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Add policies for global attribute conflict resolution upon attach

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For example when loading parent_merge.xml:

```
WARNING: Attach conflict when attaching 'child' to 'parent_merge', policy is 'merge'
timestep: parent has 0.005, child has 0.002, taking the minimum
iterations: parent has 50, child has 100, taking the maximum
flag 'Damper': added from child
```

When loading parent_error.xml:

```
XML Error: Attach conflict when attaching 'child' to 'parent_error', policy is 'error'
timestep: parent has 0.005, child has 0.002
iterations: parent has 50, child has 100
Element 'attach', line 10
```
PiperOrigin-RevId: 933620810
Change-Id: Ib477863b5ef763474d27fb4be5a4148be1d5d500
This commit is contained in:
Yuval Tassa
2026-06-17 03:34:10 -07:00
committed by Copybara-Service
parent 30357c38a3
commit 410c73168c
37 changed files with 2705 additions and 449 deletions
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doc/XMLreference.rst
+21
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@@ -900,6 +900,27 @@ has any effect. The settings here are global and apply to the entire model.
:at:`saveinertial`: :at-val:`[false, true], "false"`
If set to "true", the compiler will save explicit :ref:`inertial <body-inertial>` clauses for all bodies.
.. _compiler-conflict:
:at:`conflict`: :at-val:`[warning, merge, error], "warning"`
This attribute controls how conflicting global attributes (physics options, sizes, visual settings) are resolved when
a child spec is attached to a parent using :ref:`mjs_attach`. A conflict occurs when both the parent and child specify
authored values for the same field and those values differ. See :ref:`Attribute Merging <meAttributeMerging>` for
details and a per-field table.
:at-val:`warning`
Parent values take precedence. When a conflict is detected, a warning is emitted but the parent value is not
modified. This is the default and preserves the pre-existing attachment behavior.
:at-val:`merge`
Fields are merged using field-specific strategies (minimum, maximum, OR, or error), depending on the field's
semantics. When only the child specifies an authored value, it is adopted by the parent. See the
:ref:`merging table <meAttributeMergingTable>` for per-field details.
:at-val:`error`
Any conflict between authored values results in a compile error. This is the strictest mode and is useful for
detecting unintended attribute mismatches.
.. _compiler-lengthrange:
:el-prefix:`compiler/` |-| **lengthrange** |?|