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[multibody] Hotfix for PR 22649 duplicate frame name problem #22691

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[multibody] Hotfix for PR 22649 duplicate frame name problem #22691

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5 changes: 2 additions & 3 deletions multibody/tree/weld_joint.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -85,9 +85,8 @@ std::unique_ptr<internal::Mobilizer<T>> WeldJoint<T>::MakeMobilizerForJoint(
// its model instance) and the name of the parent or child frame (not
// necessarily unique). New frames go in the joint's model instance.
auto F_frame_name = [this, tree](const Frame<T>& frame) -> std::string {
const std::string F_name =
fmt::format("{}_{}_F", this->name(), frame.name());
DRAKE_DEMAND(!tree->HasFrameNamed(F_name, this->model_instance()));
std::string F_name = fmt::format("{}_{}_F", this->name(), frame.name());
while (tree->HasFrameNamed(F_name, this->model_instance())) F_name += "_";
return F_name;
};

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