diff --git a/graphics/src/ColladaLoader.cc b/graphics/src/ColladaLoader.cc
index d9117537c..9bdd56f5c 100644
--- a/graphics/src/ColladaLoader.cc
+++ b/graphics/src/ColladaLoader.cc
@@ -1998,7 +1998,7 @@ void ColladaLoaderPrivate::LoadPolylist(tinyxml2::XMLElement *_polylistXml,
   std::vector<ignition::math::Vector3d> verts;
   std::vector<ignition::math::Vector3d> norms;
   std::map<unsigned int, std::vector<ignition::math::Vector2d>> texcoords;
-  std::map<unsigned int, unsigned int> texcoordsOffsetToSet;
+  std::vector<std::pair<unsigned int, unsigned int>> texcoordsOffsetToSet;
 
   const unsigned int VERTEX = 0;
   const unsigned int NORMAL = 1;
@@ -2042,16 +2042,13 @@ void ColladaLoaderPrivate::LoadPolylist(tinyxml2::XMLElement *_polylistXml,
     else if (semantic == "TEXCOORD")
     {
       int offsetInt = ignition::math::parseInt(offset);
-      if (inputs[TEXCOORD].find(offsetInt) == inputs[TEXCOORD].end())
-      {
-        unsigned int set = 0u;
-        auto setStr = polylistInputXml->Attribute("set");
-        if (setStr)
-          set = ignition::math::parseInt(setStr);
-        this->LoadTexCoords(source, texcoords[set], texDupMap[set]);
-        inputs[TEXCOORD].insert(offsetInt);
-        texcoordsOffsetToSet[offsetInt] = set;
-      }
+      unsigned int set = 0u;
+      auto setStr = polylistInputXml->Attribute("set");
+      if (setStr)
+        set = ignition::math::parseInt(setStr);
+      this->LoadTexCoords(source, texcoords[set], texDupMap[set]);
+      inputs[TEXCOORD].insert(offsetInt);
+      texcoordsOffsetToSet.push_back(std::make_pair(offsetInt, set));
     }
     else
     {
@@ -2170,9 +2167,10 @@ void ColladaLoaderPrivate::LoadPolylist(tinyxml2::XMLElement *_polylistXml,
               if (!inputs[TEXCOORD].empty())
               {
                 texEqual = true;
-                for (auto offset : inputs[TEXCOORD])
+                for (auto &pair : texcoordsOffsetToSet)
                 {
-                  int set = texcoordsOffsetToSet[offset];
+                  unsigned int offset = pair.first;
+                  unsigned int set = pair.second;
                   // Get the vertex texcoord index value. If the texcoord is a
                   // duplicate then reset the index to the first instance of the
                   // duplicated texcoord
@@ -2254,13 +2252,14 @@ void ColladaLoaderPrivate::LoadPolylist(tinyxml2::XMLElement *_polylistXml,
 
           if (!inputs[TEXCOORD].empty())
           {
-            for (auto offset : inputs[TEXCOORD])
+            for (auto &pair : texcoordsOffsetToSet)
             {
+              unsigned int offset = pair.first;
+              unsigned int set = pair.second;
+
               unsigned int inputRemappedTexcoordIndex =
                 values[offset];
 
-              int set = texcoordsOffsetToSet[offset];
-
               auto &texDupMapSet = texDupMap[set];
               auto texDupMapSetIt = texDupMapSet.find(
                   inputRemappedTexcoordIndex);
@@ -2327,7 +2326,7 @@ void ColladaLoaderPrivate::LoadTriangles(tinyxml2::XMLElement *_trianglesXml,
   std::vector<ignition::math::Vector3d> verts;
   std::vector<ignition::math::Vector3d> norms;
   std::map<unsigned int, std::vector<ignition::math::Vector2d>> texcoords;
-  std::map<unsigned int, unsigned int> texcoordsOffsetToSet;
+  std::vector<std::pair<unsigned int, unsigned int>> texcoordsOffsetToSet;
 
   const unsigned int VERTEX = 0;
   const unsigned int NORMAL = 1;
@@ -2373,16 +2372,13 @@ void ColladaLoaderPrivate::LoadTriangles(tinyxml2::XMLElement *_trianglesXml,
     else if (semantic == "TEXCOORD")
     {
       int offsetInt = ignition::math::parseInt(offset);
-      if (inputs[TEXCOORD].find(offsetInt) == inputs[TEXCOORD].end())
-      {
-        unsigned int set = 0u;
-        auto setStr = trianglesInputXml->Attribute("set");
-        if (setStr)
-          set = ignition::math::parseInt(setStr);
-        this->LoadTexCoords(source, texcoords[set], texDupMap[set]);
-        inputs[TEXCOORD].insert(offsetInt);
-        texcoordsOffsetToSet[offsetInt] = set;
-      }
+      unsigned int set = 0u;
+      auto setStr = trianglesInputXml->Attribute("set");
+      if (setStr)
+        set = ignition::math::parseInt(setStr);
+      this->LoadTexCoords(source, texcoords[set], texDupMap[set]);
+      inputs[TEXCOORD].insert(offsetInt);
+      texcoordsOffsetToSet.push_back(std::make_pair(offsetInt, set));
       hasTexcoords = true;
     }
     else
@@ -2495,14 +2491,16 @@ void ColladaLoaderPrivate::LoadTriangles(tinyxml2::XMLElement *_trianglesXml,
           if (hasTexcoords)
           {
             texEqual = true;
-            for (auto offset : inputs[TEXCOORD])
+            for (auto &pair : texcoordsOffsetToSet)
             {
+              unsigned int offset = pair.first;
+              unsigned int set = pair.second;
+
               // Get the vertex texcoord index value. If the texcoord is a
               // duplicate then reset the index to the first instance of the
               // duplicated texcoord
               unsigned int remappedTexcoordIndex =
                   values.at(offset);
-              int set = texcoordsOffsetToSet[offset];
               auto &texDupMapSet = texDupMap[set];
               auto texDupMapSetIt = texDupMapSet.find(remappedTexcoordIndex);
               if (texDupMapSetIt != texDupMapSet.end())
@@ -2577,12 +2575,14 @@ void ColladaLoaderPrivate::LoadTriangles(tinyxml2::XMLElement *_trianglesXml,
       }
       if (hasTexcoords)
       {
-        for (auto offset : inputs[TEXCOORD])
+        for (auto &pair : texcoordsOffsetToSet)
         {
+          unsigned int offset = pair.first;
+          unsigned int set = pair.second;
+
           unsigned int inputRemappedTexcoordIndex =
               values.at(offset);
 
-          int set = texcoordsOffsetToSet[offset];
           auto &texDupMapSet = texDupMap[set];
           auto texDupMapSetIt = texDupMapSet.find(inputRemappedTexcoordIndex);
           if (texDupMapSetIt != texDupMapSet.end())
diff --git a/graphics/src/ColladaLoader_TEST.cc b/graphics/src/ColladaLoader_TEST.cc
index 828cd4783..0936e9ed4 100644
--- a/graphics/src/ColladaLoader_TEST.cc
+++ b/graphics/src/ColladaLoader_TEST.cc
@@ -229,7 +229,7 @@ TEST_F(ColladaLoader, TexCoordSets)
   EXPECT_FALSE(subMeshB->HasTexCoord(3u));
 
   // test texture coordinate set API
-  EXPECT_EQ(2u, subMeshB->TexCoordSetCount());
+  EXPECT_EQ(3u, subMeshB->TexCoordSetCount());
   EXPECT_EQ(3u, subMeshB->TexCoordCountBySet(0u));
   EXPECT_EQ(math::Vector2d(0, 1), subMeshB->TexCoordBySet(0u, 0u));
   EXPECT_EQ(math::Vector2d(0, 1), subMeshB->TexCoordBySet(1u, 0u));
@@ -252,6 +252,16 @@ TEST_F(ColladaLoader, TexCoordSets)
   EXPECT_TRUE(subMeshB->HasTexCoordBySet(2u, 1u));
   EXPECT_FALSE(subMeshB->HasTexCoordBySet(3u, 1u));
 
+  EXPECT_EQ(3u, subMeshB->TexCoordCountBySet(2u));
+  EXPECT_EQ(math::Vector2d(0, 0.8), subMeshB->TexCoordBySet(0u, 2u));
+  EXPECT_EQ(math::Vector2d(0, 0.7), subMeshB->TexCoordBySet(1u, 2u));
+  EXPECT_EQ(math::Vector2d(0, 0.6), subMeshB->TexCoordBySet(2u, 2u));
+
+  EXPECT_TRUE(subMeshB->HasTexCoordBySet(0u, 2u));
+  EXPECT_TRUE(subMeshB->HasTexCoordBySet(1u, 2u));
+  EXPECT_TRUE(subMeshB->HasTexCoordBySet(2u, 2u));
+  EXPECT_FALSE(subMeshB->HasTexCoordBySet(3u, 2u));
+
   subMeshB->SetTexCoordBySet(2u, math::Vector2d(0.1, 0.2), 1u);
   EXPECT_EQ(math::Vector2d(0.1, 0.2), subMeshB->TexCoordBySet(2u, 1u));
 }
diff --git a/test/data/multiple_texture_coordinates_triangle.dae b/test/data/multiple_texture_coordinates_triangle.dae
index d3c13b8f3..3fb4c1fd0 100644
--- a/test/data/multiple_texture_coordinates_triangle.dae
+++ b/test/data/multiple_texture_coordinates_triangle.dae
@@ -113,6 +113,15 @@
             </accessor>
           </technique_common>
         </source>
+        <source id="triangle-mesh-b-map-2">
+          <float_array id="triangle-mesh-b-map-2-array" count="6">0 0.2 0 0.3 0 0.4</float_array>
+          <technique_common>
+            <accessor source="#triangle-mesh-b-map-2-array" count="3" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
         <vertices id="triangle-mesh-b-vertices">
           <input semantic="POSITION" source="#triangle-mesh-b-positions"/>
         </vertices>
@@ -121,6 +130,7 @@
           <input semantic="NORMAL" source="#triangle-mesh-b-normals" offset="1"/>
           <input semantic="TEXCOORD" source="#triangle-mesh-b-map-0" offset="2" set="0"/>
           <input semantic="TEXCOORD" source="#triangle-mesh-b-map-1" offset="3" set="1"/>
+          <input semantic="TEXCOORD" source="#triangle-mesh-b-map-2" offset="3" set="2"/>
           <p>0 0 0 0 1 0 1 1 2 0 2 2</p>
         </triangles>
       </mesh>