Fix URDF scaled mesh re-use

c-rizz · c-rizz · commit fa9472485755 · 2025-03-04T09:55:50.000+01:00
diff --git a/src/xml/xml_urdf.cc b/src/xml/xml_urdf.cc
@@ -630,7 +630,7 @@ mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {
       pmesh->scale[1] = meshscale[1];
       pmesh->scale[2] = meshscale[2];
     }
-    mjs_setString(pgeom->meshname, meshname.c_str());
+    mjs_setString(pgeom->meshname, pmesh->name->c_str());
   }
 
   else {

Original file line number	Diff line number	Diff line change
`@@ -630,7 +630,7 @@ mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {`
`630`	`630`	`pmesh->scale[1] = meshscale[1];`
`631`	`631`	`pmesh->scale[2] = meshscale[2];`
`632`	`632`	`}`
`633`		`- mjs_setString(pgeom->meshname, meshname.c_str());`
	`633`	`+ mjs_setString(pgeom->meshname, pmesh->name->c_str());`
`634`	`634`	`}`
`635`	`635`
`636`	`636`	`else {`