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Require prefix for the attach tag.

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For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.

It is tempting for users to not use a prefix (see #2162), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.

PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
This commit is contained in:
Alessio Quaglino
2024-10-22 07:07:33 -07:00
committed by Copybara-Service
parent 94e9912d28
commit bfa78614c8
5 changed files with 23 additions and 15 deletions
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src/xml/xml_native_reader.cc
+5 -5
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@@ -3674,9 +3674,9 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
// attachment
else if (name=="attach") {
string model_name, body_name, prefix;
ReadAttrTxt(elem, "model", model_name);
ReadAttrTxt(elem, "body", body_name);
ReadAttrTxt(elem, "prefix", prefix);
ReadAttrTxt(elem, "model", model_name, /*required=*/true);
ReadAttrTxt(elem, "body", body_name, /*required=*/true);
ReadAttrTxt(elem, "prefix", prefix, /*required=*/true);
mjsBody* child = mjs_findBody(spec, (prefix+body_name).c_str());
mjsFrame* pframe = frame ? frame : mjs_addFrame(body, nullptr);
@@ -3684,11 +3684,11 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
if (!child) {
mjSpec* asset = mjs_findSpec(spec, model_name.c_str());
if (!asset) {
throw mjXError(0, "could not find model '%s'", model_name.c_str());
throw mjXError(elem, "could not find model '%s'", model_name.c_str());
}
child = mjs_findBody(asset, body_name.c_str());
if (!child) {
throw mjXError(0, "could not find body '%s''%s'", body_name.c_str());
throw mjXError(elem, "could not find body '%s''%s'", body_name.c_str());
}
if (!mjs_attachBody(pframe, child, prefix.c_str(), "")) {
throw mjXError(elem, mjs_getError(spec));