From d7a9f01e4bec3a38de800364ec0aee793f1ea798 Mon Sep 17 00:00:00 2001 From: Erik Holum Date: Thu, 27 Aug 2026 16:39:33 -0400 Subject: [PATCH 01/10] New magic carpet --- src/phoebe_bridgeback | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/phoebe_bridgeback b/src/phoebe_bridgeback index 1d967d7..e0e117b 160000 --- a/src/phoebe_bridgeback +++ b/src/phoebe_bridgeback @@ -1 +1 @@ -Subproject commit 1d967d79efa6c06476df6938d85f9c5be90bf617 +Subproject commit e0e117bcf577124935345139130720eb71dcfd8e From 87fa45a7158db7ca2eb81f71a1b59a0f3d98d055 Mon Sep 17 00:00:00 2001 From: Erik Holum Date: Fri, 28 Aug 2026 16:33:38 -0400 Subject: [PATCH 02/10] Bump phoebe again --- src/phoebe_bridgeback | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/phoebe_bridgeback b/src/phoebe_bridgeback index e0e117b..29344f4 160000 --- a/src/phoebe_bridgeback +++ b/src/phoebe_bridgeback @@ -1 +1 @@ -Subproject commit e0e117bcf577124935345139130720eb71dcfd8e +Subproject commit 29344f4d2e3357180e366d6413cb2a8c8de5f667 From f1926a1fd1590ff571529da99967b63f78ba47b0 Mon Sep 17 00:00:00 2001 From: Erik Holum Date: Mon, 31 Aug 2026 09:31:32 -0400 Subject: [PATCH 03/10] Additional bumps --- src/mujoco_ros2_control | 2 +- src/phoebe_bridgeback | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/mujoco_ros2_control b/src/mujoco_ros2_control index 542bd55..e6a6160 160000 --- a/src/mujoco_ros2_control +++ b/src/mujoco_ros2_control @@ -1 +1 @@ -Subproject commit 542bd559ca617a1eee1a9927fdbac106252fb16b +Subproject commit e6a6160c471a48609fc3f1f7508d7f571e8fa18e diff --git a/src/phoebe_bridgeback b/src/phoebe_bridgeback index 29344f4..ae07443 160000 --- a/src/phoebe_bridgeback +++ b/src/phoebe_bridgeback @@ -1 +1 @@ -Subproject commit 29344f4d2e3357180e366d6413cb2a8c8de5f667 +Subproject commit ae07443be403a61ed1e32202c607b1333b2be644 From 4fb336b0114cf1e7fd46c94c9cea441f6233796d Mon Sep 17 00:00:00 2001 From: Erik Holum Date: Mon, 31 Aug 2026 09:57:20 -0400 Subject: [PATCH 04/10] Update pixi deps --- pixi.lock | 1303 ++++++++++++++++++++++++++--------------------------- 1 file changed, 629 insertions(+), 674 deletions(-) diff --git a/pixi.lock b/pixi.lock index ab6932c..a7fde1a 100644 --- a/pixi.lock +++ b/pixi.lock @@ -1,17 +1,7 @@ version: 7 platforms: - name: linux-64 - virtual-packages: - - __unix=0=0 - - __linux=4.18 - - __glibc=2.28 - - __archspec=0=x86_64 - name: linux-aarch64 - virtual-packages: - - __unix=0=0 - - __linux=4.18 - - __glibc=2.28 - - __archspec=0=aarch64 environments: default: channels: @@ -50,7 +40,7 @@ environments: - conda: https://prefix.dev/conda-forge/linux-64/azure-storage-common-cpp-12.14.0-hf596fc9_1.conda - conda: https://prefix.dev/conda-forge/linux-64/azure-storage-files-datalake-cpp-12.16.0-h1f05bef_1.conda - conda: https://prefix.dev/conda-forge/linux-64/benchmark-1.9.5-hecca717_0.conda - - conda: https://prefix.dev/conda-forge/linux-64/blas-devel-3.11.0-9_hdec4247_blis.conda + - conda: https://prefix.dev/conda-forge/linux-64/blas-devel-3.11.0-10_hdec4247_blis.conda - conda: https://prefix.dev/conda-forge/linux-64/blis-2.0-pthreads_h64f13e8_4.conda - conda: https://prefix.dev/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda - conda: https://prefix.dev/conda-forge/linux-64/brotli-1.2.0-h505cf86_3.conda @@ -60,7 +50,7 @@ environments: - 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numpy requires_python: '>=3.9' @@ -41228,10 +41183,10 @@ packages: - usd-core ; extra == 'usd' - pillow ; extra == 'usd' requires_python: '>=3.10' -- pypi: https://files.pythonhosted.org/packages/d9/65/5fb42e1aded3f832beb8310c32756d96e56f3c8b93c8437837e23b486c0f/coacd-1.0.13-cp39-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl +- pypi: https://files.pythonhosted.org/packages/d6/3e/e930a366ec69a966f1a55307b52d036d266314e2f6c58e72e212fdc09182/coacd-1.0.14-cp39-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl name: coacd - version: 1.0.13 - sha256: 95ea07f1b1956707775ce957d03d4fc4747abb8db777139e0d49640bbc6d9399 + version: 1.0.14 + sha256: 1242941fc9d49ebcb0368c68f31c86e278b9a6f1a255d11da2f1668797e2626e requires_dist: - numpy requires_python: '>=3.9' From 8e2b3abac65f827b12751e1b8f63406ae902e4ad Mon Sep 17 00:00:00 2001 From: Erik Holum Date: Mon, 31 Aug 2026 10:31:27 -0400 Subject: [PATCH 05/10] One more submodule bump --- src/phoebe_bridgeback | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/phoebe_bridgeback b/src/phoebe_bridgeback index ae07443..cdbcaa1 160000 --- a/src/phoebe_bridgeback +++ b/src/phoebe_bridgeback @@ -1 +1 @@ -Subproject commit ae07443be403a61ed1e32202c607b1333b2be644 +Subproject commit cdbcaa12a2950685b3efcda30e8bf6aad9b7cac3 From 677489d1fa10fc0f6620d66debf7634574e27826 Mon Sep 17 00:00:00 2001 From: Erik Holum Date: Mon, 31 Aug 2026 13:14:57 -0400 Subject: [PATCH 06/10] Add reference to the mujoco README from the top level --- README.md | 3 +++ src/phoebe_bridgeback | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 48a5b95..77979c0 100644 --- a/README.md +++ b/README.md @@ -95,6 +95,9 @@ ros2 launch phoebe_moveit_config phoebe_moveit.launch.py use_sim_time:=true ros2 launch phoebe_nav2_config phoebe_nav.launch.py use_sim_time:=true ``` +> [!IMPORTANT] +> Phoebe's MuJoCo simulation has many caveats, and we recommend referring to the [README](https://github.com/NASA-JSC-Robotics/phoebe_bridgeback/blob/jazzy-devel/phoebe_mujoco_config/README.md) for more information. + ## The Pixi Workflow > [!WARNING] diff --git a/src/phoebe_bridgeback b/src/phoebe_bridgeback index cdbcaa1..0a63a09 160000 --- a/src/phoebe_bridgeback +++ b/src/phoebe_bridgeback @@ -1 +1 @@ -Subproject commit cdbcaa12a2950685b3efcda30e8bf6aad9b7cac3 +Subproject commit 0a63a0931b5a65fba547957492290584ad8c6de2 From c67e6c7d81bf7189e5682401ee647c347b54bd39 Mon Sep 17 00:00:00 2001 From: Erik Holum Date: Mon, 31 Aug 2026 13:36:04 -0400 Subject: [PATCH 07/10] Kill the docking server --- src/phoebe_bridgeback | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/phoebe_bridgeback b/src/phoebe_bridgeback index 0a63a09..ec6f6ef 160000 --- a/src/phoebe_bridgeback +++ b/src/phoebe_bridgeback @@ -1 +1 @@ -Subproject commit 0a63a0931b5a65fba547957492290584ad8c6de2 +Subproject commit ec6f6efc60caa63f5fe395fcad4ede89dc346ba8 From 44db5987e3ab8e7200bd9bce7223e0d845fa74a5 Mon Sep 17 00:00:00 2001 From: Erik Holum Date: Mon, 31 Aug 2026 14:01:43 -0400 Subject: [PATCH 08/10] Drop PB --- src/phoebe_bridgeback | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/phoebe_bridgeback b/src/phoebe_bridgeback index ec6f6ef..0a63a09 160000 --- a/src/phoebe_bridgeback +++ b/src/phoebe_bridgeback @@ -1 +1 @@ -Subproject commit ec6f6efc60caa63f5fe395fcad4ede89dc346ba8 +Subproject commit 0a63a0931b5a65fba547957492290584ad8c6de2 From 7d2a05116cf23242a287fb98ede82b04f9487de2 Mon Sep 17 00:00:00 2001 From: Erik Holum Date: Mon, 31 Aug 2026 14:14:13 -0400 Subject: [PATCH 09/10] Set phoebe to released --- src/phoebe_bridgeback | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/phoebe_bridgeback b/src/phoebe_bridgeback index 0a63a09..eca4c33 160000 --- a/src/phoebe_bridgeback +++ b/src/phoebe_bridgeback @@ -1 +1 @@ -Subproject commit 0a63a0931b5a65fba547957492290584ad8c6de2 +Subproject commit eca4c331e29918a6636510636bc2508872371be3 From 87c7139bf437ec6e956b56b20cc904f36019ae21 Mon Sep 17 00:00:00 2001 From: Erik Holum Date: Tue, 1 Sep 2026 13:20:01 -0400 Subject: [PATCH 10/10] Last phoebe bump --- src/phoebe_bridgeback | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/phoebe_bridgeback b/src/phoebe_bridgeback index eca4c33..15d24c3 160000 --- a/src/phoebe_bridgeback +++ b/src/phoebe_bridgeback @@ -1 +1 @@ -Subproject commit eca4c331e29918a6636510636bc2508872371be3 +Subproject commit 15d24c32b7d22ebd4f9b524d0b728d1259c820df