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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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wasm/codegen/generated/bindings.cc
+11
View File
@@ -2331,6 +2331,12 @@ struct MjsCompiler {
void set_alignfree(int value) {
ptr_->alignfree = value;
}
int conflict() const {
return ptr_->conflict;
}
void set_conflict(int value) {
ptr_->conflict = value;
}
mjString meshdir() const {
return (ptr_ && ptr_->meshdir) ? *(ptr_->meshdir) : "";
}
@@ -11312,6 +11318,10 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
enum_<mjtCone>("mjtCone")
.value("mjCONE_PYRAMIDAL", mjCONE_PYRAMIDAL)
.value("mjCONE_ELLIPTIC", mjCONE_ELLIPTIC);
enum_<mjtConflict>("mjtConflict")
.value("mjCONFLICT_WARNING", mjCONFLICT_WARNING)
.value("mjCONFLICT_MERGE", mjCONFLICT_MERGE)
.value("mjCONFLICT_ERROR", mjCONFLICT_ERROR);
enum_<mjtConstraint>("mjtConstraint")
.value("mjCNSTR_EQUALITY", mjCNSTR_EQUALITY)
.value("mjCNSTR_FRICTION_DOF", mjCNSTR_FRICTION_DOF)
@@ -12993,6 +13003,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("balanceinertia", &MjsCompiler::balanceinertia, &MjsCompiler::set_balanceinertia, reference())
.property("boundinertia", &MjsCompiler::boundinertia, &MjsCompiler::set_boundinertia, reference())
.property("boundmass", &MjsCompiler::boundmass, &MjsCompiler::set_boundmass, reference())
.property("conflict", &MjsCompiler::conflict, &MjsCompiler::set_conflict, reference())
.property("degree", &MjsCompiler::degree, &MjsCompiler::set_degree, reference())
.property("discardvisual", &MjsCompiler::discardvisual, &MjsCompiler::set_discardvisual, reference())
.property("eulerseq", &MjsCompiler::eulerseq)