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Remove requirement to specify a name prefix or suffix during attach.

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PiperOrigin-RevId: 703049862
Change-Id: I5fd6da0581331b1b716110292a8160ae16934157
This commit is contained in:
Alessio Quaglino
2024-12-05 03:18:51 -08:00
committed by Copybara-Service
parent 503e5e1815
commit f882f4b065
1 changed files with 0 additions and 8 deletions
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src/user/user_objects.cc
-8
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@@ -873,10 +873,6 @@ mjCBody& mjCBody::operator+=(const mjCFrame& other) {
other.model->suffix = other.suffix;
other.model->StoreKeyframes(model);
if (other.prefix.empty() && other.suffix.empty()) {
throw mjCError(this, "either prefix or suffix must be non-empty");
}
// attach defaults
if (other.model != model) {
mjCDef* subdef = new mjCDef(*other.model->Default());
@@ -1845,10 +1841,6 @@ mjCFrame& mjCFrame::operator+=(const mjCBody& other) {
other.model->prefix = "";
other.model->suffix = "";
if (other.prefix.empty() && other.suffix.empty()) {
throw mjCError(this, "either prefix or suffix must be non-empty");
}
mjCBody* subtree = new mjCBody(other, model);
other.ForgetKeyframes();
other.model->prefix = subtree->prefix;