From 3db03dcce5d62dec2ad18a2a325644058c6cd768 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Tue, 1 Jul 2025 05:35:23 -0700
Subject: [PATCH] Don't output a warning about duplicate geom names for unnamed
 geoms in URDF.

PiperOrigin-RevId: 777998616
Change-Id: Id87533e30567fe5a0e372220ba57819383d42236
---
 src/xml/xml_urdf.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/xml/xml_urdf.cc b/src/xml/xml_urdf.cc
index 5598366c..2f49d9c0 100644
--- a/src/xml/xml_urdf.cc
+++ b/src/xml/xml_urdf.cc
@@ -329,7 +329,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
         if (urGeomNames.find(geom_name) == urGeomNames.end()) {
           mjs_setString(pgeom->name, geom_name.c_str());
           urGeomNames.insert(geom_name);
-        } else {
+        } else if (!geom_name.empty()) {
           std::cerr << "WARNING: Geom with duplicate name '" << geom_name
                     << "' encountered in URDF, creating an unnamed geom."
                     << std::endl;
@@ -352,7 +352,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
       if (urGeomNames.find(geom_name) == urGeomNames.end()) {
         mjs_setString(pgeom->name, geom_name.c_str());
         urGeomNames.insert(geom_name);
-      } else {
+      } else if (!geom_name.empty()) {
         std::cerr << "WARNING: Geom with duplicate name '" << geom_name
                   << "' encountered in URDF, creating an unnamed geom."
                   << std::endl;