It is possible for SDFormat files to have collisions or visuals in
different links have the same name, but this is not allowed in MJCF. To
prevent this name collision, we prefix the names of geoms with the names
of their parent bodies.
This also changes how freejoints are named since it is possible to have
multiple freejoints in the world.
The delimiter _ is chosen as opposed to / or :: because these two
have special meaning in MJCF and SDFormat respectively.
Checklist
[x] Signed all commits for DCO
[x] Added tests
[ ] Added example and/or tutorial
[x] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[x] While waiting for a review on your PR, please help review another open pull request to support the maintainers
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.
🎉 Bug Fix
Closes #8
Summary
It is possible for SDFormat files to have collisions or visuals in different links have the same name, but this is not allowed in MJCF. To prevent this name collision, we prefix the names of geoms with the names of their parent bodies.
This also changes how freejoints are named since it is possible to have multiple freejoints in the world.
The delimiter
_is chosen as opposed to/or::because these two have special meaning in MJCF and SDFormat respectively.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.