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Disallow repeated nameless assets that use the same file, except for URDFs.

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PiperOrigin-RevId: 675114055
Change-Id: I142811ac2d8ef9e12bb8a06d5f3a2fdac02946da
This commit is contained in:
Alessio Quaglino
2024-09-16 05:49:45 -07:00
committed by Copybara-Service
parent 60a1921b34
commit 015bdeb756
6 changed files with 103 additions and 46 deletions
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src/xml/xml_urdf.cc
+33 -22
View File
@@ -575,6 +575,9 @@ mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {
// mesh
else if ((temp = FindSubElem(elem, "mesh"))) {
mjsMesh* pmesh = 0;
bool newmesh = false;
// set geom type and read mesh attributes
pgeom->type = mjGEOM_MESH;
meshfile = ReadAttrStr(temp, "filename", true).value();
@@ -591,35 +594,43 @@ mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {
std::string meshname = mjuu_strippath(meshfile);
meshname = mjuu_stripext(meshname);
// look for existing mesh
mjsMesh* mesh = mjs_asMesh(mjs_findElement(spec, mjOBJ_MESH, meshname.c_str()));
mjsMesh* pmesh = 0;
// does not exist: create
if (!mesh) {
if (meshes.find(meshname) == meshes.end()) {
// does not exist: create
pmesh = mjs_addMesh(spec, 0);
}
meshes[meshname].push_back(pmesh);
newmesh = true;
} else {
int i = 0;
// exists with different scale: append name with '1', create
else if (mesh->scale[0]!=meshscale[0] ||
mesh->scale[1]!=meshscale[1] ||
mesh->scale[2]!=meshscale[2]) {
pmesh = mjs_addMesh(spec, 0);
meshname = meshname + "1";
}
// find if it exists with the same scale
for (mjsMesh* mesh : meshes[meshname]) {
if (mesh->scale[0] == meshscale[0] &&
mesh->scale[1] == meshscale[1] &&
mesh->scale[2] == meshscale[2]) {
pmesh = mesh;
break;
}
i++;
}
// point to already existing spec
else {
pmesh = mesh;
// add a new spec making an incremental new name
if (i == meshes[meshname].size()) {
pmesh = mjs_addMesh(spec, 0);
meshes[meshname].push_back(pmesh);
meshname = meshname + std::to_string(i);
newmesh = true;
}
}
// set fields
mjs_setString(pmesh->file, meshfile.c_str());
mjs_setString(pmesh->name, meshname.c_str());
if (newmesh) {
mjs_setString(pmesh->file, meshfile.c_str());
mjs_setString(pmesh->name, meshname.c_str());
pmesh->scale[0] = meshscale[0];
pmesh->scale[1] = meshscale[1];
pmesh->scale[2] = meshscale[2];
}
mjs_setString(pgeom->meshname, meshname.c_str());
pmesh->scale[0] = meshscale[0];
pmesh->scale[1] = meshscale[1];
pmesh->scale[2] = meshscale[2];
}
else {
src/xml/xml_urdf.h
+2
View File
@@ -15,6 +15,7 @@
#ifndef THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
#define THIRD_PARTY_MUJOCO_SRC_XML_XML_URDF_
#include <map>
#include <string>
#include <unordered_set>
#include <vector>
@@ -66,6 +67,7 @@ class mjXURDF : public mjXBase {
std::vector<std::string> urMat; // material name
std::vector<mjRGBA> urRGBA; // material RBG value
std::unordered_set<std::string> urGeomNames; // geom name
std::map<std::string, std::vector<mjsMesh*>> meshes; // map from name to mjsMesh
std::string urPrefix; // prefix to apply to all names
};