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Clean up MJCF attach code.

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PiperOrigin-RevId: 941603845
Change-Id: I94f275e2073b1eb81cfabdc0bed80021c6f15b1c
This commit is contained in:
Yuval Tassa
2026-07-02 03:44:54 -07:00
committed by Copybara-Service
parent f8462a156d
commit 0e58c48504
2 changed files with 22 additions and 23 deletions
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src/xml/xml_native_reader.cc
+21 -22
View File
@@ -4181,32 +4181,31 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
} }
mjtObj type = has_body ? mjOBJ_BODY : mjOBJ_FRAME; mjtObj type = has_body ? mjOBJ_BODY : mjOBJ_FRAME;
mjsElement* child = mjs_findElement(spec, type, (prefix+child_name).c_str()); string full_name = prefix+child_name;
mjsFrame* pframe = frame ? frame : mjs_addFrame(body, nullptr); if (mjs_findElement(spec, type, full_name.c_str())) {
throw mjXError(elem, "cannot attach: element %s already exists", full_name.c_str());
}
if (!child) { mjSpec* asset = mjs_findSpec(spec, model_name.c_str());
mjSpec* asset = mjs_findSpec(spec, model_name.c_str()); if (!asset) {
if (!asset) { throw mjXError(elem, "could not find model '%s'", model_name.c_str());
throw mjXError(elem, "could not find model '%s'", model_name.c_str()); }
}
if (child_name.empty()) { mjsElement* child;
child = asset->element; if (child_name.empty()) {
} else { child = asset->element;
child = mjs_findElement(asset, type, child_name.c_str());
if (!child) {
throw mjXError(elem, "could not find %s",
(string(mju_type2Str(type)) + " '" + child_name + "'").c_str());
}
}
if (!mjs_attach(pframe->element, child, prefix.c_str(), "")) {
throw mjXError(elem, "%s", stripError(mjs_getError(spec)));
}
} else { } else {
// only set frame to existing body child = mjs_findElement(asset, type, child_name.c_str());
if (mjs_setFrame(child, pframe)) { if (!child) {
throw mjXError(elem, "%s", stripError(mjs_getError(spec))); throw mjXError(elem, "could not find %s",
(string(mju_type2Str(type)) + " '" + child_name + "'").c_str());
} }
} }
mjsFrame* pframe = frame ? frame : mjs_addFrame(body, nullptr);
if (!mjs_attach(pframe->element, child, prefix.c_str(), "")) {
throw mjXError(elem, "%s", stripError(mjs_getError(spec)));
}
} }
// no match // no match
test/xml/xml_native_reader_test.cc
+1 -1
View File
@@ -1632,7 +1632,7 @@ TEST_F(XMLReaderTest, RepeatedPrefix) {
mjSpec* spec = mj_parseXMLString(parent, vfs.get(), err.data(), err.size()); mjSpec* spec = mj_parseXMLString(parent, vfs.get(), err.data(), err.size());
EXPECT_THAT(spec, IsNull()); EXPECT_THAT(spec, IsNull());
EXPECT_THAT(err.data(), HasSubstr("mismatched parents")); EXPECT_THAT(err.data(), HasSubstr("cannot attach"));
mj_deleteSpec(spec); mj_deleteSpec(spec);
mj_deleteVFS(vfs.get()); mj_deleteVFS(vfs.get());
} }