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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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test/xml/testdata/parent_error.xml
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+13
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@@ -0,0 +1,13 @@
<mujoco model="parent_error">
<compiler conflict="error"/>
<option timestep="0.005" iterations="50" gravity="0 0 -10"/>
<asset>
<model name="child" file="child_mergable.xml"/>
</asset>
<worldbody>
<body name="parent_body">
<geom name="parent_geom" size="2"/>
<attach model="child" body="child_body" prefix="child/"/>
</body>
</worldbody>
</mujoco>