Add geom names to URDF parsing in MuJoCo.

Fixes #566

PiperOrigin-RevId: 500750288
Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921

src/user/user_model.cc

@@ -104,6 +104,7 @@ mjCModel::mjCModel() {
   inertiagrouprange[0] = 0;
   inertiagrouprange[1] = mjNGROUP-1;
   exactmeshinertia = false;
+  geomnamesfromurdf = false;
   mj_defaultLROpt(&LRopt);
 
   //------------------------ statistics override

src/user/user_model.h

@@ -135,6 +135,7 @@ class mjCModel {
   int inertiafromgeom;            // use geom inertias (mjtInertiaFromGeom)
   int inertiagrouprange[2];       // range of geom groups used to compute inertia
   bool exactmeshinertia;          // if false, use old formula
+  bool geomnamesfromurdf;         // parse geom names from URDF
   mjLROpt LRopt;                  // options for lengthrange computation
 
   //------------------------ statistics override (if defined)