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Do not namespace the body that contains the frame during mjs_attachFrame.

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PiperOrigin-RevId: 730912252
Change-Id: I026993af648766c09d569709d268430207d83169
This commit is contained in:
Alessio Quaglino
2025-02-25 09:15:45 -08:00
committed by Copybara-Service
parent fbe0990b17
commit ed7adf3d17
2 changed files with 5 additions and 0 deletions
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src/user/user_objects.cc
+2
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@@ -917,8 +917,10 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
CopyList(lights, subtree->lights, fmap, &other); CopyList(lights, subtree->lights, fmap, &other);
if (!model->deepcopy_) { if (!model->deepcopy_) {
std::string name = subtree->name;
subtree->SetModel(model); subtree->SetModel(model);
subtree->NameSpace(other_model); subtree->NameSpace(other_model);
subtree->name = name;
} }
int nbodies = (int)subtree->bodies.size(); int nbodies = (int)subtree->bodies.size();
test/user/user_api_test.cc
+3
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@@ -1193,6 +1193,9 @@ TEST_F(MujocoTest, AttachFrame) {
// check that the spec was copied // check that the spec was copied
EXPECT_THAT(mjs_findSpec(parent, "child"), NotNull()); EXPECT_THAT(mjs_findSpec(parent, "child"), NotNull());
// check that the parent body was not namespaced
EXPECT_THAT(mjs_findBody(child, "world"), NotNull());
// compile new model // compile new model
mjModel* m_attached = mj_compile(parent, 0); mjModel* m_attached = mj_compile(parent, 0);
EXPECT_THAT(m_attached, NotNull()); EXPECT_THAT(m_attached, NotNull());