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

PiperOrigin-RevId: 675114055 Change-Id: I142811ac2d8ef9e12bb8a06d5f3a2fdac02946da
2024-09-16 05:49:45 -07:00
parent 60a1921b34
commit 015bdeb756
6 changed files with 103 additions and 46 deletions
@@ -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
 };