Add geom names to URDF parsing in MuJoCo.

Fixes #566

PiperOrigin-RevId: 500750288
Change-Id: I00f94ee37bb2f15be59df3933d0d4dba583f0921

src/xml/xml_native_reader.cc

@@ -902,6 +902,9 @@ void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
   if (MapValue(section, "exactmeshinertia", &n, bool_map, 2)){
     mod->exactmeshinertia = (n==1);
   }
+  if (MapValue(section, "geomnamesfromurdf", &n, bool_map, 2)) {
+    mod->geomnamesfromurdf = (n==1);
+  }
 
   // lengthrange subelement
   XMLElement* elem = FindSubElem(section, "lengthrange");

src/xml/xml_urdf.cc

@@ -276,6 +276,11 @@ void mjXURDF::Body(XMLElement* body_elem) {
         if (rgba[0]>=0) {
           std::memcpy(pgeom->rgba, rgba, 4*sizeof(float));
         }
+
+        // save name
+        if (model->geomnamesfromurdf) {
+          mjXUtil::ReadAttrTxt(elem, "name", pgeom->name);
+        }
       }
     }
 
@@ -287,6 +292,11 @@ void mjXURDF::Body(XMLElement* body_elem) {
       if (rgba[0]>=0) {
         std::memcpy(pgeom->rgba, rgba, 4*sizeof(float));
       }
+
+      // save name
+      if (model->geomnamesfromurdf) {
+        mjXUtil::ReadAttrTxt(elem, "name", pgeom->name);
+      }
     }
 
     // advance