/_src/collision_gjk_test.py
+++ b/mujoco_warp/_src/collision_gjk_test.py
@@ -68,7 +68,7 @@ def _geom_dist(
def ... | [
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_ccd",
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_ccd2",
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_contact",
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_diagonal",
"pytes... | [
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_hfield_support0",
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_hfield_support1",
"pytest::mujoco_warp._src.io_test.IOTest::test_allocate_worlds_rounding",
"pytest::mujoco_warp._src.io_test.IOTest::test_allocate_worlds_single_candidate",
... | original_issue | false | unfair | harbor/tasks/google-deepmind__mujoco_warp-1191.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1334 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1334 | https://github.com/google-deepmind/mujoco_warp/issues/1333 | e48bce08f1bceef404b4036c3f2ac9ed5b2694c5 | bc4702d3c03287e2dad77d49bea4eaa3d46928fd | 2026-05-06T23:26:08Z | # google-deepmind/mujoco_warp — fix the reported defect
_qderiv_actuator_passive_actuation_sparse indexes qMj with wrong row offsets when free joint is in qvel
PR (https://github.com/google-deepmind/mujoco_warp/pull/1243) — "Optimization: qderiv_actuator_passive_actuation", merged 2026-03-21, commit 80e146c.
... | diff --git a/mujoco_warp/_src/derivative.py b/mujoco_warp/_src/derivative.py
index 5979d2db326d6d5d8e4bb33a922e7396c83e5ba5..fae131e549f5c7b195bea5d7fe32a3423dfde170 100644
--- a/mujoco_warp/_src/derivative.py
+++ b/mujoco_warp/_src/derivative.py
@@ -197,8 +197,7 @@ def _qderiv_actuator_passive_actuation_dense(
@wp.ke... | diff --git a/mujoco_warp/_src/derivative_test.py b/mujoco_warp/_src/derivative_test.py
index c42708ead3b6af677200021a910f52234fd6cff2..490409dfc40875560004740569bd4a597bb390a4 100644
--- a/mujoco_warp/_src/derivative_test.py
+++ b/mujoco_warp/_src/derivative_test.py
@@ -425,6 +425,64 @@ class DerivativeTest(parameteriz... | [
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_smooth_vel_sparse_free_joint_precedes_actuator"
] | [
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_actearly_derivative",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_forcerange_clamped_derivative",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_rne_derivative_branched_dense",
"pytest::mujoco_warp._src.derivativ... | original_issue | false | minor_issues | harbor/tasks/google-deepmind__mujoco_warp-1334.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1432 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1432 | https://github.com/google-deepmind/mujoco_warp/issues/1431 | e357e88b6b47166d325b564c805d9ecbae659a64 | 097d7695000a0f3857c5a8dc4f14a51f43c3c7ee | 2026-06-16T13:48:25Z | # google-deepmind/mujoco_warp — fix the reported defect
Ellipsoid fluid: qfrc_fluid diverges from MuJoCo C on thin-plate geoms (proj_denom underflow zeroes A_proj)
## Summary
On thin-plate `fluidshape="ellipsoid"` geoms, `mujoco_warp`'s `qfrc_fluid` diverges from native MuJoCo (the C engine) by **up to ~11 N** at un... | diff --git a/mujoco_warp/_src/passive.py b/mujoco_warp/_src/passive.py
index f82ac5d5c1cac72eb3af38a905dc917e03a798f5..43fcdbc33edb01119cad9deffff53e6f9db8eef3 100644
--- a/mujoco_warp/_src/passive.py
+++ b/mujoco_warp/_src/passive.py
@@ -430,12 +430,8 @@ def _fluid_force(
proj_denom = _pow4(s12) * _pow2(l_lin[0... | diff --git a/mujoco_warp/_src/passive_test.py b/mujoco_warp/_src/passive_test.py
index 4b36d6406f433678876b0eddd04ee916a4c1cf0e..aec468119ba913256959bfc96c731e6006ade4c0 100644
--- a/mujoco_warp/_src/passive_test.py
+++ b/mujoco_warp/_src/passive_test.py
@@ -395,6 +395,30 @@ class PassiveTest(parameterized.TestCase):
... | [
"pytest::mujoco_warp._src.passive_test.PassiveTest::test_thin_ellipsoid_fluid"
] | [
"pytest::mujoco_warp._src.passive_test.PassiveTest::test_ellipsoid_fluid",
"pytest::mujoco_warp._src.passive_test.PassiveTest::test_fluid0",
"pytest::mujoco_warp._src.passive_test.PassiveTest::test_fluid1",
"pytest::mujoco_warp._src.passive_test.PassiveTest::test_fluid2",
"pytest::mujoco_warp._src.passive_t... | original_issue | false | minor_issues | harbor/tasks/google-deepmind__mujoco_warp-1432.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1487 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1487 | https://github.com/google-deepmind/mujoco_warp/issues/1270 | 7cf19386981a79c5d7a013b8b7f2f24d829b30f6 | c85bce494defa8789c0c54f6f7565a400958eea8 | 2026-07-06T09:09:05Z | # google-deepmind/mujoco_warp — fix the reported defect
Connect constraint anchor computation does not account for joint reference positions. Affects MuJoCo CPU and MuJoCo Warp.
Summary:
The connect constraint couples two bodies and has two anchors, one for each body. The first anchor is set by the user. The secon... | diff --git a/mujoco_warp/_src/io.py b/mujoco_warp/_src/io.py
index 466ac26b991580dd8df5e476f0c08c5fe0247963..545d71364c0af3dd2ef371b37ee3ef0cf9254939 100644
--- a/mujoco_warp/_src/io.py
+++ b/mujoco_warp/_src/io.py
@@ -2622,6 +2622,83 @@ def _copy_tendon_length0(
tendon_length0_out[tendon_length0_id, tenid] = ten_le... | diff --git a/mujoco_warp/_src/io_test.py b/mujoco_warp/_src/io_test.py
index 1a79df424d036d1ba7329370829348b8f111c72d..a8a5587bf66bb67c6b1c8f41212ce51418f257aa 100644
--- a/mujoco_warp/_src/io_test.py
+++ b/mujoco_warp/_src/io_test.py
@@ -1210,6 +1210,164 @@ class IOTest(parameterized.TestCase):
_assert_eq(m.actua... | [
"pytest::mujoco_warp._src.io_test.IOTest::test_set_const_eq_data_connect",
"pytest::mujoco_warp._src.io_test.IOTest::test_set_const_eq_data_slider_crank_tracking",
"pytest::mujoco_warp._src.io_test.IOTest::test_set_const_eq_data_weld"
] | [
"pytest::mujoco_warp._src.io_test.IOTest::test_allocate_worlds_rounding",
"pytest::mujoco_warp._src.io_test.IOTest::test_allocate_worlds_single_candidate",
"pytest::mujoco_warp._src.io_test.IOTest::test_allocate_worlds_uniform",
"pytest::mujoco_warp._src.io_test.IOTest::test_bvh_creation0",
"pytest::mujoco_... | original_issue | false | unfair | harbor/tasks/google-deepmind__mujoco_warp-1487.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1501 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1501 | https://github.com/google-deepmind/mujoco_warp/issues/1500 | 5c881b9647c44d850d4a1d84780608b9a83b9ada | d27b4a6946ce5f6f34aad3792f3972aa603f4aa2 | 2026-07-08T18:39:41Z | # google-deepmind/mujoco_warp — fix the reported defect
Sparse solver zeroes qfrc_constraint for worlds that converge early
When the constraint Jacobian is sparse, `_update_constraint` clears the whole `qfrc_constraint` array on every solver iteration and then only fills back in the worlds that haven't converged yet.... | diff --git a/mujoco_warp/_src/solver.py b/mujoco_warp/_src/solver.py
index d63ae3498811b3d40abac3cc75a5f4e618ff5edc..eda388b3ab440329b85f0e4486f20d7054496d06 100644
--- a/mujoco_warp/_src/solver.py
+++ b/mujoco_warp/_src/solver.py
@@ -1638,6 +1638,26 @@ def _update_constraint_efc(track_changes: bool):
return kernel
... | diff --git a/mujoco_warp/_src/solver_test.py b/mujoco_warp/_src/solver_test.py
index 6c977eff73290925aeae7b5c289c13663b5479e2..0bd6440d2138a83eb76e275a3d82f881c8e6c93c 100644
--- a/mujoco_warp/_src/solver_test.py
+++ b/mujoco_warp/_src/solver_test.py
@@ -684,6 +684,58 @@ class SolverTest(parameterized.TestCase):
... | [
"pytest::mujoco_warp._src.solver_test.SolverTest::test_qfrc_constraint_early_convergence"
] | [
"pytest::mujoco_warp._src.solver_test.CompactSolverTest::test_constrained_solve_equivalence_all_active",
"pytest::mujoco_warp._src.solver_test.CompactSolverTest::test_smooth_solve_equivalence_all_active",
"pytest::mujoco_warp._src.solver_test.CompactSolverTest::test_smooth_solve_partial_active_freezes_rest",
... | original_issue | false | minor_issues | harbor/tasks/google-deepmind__mujoco_warp-1501.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1530 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1530 | https://github.com/google-deepmind/mujoco_warp/issues/1527 | 0f36b1eaf86cdb69f029ac0e2bb478a201b44a3c | 3db7a702a1b2b50e09a91c52a0c9273b1137833a | 2026-07-17T16:26:52Z | # google-deepmind/mujoco_warp — fix the reported defect
Overlapping zero-margin mesh pair reports positive distance and no constraint
## Summary
For the minimized overlapping mesh pair below, native MuJoCo reports a negative distance while MuJoCo-Warp 3.10.0.2 reports a small positive distance. MuJoCo-Warp records a... | diff --git a/mujoco_warp/_src/collision_gjk.py b/mujoco_warp/_src/collision_gjk.py
index f9ba3e1e658e6a5099098a21c9f8e439a70f2441..1765c3ac92ca1df50786a48ac3affb66e9301f7f 100644
--- a/mujoco_warp/_src/collision_gjk.py
+++ b/mujoco_warp/_src/collision_gjk.py
@@ -652,8 +652,13 @@ def gjk(
simplex_index2 = wp.vec4i()
... | diff --git a/mujoco_warp/_src/collision_gjk_test.py b/mujoco_warp/_src/collision_gjk_test.py
index 428632d636bb1e46a7bd972dc27791379f5ab0bf..db99ceeb5d9822bdd9408feb76ed234e75f933ab 100644
--- a/mujoco_warp/_src/collision_gjk_test.py
+++ b/mujoco_warp/_src/collision_gjk_test.py
@@ -426,6 +426,32 @@ class GJKTest(parame... | [
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_mesh_mesh_contact2"
] | [
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_ccd",
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_ccd2",
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_contact",
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_diagonal",
"pytes... | original_issue | false | minor_issues | harbor/tasks/google-deepmind__mujoco_warp-1530.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1628 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1628 | https://github.com/google-deepmind/mujoco_warp/issues/1625 | 18cafe1e988682b46a4fabbcaf5f2fc360f4b298 | e8cb0efaa335e273160ab2939f9e9f34d5020f99 | 2026-09-09T09:57:28Z | # google-deepmind/mujoco_warp — fix the reported defect
Decouple rne_postconstraint from the disabled sensor stage for non-sensor consumers
### Problem
MuJoCo Warp currently calls `smooth.rne_postconstraint()` only inside `sensor_acc()`, after the `mjDSBL_SENSOR` early return:
```text
solver.solve
sensor_acc
if m... | diff --git a/mujoco_warp/_src/forward.py b/mujoco_warp/_src/forward.py
index 20f462b32becccca16bfd6d5510a64b832c1d261..82f1a09a81990ac11b5c9a8210f959b3456cd22f 100644
--- a/mujoco_warp/_src/forward.py
+++ b/mujoco_warp/_src/forward.py
@@ -1405,7 +1405,9 @@ def forward(m: Model, d: Data):
fwd_acceleration(m, d, facto... | diff --git a/mujoco_warp/_src/forward_test.py b/mujoco_warp/_src/forward_test.py
index ca24ceba7ff9a4efb5581698d418faa779aade25..bdb14d5328d30e2fab4255c571127312f9593b30 100644
--- a/mujoco_warp/_src/forward_test.py
+++ b/mujoco_warp/_src/forward_test.py
@@ -2053,6 +2053,53 @@ class DCMotorTest(parameterized.TestCase):... | [
"pytest::mujoco_warp._src.forward_test.DCMotorTest::test_run_rne_postconstraint",
"pytest::mujoco_warp._src.sensor_test.SensorTest::test_sensor_acc_skip_rne_postconstraint"
] | [
"pytest::mujoco_warp._src.forward_test.DCMotorTest::test_dcmotor_cogging_bypasses_saturation",
"pytest::mujoco_warp._src.forward_test.DCMotorTest::test_dcmotor_cogging_torque",
"pytest::mujoco_warp._src.forward_test.DCMotorTest::test_dcmotor_current_filter",
"pytest::mujoco_warp._src.forward_test.DCMotorTest:... | original_issue | false | unfair | harbor/tasks/google-deepmind__mujoco_warp-1628.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1653 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1653 | https://github.com/google-deepmind/mujoco_warp/issues/1555 | 21e871fb7d5ba55d308a133c2fd72475655f5a7c | b32c082e9a47300609b441d0cdeff67ecf0a5b4e | 2026-09-09T15:26:41Z | # google-deepmind/mujoco_warp — fix the reported defect
MuJoCo Warp MultiCCD returns one alternating contact for a cylinder-box pair
## Context
<img width="1440" height="1080" alt="Image" src="https://github.com/user-attachments/assets/8cbd5f00-0a04-4d20-af32-340d11d01188" />
We found this while developing a roboti... | diff --git a/mujoco_warp/_src/collision_convex.py b/mujoco_warp/_src/collision_convex.py
index 66e062a4ce282f4e79b4ca7b668a3dd499b3eb1c..bd70bbc93eeb730a709dd83e87d7d3ac6a7b8e07 100644
--- a/mujoco_warp/_src/collision_convex.py
+++ b/mujoco_warp/_src/collision_convex.py
@@ -889,8 +889,8 @@ def ccd_kernel_builder(
... | diff --git a/mujoco_warp/_src/collision_driver_test.py b/mujoco_warp/_src/collision_driver_test.py
index be4bcd4dc7337c23aa32fb1d10bfbbed3a68672f..f74ef6a0b6c9bfb0504c3c7c3401d6d8bd73415e 100644
--- a/mujoco_warp/_src/collision_driver_test.py
+++ b/mujoco_warp/_src/collision_driver_test.py
@@ -1423,6 +1423,107 @@ class... | [
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_cylinder_multiccd_cylinder_box_face_to_face",
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_cylinder_multiccd_cylinder_box_horizontal_issue_1555",
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_cylinde... | [
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_adhesion_combination_and_pair_override",
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_adhesion_contacts",
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_adhesion_pulloff_and_tether",
"pytest::mujoco... | original_issue | false | questionable | harbor/tasks/google-deepmind__mujoco_warp-1653.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1660 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1660 | https://github.com/google-deepmind/mujoco_warp/issues/1657 | 838a17c2f838457dbaed4ac6d8d7609550115f06 | bc8ed608f66273e9ead6a72779c13c6362b107c7 | 2026-09-23T13:10:12Z | # google-deepmind/mujoco_warp — fix the reported defect
Independent t³ clamp makes elliptic cone Hessians indefinite near the apex, causing Newton solver NaNs
Elliptic cone Hessian assembly independently clamps `t^3` to `MJ_MINVAL`, while other terms still use `t`. Near the cone apex this changes the curvature formul... | diff --git a/mujoco_warp/_src/solver.py b/mujoco_warp/_src/solver.py
index ecad79010b0d1bc1e89b5cedb6dbea5fe3f87182..c8aac92c86731fa85eb7d1f164e1f1d8aa43035e 100644
--- a/mujoco_warp/_src/solver.py
+++ b/mujoco_warp/_src/solver.py
@@ -2452,8 +2452,8 @@ def _update_gradient_JTDAJ_dense_tiled(nv_pad: int, tile_size: int,... | diff --git a/mujoco_warp/_src/solver_test.py b/mujoco_warp/_src/solver_test.py
index ef1330be786f90aa63d05bf4fe6ab28e4ee8df19..efaeb18c8ffc8ef7bc26261772e741983bd9f378 100644
--- a/mujoco_warp/_src/solver_test.py
+++ b/mujoco_warp/_src/solver_test.py
@@ -85,18 +85,19 @@ def _elliptic_dense_hessian_reference(m, d, ctx):... | [
"pytest::mujoco_warp._src.solver_test.SolverTest::test_elliptic_hessian_scale_invariance0",
"pytest::mujoco_warp._src.solver_test.SolverTest::test_elliptic_hessian_scale_invariance1"
] | [
"pytest::mujoco_warp._src.solver_test.CompactSolverTest::test_constrained_solve_equivalence_all_active",
"pytest::mujoco_warp._src.solver_test.CompactSolverTest::test_qfrc_constraint_initialization",
"pytest::mujoco_warp._src.solver_test.CompactSolverTest::test_smooth_solve_equivalence_all_active",
"pytest::m... | original_issue | false | minor_issues | harbor/tasks/google-deepmind__mujoco_warp-1660.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1690 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1690 | https://github.com/google-deepmind/mujoco_warp/issues/1688 | 57b4692f4d3cdf4d27d916b4b8c4759ba36e9148 | a858e07aceeb45b1d6ef4faa04ecbe5c201e22c9 | 2026-10-15T18:10:27Z | # google-deepmind/mujoco_warp — fix the reported defect
Delayed limit-force sensors apply sensor delay twice
Specula reproduced a limit-force sensor delay error at commit `88af9cc682d42e2e925daa0bae25f53277999f7b`.
`sensor_acc_adr` includes every acceleration-stage sensor, including joint and tendon limit-force sens... | diff --git a/mujoco_warp/_src/io.py b/mujoco_warp/_src/io.py
index 164b56fe13ae2f8f309672596e490cacec27c5b0..2e3d89b21f37bc5c91c7644c78c9eb695614bda1 100644
--- a/mujoco_warp/_src/io.py
+++ b/mujoco_warp/_src/io.py
@@ -1043,16 +1043,19 @@ def put_model(mjm: mujoco.MjModel, batch_sizes: dict[str, int] | None = None) ->
... | diff --git a/mujoco_warp/_src/history_test.py b/mujoco_warp/_src/history_test.py
index 0afbf2f2be84e78b17f29008638435ae32d45b23..a0c80054afee1811ab3beaf5014d05fe9abc665b 100644
--- a/mujoco_warp/_src/history_test.py
+++ b/mujoco_warp/_src/history_test.py
@@ -563,6 +563,118 @@ class MultiWorldDelayTest(parameterized.Tes... | [
"pytest::mujoco_warp._src.history_test.MultiWorldDelayTest::test_delayed_joint_limit_force0",
"pytest::mujoco_warp._src.history_test.MultiWorldDelayTest::test_delayed_joint_limit_force1",
"pytest::mujoco_warp._src.history_test.MultiWorldDelayTest::test_delayed_tendon_limit_force0",
"pytest::mujoco_warp._src.h... | [
"pytest::mujoco_warp._src.history_test.ActivationDelayTest::test_filter_with_delay0",
"pytest::mujoco_warp._src.history_test.ActivationDelayTest::test_filter_with_delay1",
"pytest::mujoco_warp._src.history_test.ActivationDelayTest::test_integrator_with_delay0",
"pytest::mujoco_warp._src.history_test.Activatio... | original_issue | false | questionable | harbor/tasks/google-deepmind__mujoco_warp-1690.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1717 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1717 | https://github.com/google-deepmind/mujoco_warp/issues/1713 | 7d9458b47e3ce3c597795e0cbd33ebeec32ec08e | 7db3f199c56bbc70fb92b6418d02eb2ce30ba7b6 | 2026-10-06T18:54:56Z | # google-deepmind/mujoco_warp — fix the reported defect
wrap_inside: float32 Newton solve silently falls back to the midpoint (tendons up to 7.6 mm too long)
### UP-1 (High) `wrap_inside`: the float32 Newton solve silently falls back to the midpoint
**What is wrong.**
- `wrap_inside` solves asin(A·z) + asin(B·z) − 2... | diff --git a/mujoco_warp/_src/util_misc.py b/mujoco_warp/_src/util_misc.py
index ead3fafebab3635f8b3b4fd799c45e3c8f05c39b..ddaf8c8fcf26d95c4638f95a9627fe00335fe6c7 100644
--- a/mujoco_warp/_src/util_misc.py
+++ b/mujoco_warp/_src/util_misc.py
@@ -41,20 +41,24 @@ def is_intersect(p1: wp.vec2, p2: wp.vec2, p3: wp.vec2, p... | diff --git a/mujoco_warp/_src/smooth_test.py b/mujoco_warp/_src/smooth_test.py
index 7fd7a0f01efe495dcdc5f1e104b80e1ef85e29f9..6aad670e017b28fe4e2fa5b09eab1b0127775e86 100644
--- a/mujoco_warp/_src/smooth_test.py
+++ b/mujoco_warp/_src/smooth_test.py
@@ -1015,6 +1015,145 @@ class SmoothTest(parameterized.TestCase):
... | [
"pytest::mujoco_warp._src.smooth_test.SmoothTest::test_tendon_wrap_inside0",
"pytest::mujoco_warp._src.smooth_test.SmoothTest::test_tendon_wrap_inside1",
"pytest::mujoco_warp._src.smooth_test.SmoothTest::test_tendon_wrap_onset0",
"pytest::mujoco_warp._src.smooth_test.SmoothTest::test_tendon_wrap_onset1",
"p... | [
"pytest::mujoco_warp._src.smooth_test.SmoothTest::test_actuator_adhesion0",
"pytest::mujoco_warp._src.smooth_test.SmoothTest::test_actuator_adhesion1",
"pytest::mujoco_warp._src.smooth_test.SmoothTest::test_actuator_adhesion10",
"pytest::mujoco_warp._src.smooth_test.SmoothTest::test_actuator_adhesion11",
"p... | original_issue | false | unfair | harbor/tasks/google-deepmind__mujoco_warp-1717.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-1767 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/1767 | https://github.com/google-deepmind/mujoco_warp/issues/1765 | 0a8067edabdf4bb8a9ac46b5ab225b9d7b9d9921 | be07595a74a9e9a0bef84d72a5092e3ff0d44e8a | 2026-10-12T20:39:55Z | # google-deepmind/mujoco_warp — fix the reported defect
Contacts between a mocap body and the ground plane (none in MuJoCo C) make the Newton solve skip or slow down (main after #1749, 3.15 after #1700)
### Summary
A mocap box that penetrates the ground plane gets contacts with the plane in MuJoCo Warp; MuJoCo C
cre... | diff --git a/mujoco_warp/_src/io.py b/mujoco_warp/_src/io.py
index 2574322b7a35af5204d1e84af93f97d50db9f0f8..88c13c260ae25b605045f7306d8317f27c4cc494 100644
--- a/mujoco_warp/_src/io.py
+++ b/mujoco_warp/_src/io.py
@@ -755,6 +755,8 @@ def put_model(mjm: mujoco.MjModel, batch_sizes: dict[str, int] | None = None) ->
w... | diff --git a/mujoco_warp/_src/collision_driver_test.py b/mujoco_warp/_src/collision_driver_test.py
index 749f6df31e4b522cfaa2705abff2078823a88c79..9cd1d5ca3d90798960c1eeacd443a0811f921a22 100644
--- a/mujoco_warp/_src/collision_driver_test.py
+++ b/mujoco_warp/_src/collision_driver_test.py
@@ -1790,6 +1790,63 @@ class ... | [
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_mocap_collision_filter0",
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_mocap_collision_filter1",
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_mocap_collision_filter2",
"pytest::mujoco_warp._src.co... | [
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_adhesion_combination_and_pair_override",
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_adhesion_contacts",
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_adhesion_pulloff_and_tether",
"pytest::mujoco... | original_issue | false | questionable | harbor/tasks/google-deepmind__mujoco_warp-1767.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-777 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/777 | https://github.com/google-deepmind/mujoco_warp/issues/420 | c172ce0f34c2c44a10d9bea32e74470a24a0dc20 | 30ef3fa0a0bd4ad2aa949f46259c92b92cb5d688 | 2025-10-17T22:22:30Z | # google-deepmind/mujoco_warp — fix the reported defect
Mechanism for reusing temporary arrays across kernels
Each algorithm that needs temporary arrays current allocates it separately in `Data` - this is a big waste of space! We need a strategy (perhaps a reusable arena allocation) for sharing temporary arrays
The... | diff --git a/mujoco_warp/_src/collision_convex.py b/mujoco_warp/_src/collision_convex.py
index 02cdce86044120688370965f4c20d1aaf48d1ca2..a5df8c5f12a3a121e6efeee43138287660f56f1b 100644
--- a/mujoco_warp/_src/collision_convex.py
+++ b/mujoco_warp/_src/collision_convex.py
@@ -26,6 +26,8 @@ from .collision_primitive impor... | diff --git a/mujoco_warp/_src/collision_gjk_test.py b/mujoco_warp/_src/collision_gjk_test.py
index 4534ac2a9ace0465134fc4fd896e5929ae7b5231..f5211d1286a18ac62a97a97ce63abb04bb4f2414 100644
--- a/mujoco_warp/_src/collision_gjk_test.py
+++ b/mujoco_warp/_src/collision_gjk_test.py
@@ -24,6 +24,8 @@ from mujoco_warp import... | [
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_ccd",
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_ccd2",
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_box_contact",
"pytest::mujoco_warp._src.collision_gjk_test.GJKTest::test_box_edge",
"pytest::mujoc... | [] | original_issue | false | unfair | harbor/tasks/google-deepmind__mujoco_warp-777.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-829 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/829 | https://github.com/google-deepmind/mujoco_warp/issues/828 | 4b91fd99a9f10f194c9d6aa528e284560c89d5c6 | e605c406363805d949b75d50dd5ffb3d79bc3f70 | 2025-11-01T21:32:40Z | # google-deepmind/mujoco_warp — fix the reported defect
Objects falling through the floor (regression from #809)
Objects are falling through the ground plane in my simulation. A `git bisect` shows that this happens since PR #809 was merged.
I've prepared a self-contained uv-script to show the issue:
```python
# /// s... | diff --git a/mujoco_warp/_src/io.py b/mujoco_warp/_src/io.py
index f94983ea234d1f2a71adca656a193f95c7cd18da..e80fd14839c639fa2f627617c3626df1238f0d34 100644
--- a/mujoco_warp/_src/io.py
+++ b/mujoco_warp/_src/io.py
@@ -1213,6 +1213,10 @@ def put_data(
if mjd.nefc > njmax:
raise ValueError(f"njmax overflow (njma... | diff --git a/mujoco_warp/_src/io_test.py b/mujoco_warp/_src/io_test.py
index 8465d2363ae76168601cdec539a2211bb9034ba0..949b8962d48be513c8b01f803839d4ee41720e9a 100644
--- a/mujoco_warp/_src/io_test.py
+++ b/mujoco_warp/_src/io_test.py
@@ -276,6 +276,34 @@ class IOTest(parameterized.TestCase):
d = mjwarp.put_data(m... | [
"pytest::mujoco_warp._src.io_test.IOTest::test_static_geom_collision_with_put_data"
] | [
"pytest::mujoco_warp._src.io_test.IOTest::test_collision_sensors0",
"pytest::mujoco_warp._src.io_test.IOTest::test_collision_sensors1",
"pytest::mujoco_warp._src.io_test.IOTest::test_collision_sensors2",
"pytest::mujoco_warp._src.io_test.IOTest::test_collision_sensors3",
"pytest::mujoco_warp._src.io_test.IO... | original_issue | false | minor_issues | harbor/tasks/google-deepmind__mujoco_warp-829.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-847 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/847 | https://github.com/google-deepmind/mujoco_warp/issues/528 | 09ec1da65ac44bd68703f9507c9c9e8f22ae7c71 | e01661b3c2b38362c00fd2f1d3e005b7cfc6377b | 2025-11-17T15:18:57Z | # google-deepmind/mujoco_warp — fix the reported defect
Hfield ncon balloons and should be culled further
Currently prim<>hfield collisions are culled to mjMAXCONPAIR (50). In MJX, we culled to [4 contacts](https://github.com/google-deepmind/mujoco/blob/4f43a7d08e4f1289f4d76a4c48b8f42aca5bb38b/mjx/mujoco/mjx/_src/col... | diff --git a/mujoco_warp/_src/collision_convex.py b/mujoco_warp/_src/collision_convex.py
index 9a71c834d8b85816cd7c2a476aeb69217128d332..b626411ec5ac90584bb4f6088fba944e634356d5 100644
--- a/mujoco_warp/_src/collision_convex.py
+++ b/mujoco_warp/_src/collision_convex.py
@@ -42,6 +42,9 @@ from .warp_util import nested_k... | diff --git a/mujoco_warp/_src/collision_driver_test.py b/mujoco_warp/_src/collision_driver_test.py
index 0fdab0e5cc1ebda10f557becf6633c602d706b9b..585ca0e5dd08c8a8352bd9515fbd5d871a8ec9d2 100644
--- a/mujoco_warp/_src/collision_driver_test.py
+++ b/mujoco_warp/_src/collision_driver_test.py
@@ -860,17 +860,17 @@ class C... | [
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_hfield_maxconpair"
] | [
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_box_box_face_penetration_depth",
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_collision0",
"pytest::mujoco_warp._src.collision_driver_test.CollisionTest::test_collision1",
"pytest::mujoco_warp._src.collision_driver_test... | original_issue | false | questionable | harbor/tasks/google-deepmind__mujoco_warp-847.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-897 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/897 | https://github.com/google-deepmind/mujoco_warp/issues/750 | 2a59bae3ce75f05b72af7d00131ebf3f66ac2023 | ce451d18d29c74a76b2bfbd43321411fb162b4c8 | 2026-06-23T19:14:51Z | # google-deepmind/mujoco_warp — fix the reported defect
add implementation of `mjd_ellipsoidFluid`
mujoco implementation: https://github.com/google-deepmind/mujoco/blob/e4704cd28b2ec37026274b75b66b94082258cacf/src/engine/engine_derivative.c#L1137
the `implicitfast` integrator depends on this feature to be compatible... | diff --git a/mujoco_warp/_src/derivative.py b/mujoco_warp/_src/derivative.py
index cfb123b5f49f3469524253445b617cd49346f94a..e438016c5a4c676164e2aa94b5fa17a3a9928c70 100644
--- a/mujoco_warp/_src/derivative.py
+++ b/mujoco_warp/_src/derivative.py
@@ -17,6 +17,8 @@ import warp as wp
from mujoco_warp._src import math
... | diff --git a/mujoco_warp/_src/derivative_test.py b/mujoco_warp/_src/derivative_test.py
index a617e5699c87dfe37e7d813ee56dc4247435cab9..3038eae8fc8e63753a58f2a6186ecf93b5f73964 100644
--- a/mujoco_warp/_src/derivative_test.py
+++ b/mujoco_warp/_src/derivative_test.py
@@ -1103,6 +1103,173 @@ class DerivativeTest(paramete... | [
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_smooth_vel_fluid0",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_smooth_vel_fluid1",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_smooth_vel_fluid10",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::te... | [
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_actearly_derivative",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_dcmotor_stateful_analytical",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_dcmotor_stateful_converges_to_stateless",
"pytest::mujoco_warp._src.d... | original_issue | false | minor_issues | harbor/tasks/google-deepmind__mujoco_warp-897.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-912 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/912 | https://github.com/google-deepmind/mujoco_warp/issues/891 | 7ef10e79531c1e73b6e847f2fb5c0157c49a1c3a | 45c8839f7e0717320f179208d67a0bb07ad44d5c | 2026-05-06T00:04:56Z | # google-deepmind/mujoco_warp — fix the reported defect
implicit integrator
add implicit integrator
https://github.com/google-deepmind/mujoco/blob/e1e224892531c01ad2cb3ac3924d4e7362908e88/src/engine/engine_forward.c#L1094
this feature will require implementing mjd_rne_vel
https://github.com/google-deepmind/mujoco/bl... | diff --git a/mujoco_warp/_src/derivative.py b/mujoco_warp/_src/derivative.py
index cd515e3e6a5970a8ec7ef934e847b5771e94b611..5979d2db326d6d5d8e4bb33a922e7396c83e5ba5 100644
--- a/mujoco_warp/_src/derivative.py
+++ b/mujoco_warp/_src/derivative.py
@@ -15,6 +15,7 @@
import warp as wp
+from mujoco_warp._src import ma... | diff --git a/mujoco_warp/_src/derivative_test.py b/mujoco_warp/_src/derivative_test.py
index cc4746d292f04105e73a5267608ada94590c8c95..d3ddac3d9834bd99e85275ccb348d23e89887cc1 100644
--- a/mujoco_warp/_src/derivative_test.py
+++ b/mujoco_warp/_src/derivative_test.py
@@ -23,6 +23,8 @@ from absl.testing import parameteri... | [
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_rne_derivative_branched_dense",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_rne_derivative_branched_sparse",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_rne_derivative_damped_pendulum_dense",
"pytest::mujoco_w... | [
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_actearly_derivative",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_forcerange_clamped_derivative",
"pytest::mujoco_warp._src.derivative_test.DerivativeTest::test_smooth_vel0",
"pytest::mujoco_warp._src.derivative_test.DerivativeT... | original_issue | false | unfair | harbor/tasks/google-deepmind__mujoco_warp-912.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-919 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/919 | https://github.com/google-deepmind/mujoco_warp/issues/411 | 7437155669fab6f192d0a21592eba39ed9975024 | f54d3e0130877a8f43b5412dd2551cd8a977663e | 2025-12-22T21:10:28Z | # google-deepmind/mujoco_warp — fix the reported defect
Find better defaults for `njmax` and `nconmax`
For many MuJoCo models, `io.put_data` picks a default `njmax` and `nconmax` that is too low and yields overflows during simulation. We should design better heuristics for picking `njmax` and `nconmax`.
The reposit... | diff --git a/mujoco_warp/_src/io.py b/mujoco_warp/_src/io.py
index 4b5f193cd96b0cbbfe1968378bcab722816c2801..d2a64bd39b41e1dfb7b63b9d2f0669fe6400a63c 100644
--- a/mujoco_warp/_src/io.py
+++ b/mujoco_warp/_src/io.py
@@ -560,6 +560,32 @@ def _get_padded_sizes(nv: int, njmax: int, is_sparse: bool, tile_size: int):
retu... | diff --git a/mujoco_warp/_src/io_test.py b/mujoco_warp/_src/io_test.py
index 9d2131c4d493faf99b75f09bfd8b1bd1cdca902a..a7b39ad7b899cfcd432b2255a8564f5069158498 100644
--- a/mujoco_warp/_src/io_test.py
+++ b/mujoco_warp/_src/io_test.py
@@ -45,7 +45,7 @@ class IOTest(parameterized.TestCase):
def test_make_put_data(sel... | [
"pytest::mujoco_warp._src.io_test.IOTest::test_put_data_sizes0",
"pytest::mujoco_warp._src.io_test.IOTest::test_put_data_sizes1",
"pytest::mujoco_warp._src.io_test.IOTest::test_put_data_sizes2",
"pytest::mujoco_warp._src.io_test.IOTest::test_put_data_sizes3",
"pytest::mujoco_warp._src.io_test.IOTest::test_p... | [
"pytest::mujoco_warp._src.io_test.IOTest::test_collision_sensor_box_box",
"pytest::mujoco_warp._src.io_test.IOTest::test_contact_sensor_maxmatch",
"pytest::mujoco_warp._src.io_test.IOTest::test_ellipsoid_fluid_model",
"pytest::mujoco_warp._src.io_test.IOTest::test_eq_active0",
"pytest::mujoco_warp._src.io_t... | original_issue | false | unfair | harbor/tasks/google-deepmind__mujoco_warp-919.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
google-deepmind__mujoco_warp-985 | google-deepmind/mujoco_warp | Simulation | B | https://github.com/google-deepmind/mujoco_warp/pull/985 | https://github.com/google-deepmind/mujoco_warp/issues/930 | 122a38f8aceb631b293877b7de9870ecd692d97d | dc50a56409cbd32dfdc96fd2cb2d785f78421853 | 2026-01-06T16:55:31Z | # google-deepmind/mujoco_warp — fix the reported defect
warp backend causes physics to go to nan
I've been using `mujoco-playground` to train a C.elegans biomechanical model to do imitation learning using the mjx backend and it has worked fine. When I try switching to warp with identitical configurations otherwise, t... | diff --git a/mujoco_warp/_src/passive.py b/mujoco_warp/_src/passive.py
index 362a351d554ead7900ac36275801d0f75e307554..3b1ddd9a9d712ac1947011da6e72241d95faf5e2 100644
--- a/mujoco_warp/_src/passive.py
+++ b/mujoco_warp/_src/passive.py
@@ -296,6 +296,12 @@ def _fluid_force(
fluid_applied_out[worldid, bodyid] = zero... | diff --git a/mujoco_warp/_src/passive_test.py b/mujoco_warp/_src/passive_test.py
index 2bc6220de6d3285fb2540b98209c15ca52b1db2d..8d13aad410983f7cc364b8dbd03e31905d4feb6a 100644
--- a/mujoco_warp/_src/passive_test.py
+++ b/mujoco_warp/_src/passive_test.py
@@ -126,6 +126,34 @@ class PassiveTest(parameterized.TestCase):
... | [
"pytest::mujoco_warp._src.passive_test.PassiveTest::test_fluid_zero_mass_body"
] | [
"pytest::mujoco_warp._src.passive_test.PassiveTest::test_ellipsoid_fluid",
"pytest::mujoco_warp._src.passive_test.PassiveTest::test_fluid0",
"pytest::mujoco_warp._src.passive_test.PassiveTest::test_fluid1",
"pytest::mujoco_warp._src.passive_test.PassiveTest::test_fluid2",
"pytest::mujoco_warp._src.passive_t... | original_issue | false | unfair | harbor/tasks/google-deepmind__mujoco_warp-985.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
hanruihua__ir-sim-350 | hanruihua/ir-sim | Simulation | B | https://github.com/hanruihua/ir-sim/pull/350 | https://github.com/hanruihua/ir-sim/issues/102 | b9749e2deade104baa17ec4623285724c017b0e6 | 4c0c52ff244634613d9423f2b2d41c0daf5e599a | 2026-08-06T13:32:16Z | # hanruihua/ir-sim — fix the reported defect
Robot with complex shape
Thanks for open-sourcing this very nice tool!
I am trying to use this to simulate a robot with complex shapes which may be comprised of multiple rectangles. Has this been covered? If no, I would like to contribute for this repo on that special cas... | diff --git a/docs/locale/zh_CN/LC_MESSAGES/usage/configure_robots_obstacles.po b/docs/locale/zh_CN/LC_MESSAGES/usage/configure_robots_obstacles.po
index 718a8f6828c3e08d5e6e884d01d3abcf1d66dc64..15db8d1e66e61bfb04532bc6d7a3351387699173 100644
--- a/docs/locale/zh_CN/LC_MESSAGES/usage/configure_robots_obstacles.po
+++ b... | diff --git a/tests/test_geometry.py b/tests/test_geometry.py
index 030628ab38f563d0e4876752bbc707a93203784c..beba9ebc7d4943b96adca102eb9289864d4d98bb 100644
--- a/tests/test_geometry.py
+++ b/tests/test_geometry.py
@@ -83,6 +83,169 @@ class TestGeometryStep:
assert geometry is not None
+class TestCompoundG... | [
"pytest::tests.test_geometry.TestCompoundGeometry::test_collision_uses_exact_disjoint_geometry",
"pytest::tests.test_geometry.TestCompoundGeometry::test_disjoint_parts_create_exact_multipolygon",
"pytest::tests.test_geometry.TestCompoundGeometry::test_invalid_parts_are_rejected[None-ValueError-non-empty 'parts'... | [
"pytest::tests.test_geometry.TestCircleCenterConsistency::test_circle_gh_matches_collision_geometry",
"pytest::tests.test_geometry.TestCircleCenterConsistency::test_rvo_neighbor_disc_matches_collision_geometry",
"pytest::tests.test_geometry.TestGeometryFactory::test_circle_get_gh",
"pytest::tests.test_geometr... | original_issue | false | unfair | harbor/tasks/hanruihua__ir-sim-350.tar.gz | [
"MIT"
] | provenance/source-licenses.json | false |
huggingface__lerobot-3697 | huggingface/lerobot | Learning | D | https://github.com/huggingface/lerobot/pull/3697 | https://github.com/huggingface/lerobot/issues/3682 | 30790de178eb6f84439009ce2ce47305704b0b45 | 8515d456be1dbef8c133f07188c785e683eca899 | 2026-06-13T10:09:43Z | # huggingface/lerobot — fix the reported defect
[BUG] stats.json computes an impossibly small std (e.g., 0.006) for images
### Ticket Type
🐛 Bug Report (Something isn't working)
### Environment & System Info
```Shell
os: Ubuntu 24.04
gpu: RTX 4090
```
### Description
The dataset statistics calculation pipeline... | diff --git a/src/lerobot/datasets/compute_stats.py b/src/lerobot/datasets/compute_stats.py
index 438ac7fbac192e2a684087715318a53b1fc4d3d2..09765c1303b63f4cabcc1e53527073977a084f05 100644
--- a/src/lerobot/datasets/compute_stats.py
+++ b/src/lerobot/datasets/compute_stats.py
@@ -59,6 +59,8 @@ class RunningQuantileStats:... | diff --git a/tests/datasets/test_compute_stats.py b/tests/datasets/test_compute_stats.py
index 70ba42378ed4435c6def933b354a2b6a5fffcc6c..0f5abfb95ff23e403d26cdede78d2180adbc4be5 100644
--- a/tests/datasets/test_compute_stats.py
+++ b/tests/datasets/test_compute_stats.py
@@ -83,6 +83,29 @@ def test_get_feature_stats_ima... | [
"pytest::tests.datasets.test_compute_stats::test_get_feature_stats_uint8_images_preserves_std"
] | [
"pytest::tests.datasets.test_compute_stats::test_aggregate_feature_stats",
"pytest::tests.datasets.test_compute_stats::test_aggregate_feature_stats_with_quantiles",
"pytest::tests.datasets.test_compute_stats::test_aggregate_stats",
"pytest::tests.datasets.test_compute_stats::test_aggregate_stats_mixed_quantil... | original_issue | false | minor_issues | harbor/tasks/huggingface__lerobot-3697.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
huggingface__lerobot-3715 | huggingface/lerobot | Learning | D | https://github.com/huggingface/lerobot/pull/3715 | https://github.com/huggingface/lerobot/issues/3439 | bbeacfe57d0db2dc08a009d3e474a741c65adc00 | acd42b4d85f95ccfa2d6563fde41c47598f455f7 | 2026-07-27T13:53:32Z | # huggingface/lerobot — fix the reported defect
pi05 cannot perform inference.
### Ticket Type
🐛 Bug Report (Something isn't working)
### Environment & System Info
```Shell
- LeRobot version: 0.5.2
- Platform: Linux-6.8.12-tegra-aarch64-with-glibc2.39
- Python version: 3.12.3
- Huggingface Hub version: 1.11.0
- T... | diff --git a/src/lerobot/processor/pipeline.py b/src/lerobot/processor/pipeline.py
index b9b9c6c4350bafa5519a8b107196c4cf87ad4475..e40a7c4798fbca9aa4f553283e7d8d50d1e1ccdb 100644
--- a/src/lerobot/processor/pipeline.py
+++ b/src/lerobot/processor/pipeline.py
@@ -713,6 +713,8 @@ class DataProcessorPipeline[TInput, TOutp... | diff --git a/tests/processor/test_pipeline_from_pretrained_helpers.py b/tests/processor/test_pipeline_from_pretrained_helpers.py
index 89d45cbaded95b31f42607af29c2a7a3ff200eea..36f9a8fadd011d49db90b181671106654b4aea53 100644
--- a/tests/processor/test_pipeline_from_pretrained_helpers.py
+++ b/tests/processor/test_pipel... | [
"pytest::tests.processor.test_pipeline_from_pretrained_helpers::test_from_pretrained_local_config_file_missing_state_does_not_call_hub",
"pytest::tests.processor.test_pipeline_from_pretrained_helpers::test_from_pretrained_local_directory_missing_state_does_not_call_hub"
] | [
"pytest::tests.processor.test_pipeline_from_pretrained_helpers::test_from_pretrained_hub_source_missing_local_state_still_calls_hub",
"pytest::tests.processor.test_pipeline_from_pretrained_helpers::test_load_config_directory",
"pytest::tests.processor.test_pipeline_from_pretrained_helpers::test_load_config_dire... | original_issue | false | unfair | harbor/tasks/huggingface__lerobot-3715.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
huggingface__lerobot-3859 | huggingface/lerobot | Learning | D | https://github.com/huggingface/lerobot/pull/3859 | https://github.com/huggingface/lerobot/issues/3857 | ec2dbc1c98d76c191cd35191f8d7b8410d733cda | 7b76d94c5b167e13278c660e647dbd712c4b626f | 2026-07-28T14:25:43Z | # huggingface/lerobot — fix the reported defect
`LeRobotDataset.resume()` fails on freshly-created datasets with no recorded episodes
### Ticket Type
🐛 Bug Report (Something isn't working)
### Environment & System Info
```Shell
- LeRobot version: 0.5.2
```
### Description
[`LeRobotDataset.resume()`](https://git... | diff --git a/src/lerobot/datasets/dataset_metadata.py b/src/lerobot/datasets/dataset_metadata.py
index ed5e13833611e11458bcdc022de2ed6b86f3cb05..1f0e0add912e447ea8b33afb199a0ffe57b6d235 100644
--- a/src/lerobot/datasets/dataset_metadata.py
+++ b/src/lerobot/datasets/dataset_metadata.py
@@ -188,8 +188,8 @@ class LeRobot... | diff --git a/tests/datasets/test_lerobot_dataset.py b/tests/datasets/test_lerobot_dataset.py
index f1614de52bf293c958deefa2a31b618941251149..4d12fc4aa5f91a2f3aba00d7554c081bf80c6219 100644
--- a/tests/datasets/test_lerobot_dataset.py
+++ b/tests/datasets/test_lerobot_dataset.py
@@ -482,6 +482,20 @@ def test_add_frame_w... | [
"pytest::tests.datasets.test_lerobot_dataset::test_resume_freshly_created_empty_dataset"
] | [
"pytest::tests.datasets.test_lerobot_dataset::test_add_frame_raises_without_writer",
"pytest::tests.datasets.test_lerobot_dataset::test_add_frame_works_in_write_mode",
"pytest::tests.datasets.test_lerobot_dataset::test_clear_episode_buffer_raises_without_writer",
"pytest::tests.datasets.test_lerobot_dataset::... | original_issue | false | minor_issues | harbor/tasks/huggingface__lerobot-3859.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
huggingface__lerobot-4314 | huggingface/lerobot | Learning | D | https://github.com/huggingface/lerobot/pull/4314 | https://github.com/huggingface/lerobot/issues/2895 | 128d3324e3202ce1fca1340fb8d7941edecce9d3 | fbb811fca92504439792b97d216f0d00c2268382 | 2026-09-01T20:56:03Z | # huggingface/lerobot — fix the reported defect
Performance regression in _query_hf_dataset when using delta_timestamps (~40x slower)
**Title:** Performance regression in _query_hf_dataset when using delta_timestamps (~40x slower)
---
## Summary
LeRobot v3.0's `_query_hf_dataset` implementation has a severe perfor... | diff --git a/src/lerobot/datasets/dataset_reader.py b/src/lerobot/datasets/dataset_reader.py
index c2c82e094a43d1d825ddb01e80de894bcfa0237a..967b3689898c5a6bca1b5252e0ffdf76c55cccc4 100644
--- a/src/lerobot/datasets/dataset_reader.py
+++ b/src/lerobot/datasets/dataset_reader.py
@@ -156,6 +156,9 @@ class DatasetReader(B... | diff --git a/tests/datasets/test_dataset_reader.py b/tests/datasets/test_dataset_reader.py
index 12d764fd42f6755487b375532a54e871ef365b05..27c3068ce300e2e05a6ecf8f03529b6e0244a4aa 100644
--- a/tests/datasets/test_dataset_reader.py
+++ b/tests/datasets/test_dataset_reader.py
@@ -26,10 +26,11 @@ pytest.importorskip("data... | [
"pytest::tests.datasets.test_dataset_reader::test_delta_query_transform_receives_only_requested_column"
] | [
"pytest::tests.datasets.test_dataset_reader::test_column_views_are_rebuilt_after_set_transform",
"pytest::tests.datasets.test_dataset_reader::test_get_episodes_file_paths_includes_video_paths",
"pytest::tests.datasets.test_dataset_reader::test_get_episodes_file_paths_returns_data_paths",
"pytest::tests.datase... | original_issue | false | questionable | harbor/tasks/huggingface__lerobot-4314.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
kevinzakka__mink-174 | kevinzakka/mink | Algorithms | C | https://github.com/kevinzakka/mink/pull/174 | https://github.com/kevinzakka/mink/issues/166 | bc16015d8db2fb35d278abd76ef37cd53bdc241e | 77f177e8d52988bf843b8b7a67e18c0732d00a85 | 2026-08-17T21:17:57Z | # kevinzakka/mink — fix the reported defect
Using frame_id instead of frame_name
Since not all site, body, and geom have their name properly defined ("" by default), it would be nice to use `frame_id` in methods such as [FrameTask](https://github.com/kevinzakka/mink/blob/44c8a6ab66d27d06249f9018334a51662605e3e4/src/m... | diff --git a/CHANGELOG.md b/CHANGELOG.md
index 94b0ba300775f4876a17036c3641cb0343aa6c15..ab2baf445cc7b38773d70ed6998df3f3c691fcdf 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
### Changed
- Bumped minimum `mujoco` to 3.10.0 and swit... | diff --git a/tests/test_configuration.py b/tests/test_configuration.py
index ec0d57794f62607eef08204f6563493a6dd7757d..0ca7c9beaa9f1ce2bd7ea685afe746309473d07b 100644
--- a/tests/test_configuration.py
+++ b/tests/test_configuration.py
@@ -240,6 +240,35 @@ class TestConfiguration(absltest.TestCase):
configu... | [
"pytest::tests.test_configuration.TestConfiguration::test_frame_id_matches_frame_name",
"pytest::tests.test_configuration.TestConfiguration::test_frame_id_out_of_range_raises",
"pytest::tests.test_frame_task.TestFrameTask::test_unnamed_frame_usable_by_id",
"pytest::tests.test_utils.TestUtils::test_move_mocap_... | [
"pytest::tests.test_configuration.TestConfiguration::test_check_limits",
"pytest::tests.test_configuration.TestConfiguration::test_check_limits_at_exact_boundary",
"pytest::tests.test_configuration.TestConfiguration::test_check_limits_ball_joint",
"pytest::tests.test_configuration.TestConfiguration::test_chec... | original_issue | false | not_reviewed | harbor/tasks/kevinzakka__mink-174.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
kevinzakka__mink-96 | kevinzakka/mink | Algorithms | C | https://github.com/kevinzakka/mink/pull/96 | https://github.com/kevinzakka/mink/issues/91 | e396cb0314043f3697a1993ac6e88bf87603350d | e575d77c07c5f5780cd6be862614c7f1bbe6fbdc | 2025-07-14T17:55:28Z | # kevinzakka/mink — fix the reported defect
Feature proposal - pose constraint task
Hey Kevin,
Thanks for the awesome work you've done with `mink` so far! I'm interested in solving IK with pose constraints that are defined w.r.t. another frame (i.e., a "constraint frame"). The motivation here is for something like c... | diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4c9135776b9aacd00be9068bc47c888b77c7cbdc..07fca795078b888153e81bb95c57f06a7bf3034e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
## Unreleased
+### Added
+
+- `clamp` method for SO3 a... | diff --git a/tests/test_lie_operations.py b/tests/test_lie_operations.py
index 46880acf462ccb74c4ecd260d61e3a952d393f7c..740d0003b65f8b6a98447826b4ee894388154b93 100644
--- a/tests/test_lie_operations.py
+++ b/tests/test_lie_operations.py
@@ -148,6 +148,34 @@ class TestGroupSpecificOperations(absltest.TestCase):
... | [
"pytest::tests.test_lie_operations.TestGroupSpecificOperations::test_se3_clamp",
"pytest::tests.test_lie_operations.TestGroupSpecificOperations::test_so3_clamp"
] | [
"pytest::tests.test_lie_operations.TestGroupSpecificOperations::test_se3_apply",
"pytest::tests.test_lie_operations.TestGroupSpecificOperations::test_se3_equality",
"pytest::tests.test_lie_operations.TestGroupSpecificOperations::test_se3_from_mocap_id",
"pytest::tests.test_lie_operations.TestGroupSpecificOper... | original_issue | false | unfair | harbor/tasks/kevinzakka__mink-96.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
moveit__moveit2-1772 | moveit/moveit2 | ROS | ROS | https://github.com/moveit/moveit2/pull/1772 | https://github.com/moveit/moveit2/issues/1777 | fff361b9aeb6e6f0805262a9bac1558daea548ad | ca68be3c45d6d7c0e1bda4e18d901dabc513cd9d | 2022-12-21T19:20:51Z | # moveit/moveit2 — fix the defect described below
RobotTrajectory unwind() functions only account for one extra "wrap"
Unwinding should account for any angle. For example, a UR3e robot's wrist can rotate infinitely. But, the [RobotTrajectory unwind()](https://github.com/ros-planning/moveit2/blob/f0d3202d637569ccac5fc... | diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
index d327716384..da4f105e9e 100644
--- a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
+++ b/moveit_core/robot... | diff --git a/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp b/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
index 5eefa8e898..a2de86e8df 100644
--- a/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
+++ b/moveit_core/robot_trajectory/test/test_robot_trajectory.cpp
@@ -38,6 +38,7 @@... | [
"OneRobot.Unwind",
"OneRobot.UnwindFromState"
] | [
"RobotTrajectoryTestFixture.Append",
"RobotTrajectoryTestFixture.ChainEdits",
"RobotTrajectoryTestFixture.DoubleReverse",
"RobotTrajectoryTestFixture.ModifyFirstWaypointByPtr",
"RobotTrajectoryTestFixture.ModifyFirstWaypointByValue",
"RobotTrajectoryTestFixture.RobotTrajectoryDeepCopy",
"RobotTrajectory... | original_issue | false | not_reviewed | harbor/tasks/moveit__moveit2-1772.tar.gz | [
"BSD-3-Clause"
] | provenance/source-licenses.json | false |
moveit__moveit2-2307 | moveit/moveit2 | ROS | ROS | https://github.com/moveit/moveit2/pull/2307 | https://github.com/moveit/moveit2/issues/2066 | a2f0183297284ed43ef5d435b4e11b414ec21876 | 7c95367a2bd6fbd7a58ad64d3c24228136d8a13f | 2023-08-18T13:13:36Z | # moveit/moveit2 — fix the defect described below
Infinite loop in TOTG if zero max acceleration is specified
### Description
If you pass in a zero max acceleration limit to TOTG, you will actually get stuck in an [infinite loop](https://github.com/ros-planning/moveit2/blob/main/moveit_core/trajectory_processing/src... | diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
index 1c4da3dee2..70a6272df1 100644
--- a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_pro... | diff --git a/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
index 5d067c7c82..71a6b9c147 100644
--- a/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
+++ b/moveit_c... | [
"time_optimal_trajectory_generation.test1",
"time_optimal_trajectory_generation.test2",
"time_optimal_trajectory_generation.test3",
"time_optimal_trajectory_generation.testCustomLimits",
"time_optimal_trajectory_generation.testFixedNumWaypoints",
"time_optimal_trajectory_generation.testIrrelevantZeroMaxAc... | [] | original_issue | false | unfair | harbor/tasks/moveit__moveit2-2307.tar.gz | [
"BSD-3-Clause"
] | provenance/source-licenses.json | false |
moveit__moveit2-3143 | moveit/moveit2 | ROS | ROS | https://github.com/moveit/moveit2/pull/3143 | https://github.com/moveit/moveit2/issues/2924 | e7872ebf92146bb80930ec98cf6c181e8384e99c | f82cdcdccf471dd25550578098c4bb7e074a5535 | 2024-12-04T15:09:26Z | # moveit/moveit2 — fix the defect described below
CheckStartStateBounds does not support REVOLUTE and NOT Continuous type joints
### Description
CheckStartStateBounds does not support REVOLUTE and NOT Continuous type joints
### Your environment
* ROS Distro: Jazzy
* OS Version: e.g. Ubuntu 24.04
* Binary build 2.10.... | diff --git a/moveit_ros/planning/planning_request_adapter_plugins/res/default_request_adapter_params.yaml b/moveit_ros/planning/planning_request_adapter_plugins/res/default_request_adapter_params.yaml
index 9af11adad9..387cf86470 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/res/default_request_adap... | diff --git a/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt b/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt
index 5ad3751114..54cb62da1a 100644
--- a/moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt
+++ b/moveit_ros/planning/planning_request_adapter_plugins/... | [
"TestCheckStartStateBounds.TestContinuousJointFixedBounds",
"TestCheckStartStateBounds.TestRevoluteJointOutOfBounds"
] | [
"TestCheckStartStateBounds.TestContinuousJointOutOfBounds",
"TestCheckStartStateBounds.TestWithinBounds"
] | original_issue | false | not_reviewed | harbor/tasks/moveit__moveit2-3143.tar.gz | [
"BSD-3-Clause"
] | provenance/source-licenses.json | false |
mowglinext__mowglinext-410 | mowglinext/mowglinext | ROS | ROS | https://github.com/mowglinext/mowglinext/pull/410 | https://github.com/mowglinext/mowglinext/issues/193 | 3f1e188116b79261426240bdbc59ba839d001042 | 382180129db1277d287bfc031482baed726c2afd | 2026-07-28T09:54:12Z | # mowglinext/mowglinext — fix the defect described below
Pipe chassis_mass_kg from mowgli_robot.yaml into mowgli.urdf.xacro (currently hardcoded)
**Source:** Nav2 + mowgli_robot.yaml audit, 2026-05-10.
## Issue
\`\`\`yaml
# mowgli_robot.yaml:27
chassis_mass_kg: 8.76
\`\`\`
\`\`\`xml
# ros2/src/mowgli_bringup/urdf/... | diff --git a/ros2/src/mowgli_bringup/config/nav2_params_lidar.yaml b/ros2/src/mowgli_bringup/config/nav2_params_lidar.yaml
index f0c01cb65..cbd3446f2 100644
--- a/ros2/src/mowgli_bringup/config/nav2_params_lidar.yaml
+++ b/ros2/src/mowgli_bringup/config/nav2_params_lidar.yaml
@@ -245,10 +245,10 @@ collision_monitor:
... | diff --git a/ros2/src/mowgli_bringup/CMakeLists.txt b/ros2/src/mowgli_bringup/CMakeLists.txt
index 113d5f875..db8fb55df 100644
--- a/ros2/src/mowgli_bringup/CMakeLists.txt
+++ b/ros2/src/mowgli_bringup/CMakeLists.txt
@@ -69,6 +69,9 @@ if(BUILD_TESTING)
ament_add_pytest_test(test_robot_config_util test/test_robot_con... | [
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_nav2_params::test_obstacle_template_defaults_match_static_yaml",
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_urdf_xacro::test_chassis_mass_argument_sets_base_link_inertial_mass"
] | [
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_nav2_params::test_base_coverage_goal_checker_xy_ge_ftc_park",
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_nav2_params::test_base_ftc_clamp_admits_speed_fast",
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_na... | original_issue | false | not_reviewed | harbor/tasks/mowglinext__mowglinext-410.tar.gz | [
"LicenseRef-MowgliNext"
] | provenance/source-licenses.json | true |
mowglinext__mowglinext-758 | mowglinext/mowglinext | ROS | ROS | https://github.com/mowglinext/mowglinext/pull/758 | https://github.com/mowglinext/mowglinext/issues/757 | a4b8a0e0c858e4bf3e986280e8c87d6b4e636b3f | e77ed83fad4d1c0896aae1572b40ce395f218974 | 2026-09-24T10:43:30Z | # mowglinext/mowglinext — fix the defect described below
rain_mode / rain_delay_minutes / rain_debounce_sec never reach behavior_tree_node (regression from #143/#147)
## Problem
Setting `rain_mode` (or `rain_delay_minutes` / `rain_debounce_sec`) in the GUI's RainSection has no effect on the robot — the mower always ... | diff --git a/ros2/src/mowgli_bringup/launch/full_system.launch.py b/ros2/src/mowgli_bringup/launch/full_system.launch.py
index 870e9492f..ef6297e50 100644
--- a/ros2/src/mowgli_bringup/launch/full_system.launch.py
+++ b/ros2/src/mowgli_bringup/launch/full_system.launch.py
@@ -324,6 +324,17 @@ def generate_launch_descri... | diff --git a/ros2/src/mowgli_bringup/test/test_launch_injection.py b/ros2/src/mowgli_bringup/test/test_launch_injection.py
index 3c4876ca5..e451d7067 100644
--- a/ros2/src/mowgli_bringup/test/test_launch_injection.py
+++ b/ros2/src/mowgli_bringup/test/test_launch_injection.py
@@ -309,6 +309,34 @@ def test_full_system_i... | [
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_launch_injection::test_full_system_injects_rain_settings[rain_debounce_sec-float-0.0-3.0]",
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_launch_injection::test_full_system_injects_rain_settings[rain_delay_minutes-float-30.0-5.0]"... | [
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_launch_injection::test_cross_hatch_setting_reaches_behavior_tree",
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_launch_injection::test_datum_reaches_mqtt_bridge",
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test... | original_issue | false | questionable | harbor/tasks/mowglinext__mowglinext-758.tar.gz | [
"LicenseRef-MowgliNext"
] | provenance/source-licenses.json | true |
mowglinext__mowglinext-760 | mowglinext/mowglinext | ROS | ROS | https://github.com/mowglinext/mowglinext/pull/760 | https://github.com/mowglinext/mowglinext/issues/759 | 2adaef074e67b36ff96f84fded8041b5a2a4bf66 | a4b8a0e0c858e4bf3e986280e8c87d6b4e636b3f | 2026-09-24T10:43:24Z | # mowglinext/mowglinext — fix the defect described below
RainGuard pauses are charged to the per-area no-progress budget, can end a session early
## Problem
A rain pause can end an entire mowing session prematurely, even though the interrupted area was making genuine coverage progress. Field-confirmed 2026-09-23: af... | diff --git a/ros2/src/mowgli_behavior/trees/main_tree.xml b/ros2/src/mowgli_behavior/trees/main_tree.xml
index 8cd01ce32..c609c437e 100644
--- a/ros2/src/mowgli_behavior/trees/main_tree.xml
+++ b/ros2/src/mowgli_behavior/trees/main_tree.xml
@@ -681,7 +681,24 @@
out where the robot stands. -->
... | diff --git a/ros2/src/mowgli_behavior/test/test_guard_fallthrough.cpp b/ros2/src/mowgli_behavior/test/test_guard_fallthrough.cpp
index 5e0a16039..2b4cda10e 100644
--- a/ros2/src/mowgli_behavior/test/test_guard_fallthrough.cpp
+++ b/ros2/src/mowgli_behavior/test/test_guard_fallthrough.cpp
@@ -341,8 +341,11 @@ TEST(Guard... | [
"GuardFallthroughTest.PausingGuardsMarkTheHaltFirst"
] | [
"DigObstructionGuardTest.ConditionMirrorsTheLatchedFlag",
"DigObstructionGuardTest.ExemptsEveryOperatorRecoveryLane",
"GuardFallthroughTest.AllBlockingGuardsTerminateWithFailure",
"GuardFallthroughTest.DegradedLocalizationNeverReachesMainLogic",
"GuardFallthroughTest.ExemptModesStillReachMainLogicWhileDegra... | original_issue | false | not_reviewed | harbor/tasks/mowglinext__mowglinext-760.tar.gz | [
"LicenseRef-MowgliNext"
] | provenance/source-licenses.json | true |
mowglinext__mowglinext-847 | mowglinext/mowglinext | ROS | ROS | https://github.com/mowglinext/mowglinext/pull/847 | https://github.com/mowglinext/mowglinext/issues/720 | 585fab752dd55781e7f09fdd0429b15e878f824b | f2e3dc13df066d533b87e7feb20b560ccd010f62 | 2026-10-03T22:52:48Z | # mowglinext/mowglinext — fix the defect described below
Refactor Foxglove bridge launch to a single source of truth
### Component
ROS2 bringup / GUI telemetry
### Problem or Motivation
Foxglove Bridge is currently configured in more than one place, and the settings have drifted.
The dedicated `ros2/src/mowgli_br... | diff --git a/docs/claude/codemaps/mowgli_bringup.md b/docs/claude/codemaps/mowgli_bringup.md
index a03f5bcca..62889f4a4 100644
--- a/docs/claude/codemaps/mowgli_bringup.md
+++ b/docs/claude/codemaps/mowgli_bringup.md
@@ -24,7 +24,7 @@
| No-LiDAR global costmap "never current" | `scripts/empty_static_map_pub.py` (`/no_... | diff --git a/ros2/src/mowgli_bringup/CMakeLists.txt b/ros2/src/mowgli_bringup/CMakeLists.txt
index f292236e9..256baa87c 100644
--- a/ros2/src/mowgli_bringup/CMakeLists.txt
+++ b/ros2/src/mowgli_bringup/CMakeLists.txt
@@ -64,6 +64,9 @@ if(BUILD_TESTING)
ament_add_pytest_test(test_gnss_launch_config test/test_gnss_lau... | [
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_foxglove_launch_config::test_full_system_preserves_enable_switch_and_custom_port[false]",
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_foxglove_launch_config::test_full_system_preserves_enable_switch_and_custom_port[true]",
"mo... | [
"mowgli_bringup.src.mowglinext.ros2.src.mowgli_bringup.test.test_foxglove_launch_config::test_standalone_preserves_buffer_and_port_overrides"
] | original_issue | false | not_reviewed | harbor/tasks/mowglinext__mowglinext-847.tar.gz | [
"LicenseRef-MowgliNext"
] | provenance/source-licenses.json | true |
mowglinext__mowglinext-878 | mowglinext/mowglinext | ROS | ROS | https://github.com/mowglinext/mowglinext/pull/878 | https://github.com/mowglinext/mowglinext/issues/876 | 9513d0da394bfcc428245efeb0f2ea13003f5f0c | 3a1e785767063a7f4b3b8390554c191c95b29f57 | 2026-10-05T12:45:13Z | # mowglinext/mowglinext — fix the defect described below
Odometry clock fit is not reset after a serial reconnect
## Problem
The hardware bridge intentionally resets serial-dependent state when the STM32 disconnects/re-enumerates, including `odometry_publisher_.reset()`.
However, `OdometryPublisher::reset()` clears... | diff --git a/ros2/src/mowgli_hardware/include/mowgli_hardware/odometry_publisher.hpp b/ros2/src/mowgli_hardware/include/mowgli_hardware/odometry_publisher.hpp
index 7220908cb..6f084f412 100644
--- a/ros2/src/mowgli_hardware/include/mowgli_hardware/odometry_publisher.hpp
+++ b/ros2/src/mowgli_hardware/include/mowgli_har... | diff --git a/ros2/src/mowgli_hardware/CMakeLists.txt b/ros2/src/mowgli_hardware/CMakeLists.txt
index ec6c09f75..b1b4d9f09 100644
--- a/ros2/src/mowgli_hardware/CMakeLists.txt
+++ b/ros2/src/mowgli_hardware/CMakeLists.txt
@@ -155,6 +155,17 @@ if(BUILD_TESTING)
mowgli_hardware_core
)
+ # ---- test_odometry_pub... | [
"OdometryPublisherTest.ReconnectStartsNewClockFitWithNormalPacketDeltas"
] | [] | original_issue | false | not_reviewed | harbor/tasks/mowglinext__mowglinext-878.tar.gz | [
"LicenseRef-MowgliNext"
] | provenance/source-licenses.json | true |
mowglinext__mowglinext-885 | mowglinext/mowglinext | ROS | ROS | https://github.com/mowglinext/mowglinext/pull/885 | https://github.com/mowglinext/mowglinext/issues/842 | d8ad8bbeb608f969f0ff7daa6576243eb2b6eee2 | 9513d0da394bfcc428245efeb0f2ea13003f5f0c | 2026-10-05T06:31:08Z | # mowglinext/mowglinext — fix the defect described below
Rain resume can BackUp after DockRobot failed and the mower never reached the dock
### Component
ROS2 Stack (navigation, SLAM, behavior tree)
### Bug Description
With rain mode set to dock-and-pause (`rain_mode >= 2`), current `dev` can issue the resume `Bac... | diff --git a/docs/claude/codemaps/mowgli_behavior.md b/docs/claude/codemaps/mowgli_behavior.md
index 7d3033be7..768462d26 100644
--- a/docs/claude/codemaps/mowgli_behavior.md
+++ b/docs/claude/codemaps/mowgli_behavior.md
@@ -33,7 +33,7 @@
| Heading calibration on undock / off-dock start | `src/calibration_nodes.cpp` (... | diff --git a/ros2/src/mowgli_behavior/CMakeLists.txt b/ros2/src/mowgli_behavior/CMakeLists.txt
index a18099ac4..e826d5134 100644
--- a/ros2/src/mowgli_behavior/CMakeLists.txt
+++ b/ros2/src/mowgli_behavior/CMakeLists.txt
@@ -126,6 +126,7 @@ if(BUILD_TESTING)
# colcon tests packages in parallel, and on one shared DDS... | [
"RainResumeTest.ChargerLossDuringDeparturePreparationDoesNotBackUp",
"RainResumeTest.FailedCurrentAttemptInvalidatesPreviousDockSuccess",
"RainResumeTest.FailedDockDoesNotBackUpOnLawn",
"RainResumeTest.FailedDockHoldsUntilCommandGuardStopsWithoutCoverageMotion",
"RainResumeTest.SuccessfulDockThenOperatorRem... | [
"RainResumeTest.ChargerArrivalDuringDeparturePreparationAllowsBackUp",
"RainResumeTest.DepartureMayReleaseContactAndFinish",
"RainResumeTest.ExhaustedDepartureBudgetDoesNotBackUp",
"RainResumeTest.FailedDepartureConsumesBudgetAndClearsCommand",
"RainResumeTest.OperatorDockAfterFailedActionRunsDeparture",
... | original_issue | false | not_reviewed | harbor/tasks/mowglinext__mowglinext-885.tar.gz | [
"LicenseRef-MowgliNext"
] | provenance/source-licenses.json | true |
mowglinext__mowglinext-909 | mowglinext/mowglinext | ROS | ROS | https://github.com/mowglinext/mowglinext/pull/909 | https://github.com/mowglinext/mowglinext/issues/845 | 115e5201a1c553d07cd123def5ac25b3eb7c50ff | 967861605d541bfddae2ee28621789304bbc11b9 | 2026-10-10T11:33:22Z | # mowglinext/mowglinext — fix the defect described below
PathProgressGoalChecker can pin progress forever when the first query lands beyond its bounded search window
### Component
ROS2 Stack (navigation, SLAM, behavior tree)
### Bug Description
`PathProgressGoalChecker` can enter an absorbing state where `max_reac... | diff --git a/ros2/src/mowgli_nav2_plugins/include/mowgli_nav2_plugins/path_progress_goal_checker.hpp b/ros2/src/mowgli_nav2_plugins/include/mowgli_nav2_plugins/path_progress_goal_checker.hpp
index 3c11d945b..9388f0065 100644
--- a/ros2/src/mowgli_nav2_plugins/include/mowgli_nav2_plugins/path_progress_goal_checker.hpp
+... | diff --git a/ros2/src/mowgli_nav2_plugins/test/test_lyrical_goal_checker.cpp b/ros2/src/mowgli_nav2_plugins/test/test_lyrical_goal_checker.cpp
index 010d1dd7c..fab5622e5 100644
--- a/ros2/src/mowgli_nav2_plugins/test/test_lyrical_goal_checker.cpp
+++ b/ros2/src/mowgli_nav2_plugins/test/test_lyrical_goal_checker.cpp
@@ ... | [
"PathProgressEndApproachTest.BoundaryRecoversAfterShortObliquePivot",
"PathProgressEndApproachTest.DistantBoundaryObservationDoesNotPoisonLocalRecovery",
"PathProgressEndApproachTest.FirstQueryAtSearchBoundaryRecoversAfterRobotPassesIt",
"PathProgressEndApproachTest.FirstQuerySlightlyPastBoundaryRecoversOnLon... | [
"PathProgressEndApproachTest.BoundaryProjectionCannotCompleteNearEndReplay",
"PathProgressEndApproachTest.ClosedRingNotReachedAtItsStart",
"PathProgressEndApproachTest.DistantJumpCannotReuseAValidBoundaryOrigin",
"PathProgressEndApproachTest.DistantPointOnOutgoingPivotLegDoesNotLatchBoundary",
"PathProgress... | original_issue | false | not_reviewed | harbor/tasks/mowglinext__mowglinext-909.tar.gz | [
"LicenseRef-MowgliNext"
] | provenance/source-licenses.json | true |
mujocolab__mjlab-1007 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/1007 | https://github.com/mujocolab/mjlab/issues/1006 | de120a9a464373118d07bb1946c92f5b23f4ce96 | 6a8a8823928f257d2195b0723bbfd6e514ffb58f | 2026-05-24T20:51:06Z | # mujocolab/mjlab — fix the reported defect
Potential wrong tracking task MPKPE metric computation
Hi @kevinzakka, @qiayuanl and the development team, thank you for making this great project! Though I spotted a potential wrong metric computation in the following snippets, feel free to close this issue if the followin... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index e6e04efd872ec542ef7af6739df51da503b9dd92..721d7f6e95e22e121dec31814e3da6ac094de9dd 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -97,6 +97,12 @@ Changed
Fixed
^^^^^
+- Fixed the tracking MPKPE metric (``compute_mpkp... | diff --git a/tests/test_tracking_metrics.py b/tests/test_tracking_metrics.py
index 15c65402c3c4e132b290cb421634d18c7dffce73..03d8ab366ef73864fb7d336a149128f63b582688 100644
--- a/tests/test_tracking_metrics.py
+++ b/tests/test_tracking_metrics.py
@@ -34,11 +34,11 @@ def mock_command():
def test_mpkpe_zero_when_pos... | [
"pytest::tests.test_tracking_metrics::test_mpkpe_correct_error",
"pytest::tests.test_tracking_metrics::test_mpkpe_uses_global_reference",
"pytest::tests.test_tracking_metrics::test_mpkpe_zero_when_positions_match"
] | [
"pytest::tests.test_tracking_metrics::test_ee_orientation_error_detects_rotation",
"pytest::tests.test_tracking_metrics::test_ee_position_error_only_uses_specified_bodies",
"pytest::tests.test_tracking_metrics::test_joint_velocity_error",
"pytest::tests.test_tracking_metrics::test_r_mpkpe_detects_relative_err... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-1007.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-1038 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/1038 | https://github.com/mujocolab/mjlab/issues/1035 | e4749f29c5553c8d05b15bc27a38ed1a75edd7e8 | fac7a7e58a8d4d13154241b0fbaabeea60234772 | 2026-07-02T01:08:42Z | # mujocolab/mjlab — fix the reported defect
observation/action delay causes noticeable slowdown, especially in play mode
Version: mjlab 1.4.0
Hi,
I noticed that enabling observation delay and actuator delay introduces a noticeable performance overhead.
```
# actuator delay
actuator_cfg.delay_min_lag = 0
actuator_cf... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 28b8eff3ae506ccc1cc06d0862f43ea975307f06..edeedaceb09f1856c7c2d90c6e193ea1d6f623ad 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -18,6 +18,11 @@ Added
Changed
^^^^^^^
+- Command delay on fusable actuators (ideal PD,... | diff --git a/tests/test_builtin_group.py b/tests/test_builtin_group.py
index 74bea5250ae06e24814a5f29cef4fd2343f078ca..b8e643460b729f393ead273e18514dd927ebb1b3 100644
--- a/tests/test_builtin_group.py
+++ b/tests/test_builtin_group.py
@@ -76,7 +76,11 @@ def test_different_delay_configs_separate_groups(device):
def... | [
"pytest::tests.test_builtin_group::test_non_builtin_delayed_not_fused"
] | [
"pytest::tests.test_builtin_group::test_delay_actually_delays",
"pytest::tests.test_builtin_group::test_delayed_controls_written",
"pytest::tests.test_builtin_group::test_different_delay_configs_separate_groups",
"pytest::tests.test_builtin_group::test_fused_group_created",
"pytest::tests.test_builtin_group... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-1038.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-1043 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/1043 | https://github.com/mujocolab/mjlab/issues/1042 | 40f8d93e31b589dccae78ba6aadfc4b74cd1e3fd | 8574f9cd796bd96aa332c98799a4233deca873ef | 2026-06-04T01:09:13Z | # mujocolab/mjlab — fix the reported defect
Multiple geom_size events with different `axes` clobber each other
It looks like having multiple `dr.geom_size` events which target different `axes` on the same `geom` result later events clobbering the effects of earlier events silently. For example, take this event cfg:
... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index c7b363a2d191cf6ca23df9b8f118270803a530ab..e865d98efe5f33a2338031cdadbba535b0241e3c 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -38,6 +38,10 @@ Changed
Fixed
^^^^^
+- Fixed domain randomization events that target d... | diff --git a/tests/test_domain_randomization.py b/tests/test_domain_randomization.py
index b191161945084f4938b612f721266db6deef52b7..9d4d81b249d50b22ee2cce17232edd217e41f637 100644
--- a/tests/test_domain_randomization.py
+++ b/tests/test_domain_randomization.py
@@ -1266,6 +1266,41 @@ def test_geom_size_no_accumulation... | [
"pytest::tests.test_domain_randomization::test_geom_size_separate_axes_dont_clobber"
] | [
"pytest::tests.test_domain_randomization::test_abs_operation",
"pytest::tests.test_domain_randomization::test_add_operation",
"pytest::tests.test_domain_randomization::test_axes_selectivity[None-changed0-unchanged0]",
"pytest::tests.test_domain_randomization::test_axes_selectivity[axes1-changed1-unchanged1]",... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-1043.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-1104 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/1104 | https://github.com/mujocolab/mjlab/issues/870 | ddc5e8530daab96fa2f6af723196e8529ef9650e | 3cf17ee9037d4c8f86e0aacde526c52891d2ffc8 | 2026-07-17T20:19:45Z | # mujocolab/mjlab — fix the reported defect
Mjlab-Velocity-Rough-Unitree-Go1 normal expects all elements of std >= 0.0
use `uv run train Mjlab-Velocity-Rough-Unitree-Go1 --env.scene.num-envs 4096` to train
<img width="2444" height="1266" alt="Image" src="https://github.com/user-attachments/assets/e927a7a6-4486-4a7... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index f9f6bb193bcf1772b6043f8dd44b2091a1d21e61..b5c0b1eb08be828a9b4513fcad87c57a93db76c5 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -14,6 +14,29 @@ Changed
Fixed
^^^^^
+- Fixed the ``terrain_levels_vel`` curriculum pro... | diff --git a/tests/test_terrain_utils.py b/tests/test_terrain_utils.py
index 11ff33d751b0f3040337ceb24860e24a8cfd7305..a4c22d715ed3e111d5c21e6b816064da9fee80ef 100644
--- a/tests/test_terrain_utils.py
+++ b/tests/test_terrain_utils.py
@@ -101,6 +101,30 @@ def test_collinear_points_fallback():
torch.testing.assert_... | [
"pytest::tests.test_terrain_utils::test_non_finite_points_fallback"
] | [
"pytest::tests.test_terrain_utils::test_collinear_points_fallback",
"pytest::tests.test_terrain_utils::test_fewer_than_3_valid_fallback",
"pytest::tests.test_terrain_utils::test_flat_ground",
"pytest::tests.test_terrain_utils::test_partial_misses",
"pytest::tests.test_terrain_utils::test_small_valid_plane_s... | original_issue | false | unfair | harbor/tasks/mujocolab__mjlab-1104.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-1173 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/1173 | https://github.com/mujocolab/mjlab/issues/1171 | b517e0c489139e7fcee95702cfb2b01931264985 | 8ee51fbcf806a7419189f706d9e394cbeb7790fa | 2026-08-31T17:09:11Z | # mujocolab/mjlab — fix the reported defect
FlatPatchSamplingCfg(patch_radius=0) collapses all patches to the sub-terrain center
`find_flat_patches_from_heightfield` excludes border pixels with:
```python
radius_pixels = int(np.ceil(cfg.patch_radius / horizontal_scale))
...
valid_mask[-radius_pixels:, :] = False
val... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index e0e07897145d7eaf2e4dab499831ecc84d777b9c..330968c9d053e70f7f1c1d25aee09a50dd3e88d1 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -20,6 +20,9 @@ Fixed
- ``distribution="gaussian"`` domain randomization now draws an inde... | diff --git a/tests/test_flat_patch_sampling.py b/tests/test_flat_patch_sampling.py
index 95f5dec494e467eb1bae29fd802208a620f367b8..7ecc2f7ad6cb0067ba5ae656614d1d0f39a2d957 100644
--- a/tests/test_flat_patch_sampling.py
+++ b/tests/test_flat_patch_sampling.py
@@ -74,6 +74,19 @@ def test_fallback_when_no_valid_patches(rn... | [
"pytest::tests.test_flat_patch_sampling::test_zero_patch_radius"
] | [
"pytest::tests.test_flat_patch_sampling::test_fallback_when_no_valid_patches",
"pytest::tests.test_flat_patch_sampling::test_grid_resolution",
"pytest::tests.test_flat_patch_sampling::test_patches_avoid_step_boundary",
"pytest::tests.test_flat_patch_sampling::test_patches_respect_edge_margin",
"pytest::test... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-1173.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-1188 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/1188 | https://github.com/mujocolab/mjlab/issues/934 | 27577db821fe321c819072a851bdda234b89f32d | c2e1e06400e309b6897a536693fe5d2aa772c5b2 | 2026-09-21T14:17:50Z | # mujocolab/mjlab — fix the reported defect
[Question] Fairness of `terrain_levels_vel` curriculum progression function for low speed locomotion task
Good morning!
I am experimenting with stairs terrain curriculums for low speed locomotion (ranging from 0.1 to 0.6 m/s), and I have realized my environments do not pro... | diff --git a/docs/source/curriculum.rst b/docs/source/curriculum.rst
index 380f89508b5d65a9fe3ab8f3562f7dc8bcd88446..6681257d9b02e7b1830a69309b4268ffaaced358 100644
--- a/docs/source/curriculum.rst
+++ b/docs/source/curriculum.rst
@@ -167,7 +167,11 @@ one terrain type so that difficulty increases monotonically along ro... | diff --git a/tests/test_velocity_command.py b/tests/test_velocity_command.py
index 1873d831ae1f4442300baf54749ef26722777ed3..314568251d9192d07205119fb83d3c9da299bc89 100644
--- a/tests/test_velocity_command.py
+++ b/tests/test_velocity_command.py
@@ -81,7 +81,14 @@ def test_mid_episode_resample_does_not_write_velocity(... | [
"pytest::tests.test_velocity_command::test_commanded_displacement_and_episode_start",
"pytest::tests.test_velocity_terrain_curriculum::test_early_termination_owes_the_time_left",
"pytest::tests.test_velocity_terrain_curriculum::test_first_reset_does_not_promote_levels",
"pytest::tests.test_velocity_terrain_cu... | [
"pytest::tests.test_velocity_command::test_init_velocity_preserves_fresh_reset_pose",
"pytest::tests.test_velocity_command::test_mid_episode_resample_does_not_write_velocity"
] | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-1188.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-1198 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/1198 | https://github.com/mujocolab/mjlab/issues/1197 | 9ba24f78579f5d137ddec7268eaf0fd3098f998b | c1b937fc3038df9ce22c4fdf8132c4ef5f0cb304 | 2026-09-29T03:24:24Z | # mujocolab/mjlab — fix the reported defect
`_eigh_3x3_jacobi` skips the rotation when two diagonal entries are equal, so `dr.pseudo_inertia` can write wrong principal moments
Hi @kevinzakka 👋 .
In [`_eigh_3x3_jacobi`](https://github.com/mujocolab/mjlab/blob/9ba24f78579f5d137ddec7268eaf0fd3098f998b/src/mjlab/envs/m... | diff --git a/src/mjlab/envs/mdp/dr/body.py b/src/mjlab/envs/mdp/dr/body.py
index 8dc0eaa1e5a05afbf79f16009de9cc3da503ce07..0742a582f8fa36339da6a96cf71e101645ece473 100644
--- a/src/mjlab/envs/mdp/dr/body.py
+++ b/src/mjlab/envs/mdp/dr/body.py
@@ -95,11 +95,13 @@ def _eigh_3x3_jacobi(
aqq = D[..., q, q]
... | diff --git a/tests/test_domain_randomization.py b/tests/test_domain_randomization.py
index 6dd15febdb25eb1424afc0ad81fa33e7a6b74f58..a83528238f9b4792387939af938d3d00a1731926 100644
--- a/tests/test_domain_randomization.py
+++ b/tests/test_domain_randomization.py
@@ -9,6 +9,7 @@ from conftest import get_test_device
f... | [
"pytest::tests.test_domain_randomization::test_eigh_3x3_jacobi_equal_diagonal"
] | [
"pytest::tests.test_domain_randomization::test_abs_operation",
"pytest::tests.test_domain_randomization::test_add_operation",
"pytest::tests.test_domain_randomization::test_axes_selectivity[None-changed0-unchanged0]",
"pytest::tests.test_domain_randomization::test_axes_selectivity[axes1-changed1-unchanged1]",... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-1198.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-1226 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/1226 | https://github.com/mujocolab/mjlab/issues/1222 | 033ae22a2c7a30a25a6fa77b16c113ed88dd1b55 | a20631cf49bbb27f2b1fb80508a442098c919f2c | 2026-10-12T02:43:38Z | # mujocolab/mjlab — fix the reported defect
Correctly reset recurrent policies with viewer
Hi guys. I really like `mjlab` and I think its a great project for robotics. I was looking some time ago into the viewer code and how it executes the policy step with the following:
https://github.com/mujocolab/mjlab/blob/033ae... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index a822a3db30c063cf53c32b132230d2b2d119337f..1e1d47f5b0065fe6f06d8c9bf9c178c733a5392c 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -24,6 +24,9 @@ Changed
Fixed
^^^^^
+- The viewer now resets recurrent policy hidden st... | diff --git a/tests/test_viewer_tick.py b/tests/test_viewer_tick.py
index d49b1ed40bb6d4a2c28c325bcfb17d2257913ad7..132553a355eadb83c6c9cb2bfc7b77c235846f02 100644
--- a/tests/test_viewer_tick.py
+++ b/tests/test_viewer_tick.py
@@ -5,6 +5,8 @@ from __future__ import annotations
import time
from unittest.mock import Ma... | [
"pytest::tests.test_viewer_tick::test_step_resets_policy_for_done_envs"
] | [
"pytest::tests.test_viewer_tick::test_accumulator_carries",
"pytest::tests.test_viewer_tick::test_capped_clears_each_tick",
"pytest::tests.test_viewer_tick::test_capped_false_when_no_remaining_budget",
"pytest::tests.test_viewer_tick::test_error_pauses",
"pytest::tests.test_viewer_tick::test_format_speed",
... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-1226.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-171 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/171 | https://github.com/mujocolab/mjlab/issues/170 | dcfce29254d02f2a847897bf1854d8a0ea25d5e9 | 67d0147f8b16ffb996fa8954f106b81b09a1f08a | 2025-10-12T19:53:53Z | # mujocolab/mjlab — fix the reported defect
feet_air_time reward does not reset internal states after episode reset
### Description
The built-in `feet_air_time` reward in mjlab maintains two internal tensors:
`current_air_time` and `last_air_time`.
However, these tensors are never reset after the environment ca... | diff --git a/src/mjlab/managers/curriculum_manager.py b/src/mjlab/managers/curriculum_manager.py
index bbeba6408fc0ee29ecff8b8bee056edc2214ac7a..82e85476c8586d727c0f567ee94d929580b62e8d 100644
--- a/src/mjlab/managers/curriculum_manager.py
+++ b/src/mjlab/managers/curriculum_manager.py
@@ -2,12 +2,13 @@
from __futur... | diff --git a/tests/test_rewards.py b/tests/test_rewards.py
index 91e1415e4dfaa707f2488d1b5ff50c86e3b5888a..d2bc224d6a4ff07d480a09288debfaa792e375c9 100644
--- a/tests/test_rewards.py
+++ b/tests/test_rewards.py
@@ -3,29 +3,28 @@ from unittest.mock import Mock
import pytest
import torch
+from mjlab.managers.manager_... | [
"pytest::tests.test_rewards.TestRewardManagerClassReset::test_class_based_reward_reset"
] | [
"pytest::tests.test_rewards.TestFeetAirTime::test_command_scaling",
"pytest::tests.test_rewards.TestFeetAirTime::test_continuous_mode_threshold_behavior",
"pytest::tests.test_rewards.TestFeetAirTime::test_default_threshold_max",
"pytest::tests.test_rewards.TestFeetAirTime::test_multiple_feet_rewards",
"pyte... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-171.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-226 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/226 | https://github.com/mujocolab/mjlab/issues/225 | 7dbd9e71a670645961631a37e9d3b8f561a2697b | c1ca0ea48ade96aa0b990ce4ffafb77da84b4673 | 2025-10-23T17:44:53Z | # mujocolab/mjlab — fix the reported defect
`texcoords` shape assertion error when using viser with > 1 environment
If I run the `play` script with `Mjlab-Velocity-Flat-Unitree-G1-Play --agent zero --num-envs 2 --viewer viser`, it works fine: I can open the provided URL and see two G1s falling over as expected.
How... | diff --git a/src/mjlab/viewer/viser_conversions.py b/src/mjlab/viewer/viser_conversions.py
index e0190222c4259335a0fb8fc90de344a3e854c61c..ef290ec4eac30b1b4ef79feea8ac5dc446e6d05e 100644
--- a/src/mjlab/viewer/viser_conversions.py
+++ b/src/mjlab/viewer/viser_conversions.py
@@ -24,18 +24,18 @@ def mujoco_mesh_to_trimes... | diff --git a/tests/test_viser_conversions.py b/tests/test_viser_conversions.py
index abd6f6a36c571da8626c884e10573aa8c4c5dece..355d373581f6da5472df7c3a04f6a6d2a5876ce7 100644
--- a/tests/test_viser_conversions.py
+++ b/tests/test_viser_conversions.py
@@ -11,7 +11,7 @@ def load_robot_model(robot_name: str) -> mujoco.MjM... | [
"pytest::tests.test_viser_conversions::test_mesh_with_texture_coordinates"
] | [
"pytest::tests.test_viser_conversions::test_material_colors",
"pytest::tests.test_viser_conversions::test_performance",
"pytest::tests.test_viser_conversions::test_texture_extraction",
"pytest::tests.test_viser_conversions::test_unitree_g1_conversion",
"pytest::tests.test_viser_conversions::test_unitree_go1... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-226.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-288 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/288 | https://github.com/mujocolab/mjlab/issues/268 | cb0d5d38fe4309d974fcdaa23b5c7dbf060c3c34 | 8ea303629ab5515871814dc9d9a2b89d29261ccd | 2025-11-06T18:43:51Z | # mujocolab/mjlab — fix the reported defect
Event terms as class and randomization fields
If one want to use a class for an event term, just like the below example, the following line of code will raise an error:
https://github.com/mujocolab/mjlab/blob/89fdd41e210d3e42c1117593ac4147da3ae46926/src/mjlab/managers/event... | diff --git a/docs/api/domain_randomization.md b/docs/api/domain_randomization.md
index b4e0a87bb9f738b6d95eaf2553b59f0c414e5fc9..a71a883ac530af5580e068c8d59ec64ae00c4a1d 100644
--- a/docs/api/domain_randomization.md
+++ b/docs/api/domain_randomization.md
@@ -21,6 +21,7 @@ foot_friction: EventTerm = term(
EventTerm... | diff --git a/tests/test_events.py b/tests/test_events.py
index e074f4a36513e2af6c1739dc3b4044f26ba672a6..80e8a81642d1fe1446c15b21db498d6977a6c3db 100644
--- a/tests/test_events.py
+++ b/tests/test_events.py
@@ -1,5 +1,6 @@
"""Tests for MDP events functionality."""
+from dataclasses import dataclass
from unittest.mo... | [
"pytest::tests.test_events::test_class_based_event_with_domain_randomization"
] | [
"pytest::tests.test_events::test_reset_joints_by_offset"
] | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-288.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-296 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/296 | https://github.com/mujocolab/mjlab/issues/294 | b94f5d37f763c68af4bc6a3073d1cd23362cea94 | 9b8dd66508bb2bf6e079cdb924054bc7590fb5cc | 2025-11-08T00:59:44Z | # mujocolab/mjlab — fix the reported defect
Simulation step() does not respect MujocoCfg.timestep
The call to `Simulation.step()` and likely `Simulation.forward()` do not respect the time step parameter set in `MujocoCfg.timestep`. Rather the call to `step()` will use `Simulation.mj_model.opt.timestep` instead.
Sho... | diff --git a/src/mjlab/envs/manager_based_env.py b/src/mjlab/envs/manager_based_env.py
index 7b5a90cd2796e13682809c1fb219922884cf81fd..cb271c1beb4c644d997f28ef717c8f762204642f 100644
--- a/src/mjlab/envs/manager_based_env.py
+++ b/src/mjlab/envs/manager_based_env.py
@@ -60,7 +60,6 @@ class ManagerBasedEnv:
self.ob... | diff --git a/tests/test_sim.py b/tests/test_sim.py
index b4d69a53dd61cd67b3772672f10508879aa6d308..15bb8bb7499ffcebc702ea78cb379f29e5b1098d 100644
--- a/tests/test_sim.py
+++ b/tests/test_sim.py
@@ -1,10 +1,11 @@
"""Tests for sim.py."""
import mujoco
+import numpy as np
import pytest
from conftest import get_test... | [
"pytest::tests.test_sim::test_simulation_config_is_piped"
] | [] | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-296.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-365 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/365 | https://github.com/mujocolab/mjlab/issues/364 | f1df94de83b81db9eadba4d6ff83d433cebf0dd4 | c3e61afc2db8d891cf0ca499f9e9eba41205a9fa | 2025-11-25T22:19:33Z | # mujocolab/mjlab — fix the reported defect
Observation delays
Hello,
Below are several related problems in the way delays are handled
## Observations are pushed twice in delay buffer
In `manager_based_rl_env`, there ate two calls to `observation_manager.compute` (in `reset` and `step`)
But there is a side effect... | diff --git a/src/mjlab/managers/observation_manager.py b/src/mjlab/managers/observation_manager.py
index 68674c3a35bf54dbcc9a54d47b2c31993dd39073..2cddff86383190e1561a9c94aa06745b293acc76 100644
--- a/src/mjlab/managers/observation_manager.py
+++ b/src/mjlab/managers/observation_manager.py
@@ -122,6 +122,9 @@ class Obs... | diff --git a/tests/test_observation_delay.py b/tests/test_observation_delay.py
index 00f3b1bf7663d1408f57de7fe5c49698ca4cab1b..f13e3b3c21d3b85d1426c08c5d6266a93ef9490b 100644
--- a/tests/test_observation_delay.py
+++ b/tests/test_observation_delay.py
@@ -57,7 +57,7 @@ def test_no_delay_by_default(mock_env, simple_obs_f... | [
"pytest::tests.test_observation_delay::test_compute_without_update_returns_cached",
"pytest::tests.test_observation_delay::test_delay_buffer_not_double_pushed"
] | [
"pytest::tests.test_observation_delay::test_cache_invalidated_on_reset",
"pytest::tests.test_observation_delay::test_constant_delay",
"pytest::tests.test_observation_delay::test_delay_preserves_dimensions",
"pytest::tests.test_observation_delay::test_delay_with_history",
"pytest::tests.test_observation_dela... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-365.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-368 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/368 | https://github.com/mujocolab/mjlab/issues/367 | 7645af80494d0e8adc0ee0644c25a1c73f4d66e9 | 9c9bba0a0c0f49d3bf08ec5514a2429877ad84f6 | 2025-11-27T07:13:29Z | # mujocolab/mjlab — fix the reported defect
Inheriting Entity class
In IsaacLab, the `ArticulationCfg` [specifies the target class](https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/assets/articulation/articulation_cfg.py#L39), which we can modify to inform the scene builder which subclass we w... | diff --git a/src/mjlab/entity/entity.py b/src/mjlab/entity/entity.py
index ad74506ca128bcda8f09337fbcbdae1b17381db8..6b8f1d3c20529dadbcdaa6981dda71c8fa28f439 100644
--- a/src/mjlab/entity/entity.py
+++ b/src/mjlab/entity/entity.py
@@ -78,6 +78,13 @@ class EntityCfg:
# Misc.
debug_vis: bool = False
+ def build(... | diff --git a/tests/test_entity.py b/tests/test_entity.py
index 9f32f4fea5b82cecc264618561bf9be8228a8d2a..00ea51706f67da6e260172c46addda3a9d38d97d 100644
--- a/tests/test_entity.py
+++ b/tests/test_entity.py
@@ -1,5 +1,7 @@
"""Tests for entity module."""
+from dataclasses import dataclass
+
import mujoco
import num... | [
"pytest::tests.test_entity::test_custom_entity_subclass"
] | [
"pytest::tests.test_entity::test_ctrl_ids_follow_natural_joint_order",
"pytest::tests.test_entity::test_entity_properties[create_fixed_articulated_entity-expected2]",
"pytest::tests.test_entity::test_entity_properties[create_fixed_base_entity-expected0]",
"pytest::tests.test_entity::test_entity_properties[cre... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-368.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-400 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/400 | https://github.com/mujocolab/mjlab/issues/399 | 84a2dc5f0e0175e13fd0f365cdaaeadf2d16433c | 27598dc6f005dd4e1176a2462f99a1aafb5bd36a | 2025-12-11T06:37:06Z | # mujocolab/mjlab — fix the reported defect
Bug: nan value guard
1.The NaN value be passed to the policy through reward_buff, and cause std error. I have add nan_guard in terninations，then the nan values in self.obs_buf were reset to zeros，but the nan value in self.reward_buff still exist.
``` terminations = {
... | diff --git a/src/mjlab/entity/data.py b/src/mjlab/entity/data.py
index bb0bd55c66249ae61a462eb0c28188ec3d1b83cb..ef4cf6e484e09147b008a119bd669b508ef0aeec 100644
--- a/src/mjlab/entity/data.py
+++ b/src/mjlab/entity/data.py
@@ -190,9 +190,13 @@ class EntityData:
def clear_state(self, env_ids: torch.Tensor | slice |... | diff --git a/tests/test_entity.py b/tests/test_entity.py
index 0c826ae09cd3dd000bda25e98c56d30615e5a34d..62e25d1cab8abab1fd5d4a64a2278354b98e2051 100644
--- a/tests/test_entity.py
+++ b/tests/test_entity.py
@@ -611,3 +611,41 @@ def test_custom_entity_subclass(device):
assert isinstance(custom_entity, CustomEntity)
... | [
"pytest::tests.test_entity::test_clear_state_clears_qacc_warmstart",
"pytest::tests.test_rewards::test_reward_manager_handles_nan_values",
"pytest::tests.test_rewards::test_reward_manager_handles_neginf_values"
] | [
"pytest::tests.test_entity::test_ctrl_ids_follow_natural_joint_order",
"pytest::tests.test_entity::test_custom_entity_subclass",
"pytest::tests.test_entity::test_entity_properties[create_fixed_articulated_entity-expected2]",
"pytest::tests.test_entity::test_entity_properties[create_fixed_base_entity-expected0... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-400.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-401 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/401 | https://github.com/mujocolab/mjlab/issues/53 | 27598dc6f005dd4e1176a2462f99a1aafb5bd36a | 640ab71f92de0df02dae416ae63507c01221d321 | 2025-12-11T07:08:22Z | # mujocolab/mjlab — fix the reported defect
Use native mjwarp reset function
Switch to `mjwarp.reset_data` when https://github.com/google-deepmind/mujoco_warp/pull/720 lands.
---
Bug: nan value guard
1.The NaN value be passed to the policy through reward_buff, and cause std error. I have add nan_guard in terninat... | diff --git a/src/mjlab/entity/data.py b/src/mjlab/entity/data.py
index ef4cf6e484e09147b008a119bd669b508ef0aeec..3a19a2756414bb1600d941dbef9ecf967f33ef9c 100644
--- a/src/mjlab/entity/data.py
+++ b/src/mjlab/entity/data.py
@@ -189,16 +189,8 @@ class EntityData:
self.data.mocap_quat[env_ids, self.indexing.mocap_id]... | diff --git a/tests/test_entity.py b/tests/test_entity.py
index 62e25d1cab8abab1fd5d4a64a2278354b98e2051..0c826ae09cd3dd000bda25e98c56d30615e5a34d 100644
--- a/tests/test_entity.py
+++ b/tests/test_entity.py
@@ -611,41 +611,3 @@ def test_custom_entity_subclass(device):
assert isinstance(custom_entity, CustomEntity)
... | [
"pytest::tests.test_sim::test_sim_reset_restores_initial_state",
"pytest::tests.test_sim::test_sim_reset_selective"
] | [
"pytest::tests.test_entity::test_ctrl_ids_follow_natural_joint_order",
"pytest::tests.test_entity::test_custom_entity_subclass",
"pytest::tests.test_entity::test_entity_properties[create_fixed_articulated_entity-expected2]",
"pytest::tests.test_entity::test_entity_properties[create_fixed_base_entity-expected0... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-401.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-410 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/410 | https://github.com/mujocolab/mjlab/issues/263 | 1ee797410c5d959c403650a50877507597b01aa7 | 8b82e74979123fcef6bc468abaffccd155926551 | 2025-12-12T18:30:33Z | # mujocolab/mjlab — fix the reported defect
Fallback to model keyframe when initial joint positions are not specified in the robot config
Similarly to how we default to the model’s actuators when none are specified in the robot config, we should also fall back to the model’s keyframe for initial joint positions. Manu... | diff --git a/src/mjlab/entity/entity.py b/src/mjlab/entity/entity.py
index c563caecf99fabff7f783326a3cd511a208c9a48..26aca860c958d75abf7523961aaf2e8f2444dd11 100644
--- a/src/mjlab/entity/entity.py
+++ b/src/mjlab/entity/entity.py
@@ -60,7 +60,8 @@ class EntityCfg:
lin_vel: tuple[float, float, float] = (0.0, 0.0, ... | diff --git a/tests/test_entity.py b/tests/test_entity.py
index 0c826ae09cd3dd000bda25e98c56d30615e5a34d..e7357b153abf8f108155b928ce6459996568935a 100644
--- a/tests/test_entity.py
+++ b/tests/test_entity.py
@@ -611,3 +611,93 @@ def test_custom_entity_subclass(device):
assert isinstance(custom_entity, CustomEntity)
... | [
"pytest::tests.test_entity::test_joint_pos_none_errors_without_keyframe",
"pytest::tests.test_entity::test_joint_pos_none_fixed_base_uses_keyframe",
"pytest::tests.test_entity::test_joint_pos_none_uses_model_keyframe",
"pytest::tests.test_scene::test_multiple_entities_merged_keyframe",
"pytest::tests.test_s... | [
"pytest::tests.test_entity::test_ctrl_ids_follow_natural_joint_order",
"pytest::tests.test_entity::test_custom_entity_subclass",
"pytest::tests.test_entity::test_entity_properties[create_fixed_articulated_entity-expected2]",
"pytest::tests.test_entity::test_entity_properties[create_fixed_base_entity-expected0... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-410.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-424 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/424 | https://github.com/mujocolab/mjlab/issues/422 | 1d597513ba570e07e16c226646c291bd618f62b5 | 5160860aeeea7f2a9d67a29a75b91ed4e4db260a | 2025-12-19T06:11:50Z | # mujocolab/mjlab — fix the reported defect
Encoder Bias Logic Incorrectly Shifts Physical Joint Limits
The current implementation uses `sim.model.qpos0` to model sensor/encoder offsets. However, MuJoCo applies joint limits (`jnt_range`) to the raw `qpos` values, not the computed physical position ($q_\text{physical}... | diff --git a/docs/api/domain_randomization.md b/docs/api/domain_randomization.md
index e0050a9ef5326fc1cbb1d25c094f979826243a4d..d6939358ce55050e981d26db9285a787aaeba080 100644
--- a/docs/api/domain_randomization.md
+++ b/docs/api/domain_randomization.md
@@ -57,7 +57,7 @@ This flag is especially useful when using custo... | diff --git a/tests/test_encoder_bias.py b/tests/test_encoder_bias.py
index be044786cebd673b43874d7d0f8d9afaf771b32d..e3f31a32f46133f2c7f3863e51986125e1be90e3 100644
--- a/tests/test_encoder_bias.py
+++ b/tests/test_encoder_bias.py
@@ -1,36 +1,46 @@
-"""Tests for encoder offset (joint bias) modeling via qpos0.
+"""Tests... | [
"pytest::tests.test_encoder_bias::test_bias_compensation_produces_identical_physical_behavior",
"pytest::tests.test_encoder_bias::test_encoder_bias_can_be_set_per_env",
"pytest::tests.test_encoder_bias::test_encoder_bias_initialized_to_zero",
"pytest::tests.test_encoder_bias::test_joint_pos_biased_equals_join... | [] | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-424.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-429 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/429 | https://github.com/mujocolab/mjlab/issues/418 | 5160860aeeea7f2a9d67a29a75b91ed4e4db260a | 2861a943968ddf9ddadf84b69afaa9f07475a792 | 2025-12-19T06:18:28Z | # mujocolab/mjlab — fix the reported defect
Question: randomize_field() when ‘’mode=reset‘’ and ‘operation='scale’ or 'add'
part of original code in randomize_filed():
```
indexed_data = model_field[env_grid, entity_grid]
random_values = _generate_random_values(
distribution, axis_ranges, indexed_data, target_... | diff --git a/src/mjlab/actuator/pd_actuator.py b/src/mjlab/actuator/pd_actuator.py
index 413f70d4039101baf6f823d5b391ee89dc866536..ae1710e11e45e843ae4189e450590bb49400200b 100644
--- a/src/mjlab/actuator/pd_actuator.py
+++ b/src/mjlab/actuator/pd_actuator.py
@@ -50,6 +50,9 @@ class IdealPdActuator(Actuator, Generic[Ide... | diff --git a/tests/test_domain_randomization.py b/tests/test_domain_randomization.py
index ac8b2a5712c162b7185d34c318011963b088b6c1..2b1806055b69e5cc43a4b6adf105b896aa5132cd 100644
--- a/tests/test_domain_randomization.py
+++ b/tests/test_domain_randomization.py
@@ -177,3 +177,64 @@ def test_expand_model_fields_recreat... | [
"pytest::tests.test_domain_randomization::test_randomize_field_scale_partial_axes",
"pytest::tests.test_domain_randomization::test_randomize_field_scale_uses_defaults"
] | [
"pytest::tests.test_domain_randomization::test_randomize_field[body_mass-ranges1-scale-asset_names1-None-456]",
"pytest::tests.test_domain_randomization::test_randomize_field[dof_damping-ranges2-abs-asset_names2-None-789]",
"pytest::tests.test_domain_randomization::test_randomize_field[geom_friction-ranges0-abs... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-429.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-455 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/455 | https://github.com/mujocolab/mjlab/issues/405 | 0e9dafc673c47aa36a821d77fddf3f69ff7496ce | 7c36ffbc3913ef180e50f22024b96ce02e5e8b31 | 2026-01-03T12:26:17Z | # mujocolab/mjlab — fix the reported defect
Proposal to Remove Reward Scaling by Simulation Time Step
## What's wrong with scaling?
The current implementation of the reward management system applies an implicit scaling factor equivalent to the simulation time step ($\Delta t$) to the user-defined reward function befo... | diff --git a/src/mjlab/envs/manager_based_rl_env.py b/src/mjlab/envs/manager_based_rl_env.py
index 11563c97c441e72805e41f39fa182896dc525ac5..7f7eea09ac91093e9c63560a22fd9d40c5358f68 100644
--- a/src/mjlab/envs/manager_based_rl_env.py
+++ b/src/mjlab/envs/manager_based_rl_env.py
@@ -85,6 +85,13 @@ class ManagerBasedRlEn... | diff --git a/tests/test_rewards.py b/tests/test_rewards.py
index e6394373f3d70c7b529387a72834840267b33c1b..b98ca5c020dce135dc7dc9afa468e4e4448f6ee9 100644
--- a/tests/test_rewards.py
+++ b/tests/test_rewards.py
@@ -271,3 +271,63 @@ def test_reward_manager_handles_neginf_values(mock_env):
assert not torch.isinf(rew... | [
"pytest::tests.test_rewards::test_reward_scaling_disabled",
"pytest::tests.test_rewards::test_reward_scaling_enabled"
] | [
"pytest::tests.test_rewards::test_class_based_reward_reset",
"pytest::tests.test_rewards::test_electrical_power_cost_partially_actuated",
"pytest::tests.test_rewards::test_function_based_reward_not_tracked",
"pytest::tests.test_rewards::test_reward_manager_handles_nan_values",
"pytest::tests.test_rewards::t... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-455.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-482 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/482 | https://github.com/mujocolab/mjlab/issues/481 | 0f47107c55e04a832b58dcc2dd73949b4d99cc01 | 685c920413f12b09035d59e61e144ab4712bcfd2 | 2026-01-13T20:27:01Z | # mujocolab/mjlab — fix the reported defect
Friction randomization
I was invesigating friction randomization pipeline and noticed currently for the G1 pipeline:
left_foot1_collision: 1.0000
left_foot2_collision: 1.1710
left_foot3_collision: 0.6149
left_foot4_collision: 1.1371
left_foot5_collision: ... | diff --git a/src/mjlab/envs/mdp/events.py b/src/mjlab/envs/mdp/events.py
index bdd7b25055545ce43cd0c59a3496770c3730062b..a297424f75a093ef92bcdce3ce5d897302401b9e 100644
--- a/src/mjlab/envs/mdp/events.py
+++ b/src/mjlab/envs/mdp/events.py
@@ -298,6 +298,7 @@ def randomize_field(
operation: Literal["add", "scale", "a... | diff --git a/tests/test_domain_randomization.py b/tests/test_domain_randomization.py
index a4a74068eef8df1383068063c296478b23371e4c..665cebc757a9282b8f09dcd1642d33db751123b4 100644
--- a/tests/test_domain_randomization.py
+++ b/tests/test_domain_randomization.py
@@ -299,3 +299,94 @@ def test_randomize_field_single_env_... | [
"pytest::tests.test_domain_randomization::test_g1_foot_friction_shared_across_geoms",
"pytest::tests.test_domain_randomization::test_randomize_field_shared_random"
] | [
"pytest::tests.test_domain_randomization::test_randomize_field[body_mass-ranges1-scale-entity_names1-None-456]",
"pytest::tests.test_domain_randomization::test_randomize_field[dof_damping-ranges2-abs-entity_names2-None-789]",
"pytest::tests.test_domain_randomization::test_randomize_field[geom_friction-ranges0-a... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-482.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-564 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/564 | https://github.com/mujocolab/mjlab/issues/563 | 679ee3d1b4cea760991348e91edf2c3c46f62780 | 14ce276c53290de45a2f5734056242b46b98a1af | 2026-02-03T00:17:21Z | # mujocolab/mjlab — fix the reported defect
randomize_pd_gains on multiple envs
I was trying to do some domain randomization on the actuator gains using the example shown here: https://github.com/mujocolab/mjlab/blob/main/docs/source/actuators.rst#domain-randomization
```
cfg.events["randomize_pd_gains"] = EventT... | diff --git a/src/mjlab/envs/mdp/events.py b/src/mjlab/envs/mdp/events.py
index 9a98af8ceff95712ea3fd3d1aced5dd5976ea8a3..2b347ad77d1bfda92cb0ba172220c093d55f443f 100644
--- a/src/mjlab/envs/mdp/events.py
+++ b/src/mjlab/envs/mdp/events.py
@@ -8,6 +8,7 @@ from typing import TYPE_CHECKING, Dict, Literal, Tuple
import to... | diff --git a/tests/test_events.py b/tests/test_events.py
index f2dc7ee478b2ad761aef38fe2b90c1742b9b5a70..b29b39b2966f93016bc5396528163ef4665bef11 100644
--- a/tests/test_events.py
+++ b/tests/test_events.py
@@ -358,3 +358,116 @@ def test_randomize_effort_limits(device):
ideal_actuator.force_limit[1],
torch.te... | [
"pytest::tests.test_events::test_model_fields_registered_in_event_manager"
] | [
"pytest::tests.test_events::test_class_based_event_with_domain_randomization",
"pytest::tests.test_events::test_randomize_effort_limits",
"pytest::tests.test_events::test_randomize_effort_limits_multi_env",
"pytest::tests.test_events::test_randomize_pd_gains",
"pytest::tests.test_events::test_randomize_pd_g... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-564.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-767 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/767 | https://github.com/mujocolab/mjlab/issues/766 | af95d57b86758458155ebd78b1764c6ad320a1ad | 352d41dc78424b87c2d350f08a2a9e059297fc63 | 2026-03-10T19:39:05Z | # mujocolab/mjlab — fix the reported defect
Setting contact physics params in MJLab
Hi,
I have a scene.xml that sets the following params:
```
<option integrator="implicitfast"
timestep="0.002"
gravity="0 0 -9.81"
viscosity="0"
noslip_iterations="4"
o_margin="0.01"
o_... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 81ff50b0c2581291c0ccd346eade735b30c0f02f..9c6f527cdfd1490c2fae3b362147d1c53a85e758 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -8,6 +8,8 @@ Upcoming version (not yet released)
Added
^^^^^
+- Added ``margin``, ``ga... | diff --git a/tests/test_spec_config.py b/tests/test_spec_config.py
index 7dd6dd7c3f1210a1a8453b20c0b911e1035d95d3..5c88ee8e7c779019e444dc5a88cadb777c7c51b1 100644
--- a/tests/test_spec_config.py
+++ b/tests/test_spec_config.py
@@ -110,6 +110,44 @@ def test_collision_dict_field_resolution(multi_geom_spec):
assert arm... | [
"pytest::tests.test_spec_config::test_collision_margin_gap_solmix",
"pytest::tests.test_spec_config::test_collision_margin_gap_solmix_dict",
"pytest::tests.test_spec_config::test_collision_validation[conaffinity--1-conaffinity must be non-negative]",
"pytest::tests.test_spec_config::test_collision_validation[... | [
"pytest::tests.test_spec_config::test_camera_cfg",
"pytest::tests.test_spec_config::test_collision_basic_properties",
"pytest::tests.test_spec_config::test_collision_dict_field_resolution",
"pytest::tests.test_spec_config::test_collision_disable_other_geoms",
"pytest::tests.test_spec_config::test_collision_... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-767.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-770 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/770 | https://github.com/mujocolab/mjlab/issues/764 | 95c8825bb0fdfc7bc8dda80d57b145efe41ba871 | fee5517082f776cc55df6d7c4cd78a284420cb49 | 2026-03-10T22:13:03Z | # mujocolab/mjlab — fix the reported defect
Bug Report: `RepresenterError` when dumping `agent_cfg` to YAML due to injected `_env` object
## Bug Report: `RepresenterError` when dumping `agent_cfg` to YAML due to injected `_env` object
### Description
When `dump_yaml(log_dir / "params" / "agent.yaml", agent_cfg)` is ... | diff --git a/src/mjlab/scripts/train.py b/src/mjlab/scripts/train.py
index 527d59e7797557c3120d95c84ff57a5318a36ff4..3a204f1121da47ff0953447d1cfa33c50107f7f3 100644
--- a/src/mjlab/scripts/train.py
+++ b/src/mjlab/scripts/train.py
@@ -155,6 +155,12 @@ def run_train(task_id: str, cfg: TrainConfig, log_dir: Path) -> None... | diff --git a/tests/test_runner.py b/tests/test_runner.py
index 6b05222fde1028c8e524767b812afa279a98d9ed..add52f103833ee3daf46513e7b6fa39e8b80ed93 100644
--- a/tests/test_runner.py
+++ b/tests/test_runner.py
@@ -1,5 +1,6 @@
"""Tests for MjlabOnPolicyRunner."""
+import ast
import tempfile
from dataclasses import asd... | [
"pytest::tests.test_runner::test_agent_cfg_serializable_after_runner_creation"
] | [
"pytest::tests.test_runner::test_cnn_onnx_export_matches_actor",
"pytest::tests.test_runner::test_cnn_onnx_export_to_file",
"pytest::tests.test_runner::test_export_policy_to_onnx",
"pytest::tests.test_runner::test_onnx_export_matches_actor",
"pytest::tests.test_runner::test_onnx_export_without_normalization... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-770.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-779 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/779 | https://github.com/mujocolab/mjlab/issues/776 | 8b8410bc1d890dfae7ffc4890a608559db69bdad | 5daa44085f29b31247ca01047295d5cb54820d0c | 2026-03-12T00:08:37Z | # mujocolab/mjlab — fix the reported defect
Can obtain full external force on a specific link (Body), but cannot directly get its mapped joint-space torque
Is there any built-in API in mjlab that can directly complete the mapping from "link external force → joint torque"?
The repository is available at `/workspace`.... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index bccf1843dc6fcb35d3582f2312bbfc07d9271689..c5154723b692a9c0085407055d59a5e5bb71eedf 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -17,6 +17,11 @@ Added
the dump viewer for fixed-base entities.
- Implemented ``ActionT... | diff --git a/tests/test_entity_data.py b/tests/test_entity_data.py
index 3b581ca996eb5a9d489e6fb61a3b5d48f63809f9..0da1a2317a57628d65512d44067095b795626cac 100644
--- a/tests/test_entity_data.py
+++ b/tests/test_entity_data.py
@@ -1,10 +1,17 @@
"""Tests for EntityData."""
import mujoco
+import numpy as np
import p... | [
"pytest::tests.test_entity_data::test_qfrc_actuator_matches_motor_command_with_gear",
"pytest::tests.test_entity_data::test_qfrc_actuator_slices_joint_dofs_only",
"pytest::tests.test_entity_data::test_qfrc_external_matches_mj_applyFT",
"pytest::tests.test_rewards::test_electrical_power_cost_partially_actuated... | [
"pytest::tests.test_entity_data::test_entity_data_properties_accessible[body_com_pose_w-expected_shape16]",
"pytest::tests.test_entity_data::test_entity_data_properties_accessible[body_com_vel_w-expected_shape17]",
"pytest::tests.test_entity_data::test_entity_data_properties_accessible[body_link_pos_w-expected_... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-779.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-794 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/794 | https://github.com/mujocolab/mjlab/issues/793 | 2bcf5118c276b6232aa5b55e2e89e3735e7b5d6a | 41f4d5e0f61bad91831af7a738aafe7c2fcf4897 | 2026-03-13T19:50:55Z | # mujocolab/mjlab — fix the reported defect
`write_root_com_velocity_to_sim()` fails with tensor `env_ids`
## Summary
Calling `write_root_com_velocity_to_sim()` on a floating-base G1 can fail with:
```text
RuntimeError: linalg.cross: inputs must have the same number of dimensions.
```
The attached repro shows that... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 7617cc031e5a33b1ebf2b838e141eec4efc603b5..51f09f3b472dedc714342f60aface962967996cc 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -56,6 +56,8 @@ Fixed
- ``create_velocity_actuator`` no longer sets ``ctrllimited=True`` w... | diff --git a/tests/test_entity_data.py b/tests/test_entity_data.py
index 1a65e45b04efc7b172108dfa24a19f11fec55464..74137386ee81a247934ea2dc00b2e6bf441a1ecb 100644
--- a/tests/test_entity_data.py
+++ b/tests/test_entity_data.py
@@ -18,7 +18,7 @@ from mjlab.actuator import BuiltinMotorActuatorCfg
from mjlab.actuator.act... | [
"pytest::tests.test_entity_data::test_write_root_com_velocity"
] | [
"pytest::tests.test_entity_data::test_entity_data_properties_accessible[body_com_pose_w-expected_shape16]",
"pytest::tests.test_entity_data::test_entity_data_properties_accessible[body_com_vel_w-expected_shape17]",
"pytest::tests.test_entity_data::test_entity_data_properties_accessible[body_link_pos_w-expected_... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-794.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-841 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/841 | https://github.com/mujocolab/mjlab/issues/838 | 347705365acbfd92c3b20edac363f58cb4de9ad8 | 6abd0ebfde7ef07b3ecb6032c0efe3fda2794c5c | 2026-03-24T20:06:18Z | # mujocolab/mjlab — fix the reported defect
TerrainHeightSensor reports height from bottom face of box terrain during penetration
#835 fixed the case where all rays miss during foot penetration, but there's a second failure mode on box terrain: when a foot is slightly below the surface, downward rays originate inside... | diff --git a/src/mjlab/sensor/terrain_height_sensor.py b/src/mjlab/sensor/terrain_height_sensor.py
index c5305b9092148212e9e88597551168292aa7b45e..8e57cf361f56c53e1f16464e2147d513d03a04db 100644
--- a/src/mjlab/sensor/terrain_height_sensor.py
+++ b/src/mjlab/sensor/terrain_height_sensor.py
@@ -63,15 +63,16 @@ class Ter... | diff --git a/tests/test_foot_height_sensor.py b/tests/test_foot_height_sensor.py
index 16d21e8fbfbc7963da4b85e02cc34b61c3354f71..884bf9f40756b7063a26ee8fe7916c4e24c23717 100644
--- a/tests/test_foot_height_sensor.py
+++ b/tests/test_foot_height_sensor.py
@@ -170,3 +170,61 @@ def test_foot_height_miss_returns_max_distan... | [
"pytest::tests.test_foot_height_sensor::test_foot_penetration_box"
] | [
"pytest::tests.test_foot_height_sensor::test_foot_height_flat_platform",
"pytest::tests.test_foot_height_sensor::test_foot_height_miss_returns_max_distance",
"pytest::tests.test_foot_height_sensor::test_foot_height_multi_env",
"pytest::tests.test_foot_height_sensor::test_foot_height_observation",
"pytest::t... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-841.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-851 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/851 | https://github.com/mujocolab/mjlab/issues/850 | 6abd0ebfde7ef07b3ecb6032c0efe3fda2794c5c | be8efa0415aa44264fda37ff8cd0094ee1a212b4 | 2026-03-28T02:25:02Z | # mujocolab/mjlab — fix the reported defect
Bug: sensor name prefix duplicated on deepcopy
### Problem
When deepcopying BuiltinSensorCfg, the sensor name gets repeatedly prefixed:
`entity/entity/original_name`.
### Relevant code
- Prefixing logic in `__post_init__`:
https://github.com/mujocolab/mjlab/blob/6abd0e... | diff --git a/src/mjlab/scene/scene.py b/src/mjlab/scene/scene.py
index bf9e58991b942b4fb73b3da05effae1de7fed917..1bc96fef165cbda46630cb0ed04510ffc4355f95 100644
--- a/src/mjlab/scene/scene.py
+++ b/src/mjlab/scene/scene.py
@@ -260,7 +260,7 @@ class Scene:
for sensor_cfg in self._cfg.sensors:
sns = sensor_cf... | diff --git a/tests/test_builtin_sensor.py b/tests/test_builtin_sensor.py
index ae854362b31ba3866387d656a8123d11c34da8ae..24ac47d316488d4ff4cf2cc29ab6993305f4e061 100644
--- a/tests/test_builtin_sensor.py
+++ b/tests/test_builtin_sensor.py
@@ -2,6 +2,8 @@
from __future__ import annotations
+import copy
+
import mu... | [
"pytest::tests.test_builtin_sensor::test_deepcopy_no_double_prefix"
] | [
"pytest::tests.test_builtin_sensor::test_accelerometer_sensor",
"pytest::tests.test_builtin_sensor::test_builtin_sensor_errors_on_duplicate_name",
"pytest::tests.test_builtin_sensor::test_cutoff_parameter",
"pytest::tests.test_builtin_sensor::test_error_on_invalid_ref",
"pytest::tests.test_builtin_sensor::t... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-851.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-859 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/859 | https://github.com/mujocolab/mjlab/issues/858 | 8837dd37554c994fd70aa1ed1d9fab834750681e | c5b55e2244909b8bfbd6cf8e20a43f21d8a87040 | 2026-03-29T17:30:09Z | # mujocolab/mjlab — fix the reported defect
`export-scene` writes assets to wrong location and includes unused files
# 🐛 Bug: `export-scene` writes assets to wrong location and includes unused files
## 📌 Description
When exporting a scene using:
```bash
uv run export-scene ABPP-Aloha-Screw --output-dir /home/cum... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index fd6c7ce8877ef213b366541d0e8a46901e627197..17210a499de75b776eeb7bc2b6ed4b5101da7197 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -68,6 +68,11 @@ Changed
Fixed
^^^^^
+- ``export-scene`` now writes only referenced ass... | diff --git a/tests/test_scene.py b/tests/test_scene.py
index 1c610fc00855ef792f6c171e7669f29580e768e0..00b4c54b4bf221c9357e12259ccc48a9621192cc 100644
--- a/tests/test_scene.py
+++ b/tests/test_scene.py
@@ -191,6 +191,29 @@ def test_write_zip(minimal_scene_cfg, tmp_path, device):
assert out.with_suffix(".zip").exist... | [
"pytest::tests.test_scene::test_write_no_traversal_escape",
"pytest::tests.test_scene::test_write_skips_unreferenced_assets"
] | [
"pytest::tests.test_scene::test_compile_empty_scene",
"pytest::tests.test_scene::test_compile_scene_with_entities",
"pytest::tests.test_scene::test_entity_dict_access",
"pytest::tests.test_scene::test_entity_getitem_access",
"pytest::tests.test_scene::test_env_origins_without_terrain",
"pytest::tests.test... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-859.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-886 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/886 | https://github.com/mujocolab/mjlab/issues/885 | 26ba8e1af45c20cfd4ee46a17752f3d7c827589d | 1676703d3e8d36e2a1de0d487ed9d3c8d14ad7fa | 2026-04-06T19:10:07Z | # mujocolab/mjlab — fix the reported defect
XML contact disable flag seems ineffective in runtime
Environment:
- mjlab: code snapshot on 2026/04/06
- OS: WSL2 Ubuntu 22.04
Change made:
- Removed runtime disableflags config in [cartpole](https://github.com/mujocolab/mjlab/blob/26ba8e1af45c20cfd4ee46a17752f3d7c82758... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index fe4ec96c68fc5216e98129091b316df15c1c5d3d..25d71bb0d070ecf304e45a0704520a13fd735e40 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -105,6 +105,10 @@ Changed
Fixed
^^^^^
+- Scene now warns when an attached entity or te... | diff --git a/tests/test_scene.py b/tests/test_scene.py
index 00b4c54b4bf221c9357e12259ccc48a9621192cc..bbba7824e3b7a5ca46b6d406e45cb05762bc1d45 100644
--- a/tests/test_scene.py
+++ b/tests/test_scene.py
@@ -568,3 +568,30 @@ def test_two_actuated_entities_write_ctrl(device):
# Controls should differ since targets d... | [
"pytest::tests.test_scene::test_entity_with_option_flags_warns"
] | [
"pytest::tests.test_scene::test_compile_empty_scene",
"pytest::tests.test_scene::test_compile_scene_with_entities",
"pytest::tests.test_scene::test_entity_dict_access",
"pytest::tests.test_scene::test_entity_getitem_access",
"pytest::tests.test_scene::test_env_origins_without_terrain",
"pytest::tests.test... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-886.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-916 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/916 | https://github.com/mujocolab/mjlab/issues/914 | c79653b2c00c9e7872b189a4d0f1f4f9120f4d88 | 38c8d34cf0cd35bdfd63b20df069da8bb0b16b6f | 2026-04-16T16:41:08Z | # mujocolab/mjlab — fix the reported defect
[ContactSensor] Opaque indexing of second tensor dimension N
The `ContactSensor` class has the following:
```
Output shape: [B, N * num_slots] or [B, N * num_slots, 3] where N = # of primaries
```
```
n_primary = len(set(slot.primary_name for slot in self._slots))
... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 01b0e8a55879d60fd6e6c0f91874fe658c087bdb..2c4fb5d009ab0723c60c28f16e6716a116a667c0 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -5,6 +5,14 @@ Changelog
Upcoming version (not yet released)
----------------------------... | diff --git a/tests/test_contact_sensor.py b/tests/test_contact_sensor.py
index c7cf5931aca50c5168573228ee27ee9d6c2330d0..8e341cadbbac82ae5078c6ff44e33bbdd9962158 100644
--- a/tests/test_contact_sensor.py
+++ b/tests/test_contact_sensor.py
@@ -743,6 +743,58 @@ def test_num_slots_greater_than_one(device):
assert data_... | [
"pytest::tests.test_contact_sensor::test_multi_slot_air_time_and_primary_names"
] | [
"pytest::tests.test_contact_sensor::test_air_time_tracking",
"pytest::tests.test_contact_sensor::test_basic_contact_detection",
"pytest::tests.test_contact_sensor::test_body_mode_contacts",
"pytest::tests.test_contact_sensor::test_contact_fields",
"pytest::tests.test_contact_sensor::test_exclude_exact_names... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-916.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-924 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/924 | https://github.com/mujocolab/mjlab/issues/923 | 7fcea472aab5d7ba971c0e33856ac53b9adc35e5 | 98d5b152713c50efc47899241ef68d731fec22bc | 2026-04-17T19:32:35Z | # mujocolab/mjlab — fix the reported defect
Discussion on terrain boundary exceedance calculation
In mjlab/src/mjlab/tasks/velocity/mdp/terminations.py, because terrain_generator.num_cols should actually be len(terrain_generator.sub_terrains), and the border should also include border_width, it is recommended to chan... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 525eac4025c8ed596bfbc3fe44efbbc22b1a6891..9b048d151e463c76c7a1acef020bea21d2940dc4 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -31,6 +31,13 @@ Changed
Fixed
^^^^^
+- Fixed ``out_of_terrain_bounds`` using stale ter... | diff --git a/tests/test_terminations.py b/tests/test_terminations.py
index 8f12090bcc76d148d2a4edd69c909a3f01906616..ce2b30b25abc4ba09e3acb2f957b43d8e9a520c2 100644
--- a/tests/test_terminations.py
+++ b/tests/test_terminations.py
@@ -175,8 +175,13 @@ def mock_grid_terrain_env():
terrain = Mock()
terrain.cfg.terr... | [
"pytest::tests.test_terminations::test_out_of_terrain_bounds_includes_border_width",
"pytest::tests.test_terminations::test_out_of_terrain_bounds_outside"
] | [
"pytest::tests.test_terminations::test_nan_detection_function",
"pytest::tests.test_terminations::test_nan_detection_with_termination_manager",
"pytest::tests.test_terminations::test_out_of_terrain_bounds_within",
"pytest::tests.test_terminations::test_terrain_edge_reached_at_edge",
"pytest::tests.test_term... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-924.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-972 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/972 | https://github.com/mujocolab/mjlab/issues/971 | 5a433e83fb27dc2b44b21863b47d3dae6e4dc211 | 80a12a5e12ffa66ec32a4b8167926cf4ba239fec | 2026-05-06T18:05:36Z | # mujocolab/mjlab — fix the reported defect
`pd_gains` domain randomization silently no-ops for `operation: Operation`
Domain randomization events are expected to take `operation: str | dr.Operation`. However, the `pd_gains` event specifically expects only one of two literal strings:
https://github.com/mujocolab/mj... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 46f54ebb8391f8f8381103438c2a7ad9a18b5a32..72bda1ad12dbaee1995bb53d5a5a1fbb1210b6b4 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -80,6 +80,10 @@ Changed
Fixed
^^^^^
+- Fixed ``dr.pd_gains`` and ``dr.effort_limits`` ... | diff --git a/tests/test_events.py b/tests/test_events.py
index 18de45f7a43bf03a0d5b61c2ed8c21a4d4384fe4..787d8591d9dae277b33c62b42eac05d529137c0e 100644
--- a/tests/test_events.py
+++ b/tests/test_events.py
@@ -418,6 +418,62 @@ def test_effort_limits_scale_no_accumulation(device):
assert abs(actual_upper - 200.0) < ... | [
"pytest::tests.test_events::test_effort_limits_accepts_operation_object",
"pytest::tests.test_events::test_effort_limits_rejects_unsupported_operation",
"pytest::tests.test_events::test_pd_gains_accepts_operation_object",
"pytest::tests.test_events::test_pd_gains_rejects_unsupported_operation"
] | [
"pytest::tests.test_events::test_apply_body_impulse_basic",
"pytest::tests.test_events::test_apply_body_impulse_reset_clears",
"pytest::tests.test_events::test_apply_body_impulse_with_offset",
"pytest::tests.test_events::test_body_com_offset_recompute",
"pytest::tests.test_events::test_body_ipos_recompute_m... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-972.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
mujocolab__mjlab-975 | mujocolab/mjlab | Learning | D | https://github.com/mujocolab/mjlab/pull/975 | https://github.com/mujocolab/mjlab/issues/973 | 2e1be363ccbbfccab7799f4435068a1b9c0cb82d | dd07e05796bb434664ad927b4b5bc0d3c34bf945 | 2026-05-07T03:05:47Z | # mujocolab/mjlab — fix the reported defect
apply_body_impulse always fires on the first step, which doesn't match documentation
The docstring for apply_body_impulse says that the cooldown period is the first step in the lifecycle:
https://github.com/mujocolab/mjlab/blob/80a12a5e12ffa66ec32a4b8167926cf4ba239fec/src... | diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 72bda1ad12dbaee1995bb53d5a5a1fbb1210b6b4..8cddccea4af56a98093291d9d05e93ee9c0acd34 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -80,6 +80,10 @@ Changed
Fixed
^^^^^
+- Fixed ``apply_body_impulse`` firing an impulse ... | diff --git a/tests/test_events.py b/tests/test_events.py
index 787d8591d9dae277b33c62b42eac05d529137c0e..557181bfa4fca563e0d48bea026c0ec4d062009e 100644
--- a/tests/test_events.py
+++ b/tests/test_events.py
@@ -590,8 +590,10 @@ def test_apply_body_impulse_basic(device):
device, num_envs=2, num_bodies=3, body_ids=[... | [
"pytest::tests.test_events::test_apply_body_impulse_basic",
"pytest::tests.test_events::test_apply_body_impulse_initial_cooldown"
] | [
"pytest::tests.test_events::test_apply_body_impulse_reset_clears",
"pytest::tests.test_events::test_apply_body_impulse_with_offset",
"pytest::tests.test_events::test_body_com_offset_recompute",
"pytest::tests.test_events::test_body_ipos_recompute_matches_set_const",
"pytest::tests.test_events::test_body_mas... | original_issue | false | not_reviewed | harbor/tasks/mujocolab__mjlab-975.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
newton-physics__newton-2233 | newton-physics/newton | Simulation | B | https://github.com/newton-physics/newton/pull/2233 | https://github.com/newton-physics/newton/issues/1490 | 3ce564ee942f6032b66e813cd0fb8990ba05cb1f | 97a0517591eb6fad79a5ed15c81a2f200190f7d1 | 2026-04-02T13:28:49Z | # newton-physics/newton — fix the reported defect
Contact Sensor - Friction forces
To enable feature parity with PhysX, the newton contact sensor should report friction forces (or have an option to enable this)
The repository is available at `/workspace`. Implement the correction while preserving existing behavior. ... | diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2839905a656bf6c99ddd1c5aba4b75896f45a87a..5916f7965f71d721614930863bc8451a16891dbd 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -26,9 +26,10 @@
- Add differentiable rigid contacts (experimental) with respect to body poses via `CollisionPipeline` when `requires_grad=Tru... | diff --git a/newton/tests/test_sensor_contact.py b/newton/tests/test_sensor_contact.py
index 7180b3abacf2eff6a6ee6927440db3bc14c97cb8..aa6db528448feee8491cff3b9af478d879be9a08 100644
--- a/newton/tests/test_sensor_contact.py
+++ b/newton/tests/test_sensor_contact.py
@@ -353,6 +353,206 @@ class TestSensorContact(unittes... | [
"unittest::newton.tests.test_sensor_contact.TestSensorContact::test_force_matrix_friction",
"unittest::newton.tests.test_sensor_contact.TestSensorContact::test_friction_force_diagonal_normal",
"unittest::newton.tests.test_sensor_contact.TestSensorContact::test_friction_force_measure_total_false",
"unittest::n... | [
"unittest::newton.tests.test_sensor_contact.TestSensorContact::test_duplicate_sensing_objects_raises",
"unittest::newton.tests.test_sensor_contact.TestSensorContact::test_global_counterpart_in_all_worlds",
"unittest::newton.tests.test_sensor_contact.TestSensorContact::test_global_sensing_object_raises",
"unit... | original_issue | false | not_reviewed | harbor/tasks/newton-physics__newton-2233.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
newton-physics__newton-2264 | newton-physics/newton | Simulation | B | https://github.com/newton-physics/newton/pull/2264 | https://github.com/newton-physics/newton/issues/2083 | 60df08cf97d0f86a95f9b5ac9292ac17e28400c2 | cecf8f06fe833ce4a6bc4ab8991711a52e4901ef | 2026-03-30T17:55:23Z | # newton-physics/newton — fix the reported defect
World replication order does not match terrain-grid order
## Summary
World replication and terrain layout use different index orderings, so environment `i` can be paired with the wrong terrain cell.
## Steps to Reproduce
1. Run the Python snippet below.
2. It repli... | diff --git a/CHANGELOG.md b/CHANGELOG.md
index eac4d690764f099ee3e1b6c658597965a3597d66..67481d8069ddd5af304d9e4d574b3ea3252b75d7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -76,6 +76,7 @@
- Fix concurrent asset download races on Windows by using content-addressed cache directories
- Show prismatic joints in the ... | diff --git a/newton/tests/test_viewer_world_offsets.py b/newton/tests/test_viewer_world_offsets.py
index 8c04565529a5c69d8c3c0b0bf7ab00b7b0c812dd..ec2d7231d4688d5b29c71709f5fa63f2d240087b 100644
--- a/newton/tests/test_viewer_world_offsets.py
+++ b/newton/tests/test_viewer_world_offsets.py
@@ -19,7 +19,7 @@ class TestV... | [
"unittest::newton.tests.test_viewer_world_offsets.TestViewerWorldOffsets::test_compute_world_offsets_function",
"unittest::newton.tests.test_viewer_world_offsets.TestViewerWorldOffsets::test_set_world_offsets_input_formats",
"unittest::newton.tests.test_viewer_world_offsets.TestViewerWorldOffsets::test_viewer_o... | [
"unittest::newton.tests.test_viewer_world_offsets.TestViewerWorldOffsets::test_auto_compute_skips_large_collision_radii",
"unittest::newton.tests.test_viewer_world_offsets.TestViewerWorldOffsets::test_auto_compute_with_body_attached_shapes",
"unittest::newton.tests.test_viewer_world_offsets.TestViewerWorldOffse... | original_issue | false | questionable | harbor/tasks/newton-physics__newton-2264.tar.gz | [
"Apache-2.0"
] | provenance/source-licenses.json | false |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.