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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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test/xml/xml_native_reader_test.cc
+3 -3
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@@ -1544,12 +1544,12 @@ TEST_F(XMLReaderTest, InvalidAttach) {
<body name="parent">
<joint name="joint1"/>
<geom size="2"/>
<attach model="other" body="body"/>
<attach model="other" body="body" prefix="_"/>
</body>
</worldbody>
<actuator>
<motor name="actuator" joint="joint1"/>
<motor name="_actuator" joint="joint1"/>
</actuator>
</mujoco>
)";
@@ -1578,7 +1578,7 @@ TEST_F(XMLReaderTest, InvalidAttach) {
LoadModelFromString(xml_parent, er.data(), er.size(), vfs.get());
EXPECT_THAT(model, IsNull()) << er.data();
EXPECT_THAT(er.data(), HasSubstr("repeated name 'actuator' in actuator"));
EXPECT_THAT(er.data(), HasSubstr("repeated name '_actuator' in actuator"));
EXPECT_THAT(er.data(), HasSubstr("Element 'attach'"));
mj_deleteVFS(vfs.get());
}