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[parsing] Restrict collision filters to models within a parse operati…
…on (RobotLocomotion#17241) * [parsing] Restrict collision filters to models within a parse operation Relevant to: RobotLocomotion#14785 This patch implements a stronger enforcement of model encapsulation for collision filters. Previously, filters defined outside any model could refer to the world body or parts of the default model by scoped names, or to default model bodies by unqualified names. Now, those references are parse errors, and using a model index from outside the parse as a parameter is a programming error. There might ever be a reason (I couldn't think of one) to define collision filters against the world body; I am fine for that to involve a special privileged name and be future work. I couldn't think of any reason why a model file should be able to refer to bodies in the default model, which (in the current implementation of Parser), could never be populated from model files.
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