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Throw an error if a child attached by reference to a parent is compiled.

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Fixes #2482.

PiperOrigin-RevId: 735665098
Change-Id: Ia3436fdd2ff572f8f0c1ded434742a4a9186f2f7
This commit is contained in:
Alessio Quaglino
2025-03-11 01:23:31 -07:00
committed by Copybara-Service
parent 14dc6fd33b
commit 019e0a806c
5 changed files with 38 additions and 2 deletions
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test/user/user_api_test.cc
+25
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@@ -2544,5 +2544,30 @@ TEST_F(MujocoTest, ApplyNameSpaceToDefaults) {
mj_deleteVFS(vfs.get());
}
TEST_F(MujocoTest, ErrorWhenCompilingOrphanedSpec) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="a"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> er;
mjSpec* child = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjSpec* parent = mj_makeSpec();
EXPECT_THAT(parent, NotNull());
mjsBody* body = mjs_findBody(child, "a");
EXPECT_THAT(body, NotNull());
mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), nullptr);
EXPECT_THAT(frame, NotNull());
mjs_attachBody(frame, body, "child-", "");
mj_deleteSpec(parent);
mjModel* model = mj_compile(child, 0);
EXPECT_THAT(model, IsNull());
EXPECT_THAT(mjs_getError(child), HasSubstr("by reference to a parent"));
mj_deleteSpec(child);
}
} // namespace
} // namespace mujoco