dartsim: The name [xxx] is a duplicate, so it has been renamed

[tho-]

Hi,

Running these, compiled from source:

• gz-physics-8.0.0
• dartsim-6.15.0

And the dartsim-plugin as shown by the debug message:
[Physics.cc:877] Loaded [gz::physics::dartsim::Plugin] from library [...lib/gz-physics-8/engine-plugins/libgz-physics-dartsim-plugin.so]

As soon as I create joints referencing links in child models that have the same basename, I get this kind of messages:

Msg [NameManager::issueNewName] (Skeleton::BodyNode | model) The name [l] is a duplicate, so it has been renamed to [l(1)]
Msg [NameManager::issueNewName] (Skeleton::BodyNode | model) The name [l] is a duplicate, so it has been renamed to [l(2)]

First question: Are these messages harmless and can they be safely ignored?

Next: Is there something that could be done/fixed so that they don't appear? I was wondering if I did something wrong with my SDF file (did I ?). If those messages are harmless then they are a bit misleading, in that they make you believe that the model is wrong.

Minimalistic sdf world to reproduce the above two messages:

<?xml version="1.0"?>
<sdf version="1.5"><world name="foo">
    <model name="model">
      <link name="l"/>

      <model name='bar1'><link name='l'/></model>
      <model name='bar2'><link name='l'/></model>

      <joint name="j1" type="fixed"> <parent>l</parent> <child>bar1::l</child> </joint>
      <joint name="j2" type="fixed"> <parent>l</parent> <child>bar2::l</child> </joint>
    </model>
</world></sdf>