Improve URDF geom name loading API.

PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da

src/user/user_model.cc

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

src/user/user_model.h

@@ -135,7 +135,6 @@ 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)