Merge remote-tracking branch 'upstream/devel' into topic/aba-second-order-derivatives

shubhamsingh91 · shubhamsingh91 · commit 718c42ab0ebf · 2026-06-13T00:57:42.000-05:00
# Conflicts:
#	README.md
diff --git a/.gitattributes b/.gitattributes
@@ -1,2 +1,2 @@
-# GitHub syntax highlighting
-pixi.lock linguist-language=YAML linguist-generated=true
+# SCM syntax highlighting & preventing 3-way merges
+pixi.lock merge=binary linguist-language=YAML linguist-generated=true -diff
diff --git a/.github/workflows/macos-linux-windows-pixi.yml b/.github/workflows/macos-linux-windows-pixi.yml
@@ -66,11 +66,11 @@ jobs:
             BUILD_ADVANCED_TESTING: OFF
           - os: macos-15-intel
             BUILD_ADVANCED_TESTING: OFF
-          - os: windows-latest
+          - os: windows-2022
             environment: all
             build_type: Release
             BUILD_ADVANCED_TESTING: OFF
-          - os: windows-latest
+          - os: windows-2022
             environment: all-clang-cl
             build_type: Release
             BUILD_ADVANCED_TESTING: OFF
@@ -98,7 +98,7 @@ jobs:
           key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.environment }}_${{ github.sha }}
           restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.environment }}_
 
-      - uses: prefix-dev/setup-pixi@v0.9.5
+      - uses: prefix-dev/setup-pixi@v0.9.6
         with:
           cache: true
           environments: ${{ matrix.environment }}
@@ -163,7 +163,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, ubuntu-24.04-arm, macos-latest, macos-15-intel, windows-latest]
+        os: [ubuntu-latest, ubuntu-24.04-arm, macos-latest, macos-15-intel, windows-2022]
         environment: [all]
 
     steps:
@@ -189,7 +189,7 @@ jobs:
           key: ccache-python-standalone-macos-linux-conda-${{ matrix.os }}-${{ matrix.environment }}_${{ github.sha }}
           restore-keys: ccache-python-standalone-macos-linux-conda-${{ matrix.os }}-${{ matrix.environment }}_
 
-      - uses: prefix-dev/setup-pixi@v0.9.5
+      - uses: prefix-dev/setup-pixi@v0.9.6
         with:
           cache: true
           environments: ${{ matrix.environment }}
@@ -251,14 +251,14 @@ jobs:
   #   strategy:
   #     fail-fast: false
   #     matrix:
-  #       os: [ubuntu-latest, macos-latest, macos-15-intel, windows-latest]
+  #       os: [ubuntu-latest, macos-latest, macos-15-intel, windows-2022]
 
   #   steps:
   #     - uses: actions/checkout@v6
   #       with:
   #         submodules: recursive
 
-  #     - uses: prefix-dev/setup-pixi@v0.9.5
+  #     - uses: prefix-dev/setup-pixi@v0.9.6
   #       env:
   #         CMAKE_BUILD_PARALLEL_LEVEL: 2
   #       with:
@@ -287,7 +287,7 @@ jobs:
         with:
           submodules: recursive
 
-      - uses: prefix-dev/setup-pixi@v0.9.5
+      - uses: prefix-dev/setup-pixi@v0.9.6
         with:
           cache: true
 
diff --git a/.github/workflows/ros_ci.yml b/.github/workflows/ros_ci.yml
@@ -65,5 +65,5 @@ jobs:
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ github.sha }}
           restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-
       # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@c553397753252d630e88e7e91aa69c6c8a478ee0'
+      - uses: 'ros-industrial/industrial_ci@125164b9f1883cdf1858897a7146d1bebf2be5c6'
         env: ${{ matrix.env }}
diff --git a/.github/workflows/update_pixi_lockfile.yml b/.github/workflows/update_pixi_lockfile.yml
@@ -27,7 +27,7 @@ jobs:
           persist-credentials: false
 
       - name: Set up pixi
-        uses: prefix-dev/setup-pixi@v0.9.5
+        uses: prefix-dev/setup-pixi@v0.9.6
         with:
           run-install: false
 
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -16,12 +16,16 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 
+- Fix Viser visualizer: apply URDF `<mesh scale>` to mesh vertices instead of scaling the link translation ([#2878](https://github.com/stack-of-tasks/pinocchio/pull/2878))
+
 - Fix build issue with g++ 12 ([#2890](https://github.com/stack-of-tasks/pinocchio/pull/2890))
+- Fix useless memory allocation in Python checkers ([#2897](https://github.com/stack-of-tasks/pinocchio/pull/2897) and [#2907](https://github.com/stack-of-tasks/pinocchio/pull/2907))
 
 ### Changed
 
 - nix: switch to flakoboros ([#2882](https://github.com/stack-of-tasks/pinocchio/pull/2882))
 
+
 ## [4.0.0] - 2026-04-13
 
 ### Highlights
diff --git a/README.md b/README.md
@@ -203,7 +203,8 @@ Please note that we always advise including the `pinocchio/fwd.hpp` header as th
 | **Humble**    | [![](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary) |
 | **Jazzy**     | [![](https://build.ros2.org/job/Jbin_uN64__pinocchio__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__pinocchio__ubuntu_noble_amd64__binary) |
 | **Kilted**    | [![](https://build.ros2.org/job/Kbin_uN64__pinocchio__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Kbin_uN64__pinocchio__ubuntu_noble_amd64__binary) |
-| **Rolling**   | [![](https://build.ros2.org/job/Rbin_uN64__pinocchio__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__pinocchio__ubuntu_noble_amd64__binary) |
+| **Lyrical**   | [![](https://build.ros2.org/job/Lbin_uR64__pinocchio__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Lbin_uR64__pinocchio__ubuntu_resolute_amd64__binary) |
+| **Rolling**   | [![](https://build.ros2.org/job/Rbin_uR64__pinocchio__ubuntu_resolute_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uR64__pinocchio__ubuntu_resolute_amd64__binary) |
 
 ## Visualization
 
@@ -296,13 +297,14 @@ In addition to the core dev team, the following people have also been involved i
 -   [Sarah El Kazdadi](https://github.com/sarah-ek) (Inria): multi-precision arithmetic support
 -   [Nicolas Torres Alberto](https://scholar.google.com/citations?user=gYNLhEIAAAAJ&hl=en) (Inria): features extension
 -   [Shubham Singh](https://github.com/shubhamsingh91) (UT Austin): second-order inverse and forward dynamics derivatives
--   [Sebastian Castro](https://roboticseabass.com) (RAI Institute): Viser visualizer and MeshCat visualizer feature extension
+-   [Sebastian Castro](https://roboticseabass.com): Viser visualizer and MeshCat visualizer feature extension
 -   [Lev Kozlov](https://github.com/lvjonok): Kinetic and potential energy regressors
 -   [Simeon Nedelchev](https://github.com/simeon-ned): Pseudo inertia and Log-Cholesky parametrization
 -   [Alexy Legrand](https://www.linkedin.com/in/alexy-legrand-125889232/): Viser color bug fixes
 -   [Pierre Puchaud](https://github.com/ipuch): Ellipsoid Joint
 -   [Lucas Joseph](https://github.com/LucasJoseph): Ellipsoid Joint
 -   [Megane Millan](https://github.com/MegMll): core developer (MJCF, joint mimic, etc.)
+-   [Tingfan Wu](https://github.com/tingfan): Viser visualizer mesh-scale bug fix
 
 If you have participated in the development of **Pinocchio**, please add your name and contribution to this list.
 
diff --git a/bindings/python/pinocchio/visualize/viser_visualizer.py b/bindings/python/pinocchio/visualize/viser_visualizer.py
@@ -201,12 +201,18 @@ def loadViewerGeometryObject(self, geometry_object, prefix="", color=None):
             )
         elif isinstance(geom, MESH_TYPES):
             frame = self._add_mesh_from_path(
-                name, geometry_object.meshPath, color_override
+                name,
+                geometry_object.meshPath,
+                color_override,
+                scale=geometry_object.meshScale,
             )
         elif isinstance(geom, coal.Convex):
             if len(geometry_object.meshPath) > 0:
                 frame = self._add_mesh_from_path(
-                    name, geometry_object.meshPath, color_override
+                    name,
+                    geometry_object.meshPath,
+                    color_override,
+                    scale=geometry_object.meshScale,
                 )
             else:
                 frame = self._add_mesh_from_convex(name, geom, color_override)
@@ -215,16 +221,18 @@ def loadViewerGeometryObject(self, geometry_object, prefix="", color=None):
 
         self.frames[name] = frame
 
-    def _add_mesh_from_path(self, name, mesh_path, color):
+    def _add_mesh_from_path(self, name, mesh_path, color, scale):
         """
         Load a mesh from a file.
         """
         extension = Path(mesh_path).suffix.lower()
         if extension == ".dae" or color is None:
             mesh = trimesh.load_scene(mesh_path)
+            mesh.apply_scale(scale)
             return self.viewer.scene.add_mesh_trimesh(name, mesh)
         else:
             mesh = trimesh.load_mesh(mesh_path)
+            mesh.apply_scale(scale)
             return self.viewer.scene.add_mesh_simple(
                 name,
                 mesh.vertices,
@@ -305,7 +313,7 @@ def updatePlacements(self, geometry_type):
             # Update viewer configuration.
             frame_name = prefix + "/" + geometry_object.name
             frame = self.frames[frame_name]
-            frame.position = M.translation * geometry_object.meshScale
+            frame.position = M.translation
             frame.wxyz = pin.Quaternion(M.rotation).coeffs()[
                 [3, 0, 1, 2]
             ]  # Pinocchio uses xyzw
diff --git a/include/pinocchio/bindings/python/utils/model-checker.hpp b/include/pinocchio/bindings/python/utils/model-checker.hpp
@@ -32,8 +32,8 @@ namespace pinocchio
         // Convert the object to a tuple
         boost::python::tuple py_args = boost::python::extract<boost::python::tuple>(args);
 
-        context::Model m = boost::python::extract<context::Model>(py_args[model_arg_list_idx]);
-        if (!m.check(MimicChecker()))
+        boost::python::extract<const context::Model &> get_model(py_args[model_arg_list_idx]);
+        if (!get_model().check(MimicChecker()))
         {
           PyErr_SetString(PyExc_RuntimeError, m_error_message.c_str());
           return false;
diff --git a/models/simple_humanoid_description/box.dae b/models/simple_humanoid_description/box.dae
@@ -0,0 +1,99 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <created>2026-06-04T00:00:00.000000</created>
+    <modified>2026-06-04T00:00:00.000000</modified>
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="effect0" name="effect0">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.0 0.0 0.0 1.0</color>
+            </emission>
+            <ambient>
+              <color>0.0 0.0 0.0 1.0</color>
+            </ambient>
+            <diffuse>
+              <color>0.0 0.0 0.0 1.0</color>
+            </diffuse>
+            <specular>
+              <color>0.0 0.0 0.0 1.0</color>
+            </specular>
+            <shininess>
+              <float>0.0</float>
+            </shininess>
+            <reflective>
+              <color>0.0 0.0 0.0 1.0</color>
+            </reflective>
+            <reflectivity>
+              <float>0.0</float>
+            </reflectivity>
+            <transparent>
+              <color>0.0 0.0 0.0 1.0</color>
+            </transparent>
+            <transparency>
+              <float>1.0</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="geometry0" name="box">
+      <mesh>
+        <source id="verts-array">
+          <float_array count="24" id="verts-array-array">-0.5 -0.5 -0.5 -0.5 -0.5 0.5 -0.5 0.5 -0.5 -0.5 0.5 0.5 0.5 -0.5 -0.5 0.5 -0.5 0.5 0.5 0.5 -0.5 0.5 0.5 0.5</float_array>
+          <technique_common>
+            <accessor count="8" source="#verts-array-array" stride="3">
+              <param type="float" name="X" />
+              <param type="float" name="Y" />
+              <param type="float" name="Z" />
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="normals-array">
+          <float_array count="24" id="normals-array-array">-0.5773503 -0.5773503 -0.5773503 -0.5773503 -0.5773503 0.5773503 -0.5773503 0.5773503 -0.5773503 -0.5773503 0.5773503 0.5773503 0.5773503 -0.5773503 -0.5773503 0.5773503 -0.5773503 0.5773503 0.5773503 0.5773503 -0.5773503 0.5773503 0.5773503 0.5773503</float_array>
+          <technique_common>
+            <accessor count="8" source="#normals-array-array" stride="3">
+              <param type="float" name="X" />
+              <param type="float" name="Y" />
+              <param type="float" name="Z" />
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="verts-array-vertices">
+          <input semantic="POSITION" source="#verts-array" />
+        </vertices>
+        <triangles count="12" material="material0">
+          <input offset="0" semantic="VERTEX" source="#verts-array-vertices" />
+          <input offset="1" semantic="NORMAL" source="#normals-array" />
+          <p>1 1 3 3 0 0 4 4 1 1 0 0 0 0 3 3 2 2 2 2 4 4 0 0 1 1 7 7 3 3 5 5 1 1 4 4 5 5 7 7 1 1 3 3 7 7 2 2 6 6 4 4 2 2 2 2 7 7 6 6 6 6 5 5 4 4 7 7 5 5 6 6</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material id="material0" name="defaultmaterial">
+      <instance_effect url="#effect0" />
+    </material>
+  </library_materials>
+  <library_visual_scenes>
+    <visual_scene id="scene">
+      <node id="node0" name="node0">
+        <instance_geometry url="#geometry0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material0" target="#material0" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#scene" />
+  </scene>
+</COLLADA>
diff --git a/unittest/python/CMakeLists.txt b/unittest/python/CMakeLists.txt
@@ -147,6 +147,7 @@ if(urdfdom_FOUND)
         bindings_urdf
         bindings_geometry_model_urdf
         bindings_contact_inverse_dynamics
+        bindings_viser_visualizer
     )
 endif(urdfdom_FOUND)
 
diff --git a/unittest/python/bindings_viser_visualizer.py b/unittest/python/bindings_viser_visualizer.py

Original file line number	Diff line number	Diff line change
`@@ -147,6 +147,7 @@ if(urdfdom_FOUND)`
`147`	`147`	`bindings_urdf`
`148`	`148`	`bindings_geometry_model_urdf`
`149`	`149`	`bindings_contact_inverse_dynamics`
	`150`	`+ bindings_viser_visualizer`
`150`	`151`	`)`
`151`	`152`	`endif(urdfdom_FOUND)`
`152`	`153`