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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
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_api_test.cc
+101 -8
View File
@@ -2668,18 +2668,17 @@ void AttachNestedKeyframe(bool compile) {
// compile required before further attachment
mjModel* m_child = compile ? mj_compile(child, 0) : nullptr;
// check warning is issued, empty for a compiled model
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
// attach child to parent
mjs_attach(mjs_findFrame(parent, "frame")->element,
mjs_findBody(child, "body")->element, "child-", "");
EXPECT_THAT(warning, HasSubstr(compile ? "" : "model has pending keyframes"));
if (compile) {
EXPECT_EQ(mjs_numWarnings(parent), 0);
} else {
EXPECT_GE(mjs_numWarnings(parent), 1);
EXPECT_THAT(mjs_getWarning(parent, 0),
HasSubstr("model has pending keyframes"));
}
// compare models
mjtNum tol = 0;
@@ -2702,6 +2701,7 @@ void AttachNestedKeyframe(bool compile) {
}
TEST_F(MujocoTest, TestAttachNestedKeyframe) {
mock_warning_handler.ExpectWarnings();
AttachNestedKeyframe(/*compile=*/true);
AttachNestedKeyframe(/*compile=*/false);
}
@@ -3454,5 +3454,98 @@ TEST_F(MujocoTest, CompileWarningChainedToHandler) {
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, WarningAccumulationAndRetrieval) {
mock_warning_handler.ExpectWarnings();
static constexpr char xml_parent[] = R"(
<mujoco>
<worldbody>
<frame name="parent"/>
</worldbody>
</mujoco>
)";
static constexpr char xml_child[] = R"(
<mujoco>
<worldbody>
<body name="child">
<frame name="child_frame"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char xml_gchild[] = R"(
<mujoco>
<worldbody>
<body name="gchild"/>
</worldbody>
<keyframe>
<key name="k1"/>
</keyframe>
</mujoco>
)";
std::array<char, 1024> er;
mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
ASSERT_THAT(parent, NotNull()) << er.data();
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
ASSERT_THAT(child, NotNull()) << er.data();
mjSpec* gchild = mj_parseXMLString(xml_gchild, 0, er.data(), er.size());
ASSERT_THAT(gchild, NotNull()) << er.data();
mjs_setDeepCopy(parent, true);
mjs_setDeepCopy(child, true);
mjs_setDeepCopy(gchild, true);
mjs_attach(mjs_findFrame(child, "child_frame")->element,
mjs_findBody(gchild, "gchild")->element, "gchild-", "");
mjs_attach(mjs_findFrame(parent, "parent")->element,
mjs_findBody(child, "child")->element, "child-", "");
EXPECT_EQ(mjs_numWarnings(parent), 1);
EXPECT_THAT(mjs_getWarning(parent, 0),
HasSubstr("Child model has pending keyframes"));
EXPECT_THAT(mjs_getWarning(parent, 1), IsNull());
mj_deleteSpec(parent);
mj_deleteSpec(child);
mj_deleteSpec(gchild);
}
TEST_F(MujocoTest, CompilationWarningsClearedOnRecompile) {
mock_warning_handler.ExpectWarnings();
// flex with no edge stiffness or equality triggers passive forces warning
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<flexcomp name="test" type="grid" count="4 4 1" spacing=".2 .2 .2"
dim="2" radius=".1"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> er;
mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
ASSERT_THAT(spec, NotNull()) << er.data();
// first compile: should generate flex warning
mjModel* m = mj_compile(spec, nullptr);
ASSERT_THAT(m, NotNull());
int n1 = mjs_numWarnings(spec);
EXPECT_EQ(n1, 1);
EXPECT_THAT(mjs_getWarning(spec, 0),
HasSubstr("no equality constraints or passive forces"));
// recompile: warnings should be cleared and regenerated
mj_deleteModel(m);
m = mj_compile(spec, nullptr);
ASSERT_THAT(m, NotNull());
EXPECT_EQ(mjs_numWarnings(spec), n1);
mj_deleteModel(m);
mj_deleteSpec(spec);
}
} // namespace
} // namespace mujoco