From f3c966796f53587a579d4721a27c87175c0dad62 Mon Sep 17 00:00:00 2001
From: Tom Erez <etom@google.com>
Date: Mon, 16 Jan 2023 02:58:25 -0800
Subject: [PATCH] Allow models without numerical suffixes.

This is important for MJPC, where some element special names (e.g., a site called "trace0", or different custom numeric fields) are used.

PiperOrigin-RevId: 502338391
Change-Id: I632b5d633c92b82b60160daeeb169693225640a3
---
 unity/Runtime/Components/MjGlobalSettings.cs |  3 +++
 unity/Runtime/Tools/MjcfGenerationContext.cs | 16 ++++++++--------
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/unity/Runtime/Components/MjGlobalSettings.cs b/unity/Runtime/Components/MjGlobalSettings.cs
index 618555e9..ad8b7e0f 100644
--- a/unity/Runtime/Components/MjGlobalSettings.cs
+++ b/unity/Runtime/Components/MjGlobalSettings.cs
@@ -327,6 +327,9 @@ public class MjGlobalSettings : MonoBehaviour {
   [Tooltip("Scales the force applied by the mouse spring.")]
   public float MouseSpringStiffness = 100;
 
+  [Tooltip("If false, numerical suffixes will be aded to ensure name uniqueness.")]
+  public bool UseRawGameObjectNames;
+
   public MjOptionStruct GlobalOptions = MjOptionStruct.Default;
 
   public MjSizeStruct GlobalSizes = MjSizeStruct.Default;
diff --git a/unity/Runtime/Tools/MjcfGenerationContext.cs b/unity/Runtime/Tools/MjcfGenerationContext.cs
index 6269bc84..c2ff59d8 100644
--- a/unity/Runtime/Tools/MjcfGenerationContext.cs
+++ b/unity/Runtime/Tools/MjcfGenerationContext.cs
@@ -51,15 +51,15 @@ public class MjcfGenerationContext {
     return _meshAssets[mesh];
   }
 
-  // Generates a Unique name for the specified component.
-  // Uniqueness of names is required for every type independently.
-  // The per-type uniqueness will be guaranteed by the combination of information used:
-  // - name of the host GameObject.
-  // - number of names that have been generated to date.
   public string GenerateName(Component comp) {
-    var name = $"{comp.gameObject.name}_{_numGeneratedNames}";
-    _numGeneratedNames++;
-    return name;
+    var settings = MjGlobalSettings.Instance;
+    if (settings?.UseRawGameObjectNames ?? false) {
+      return comp.gameObject.name;
+    } else {
+      var name = $"{comp.gameObject.name}_{_numGeneratedNames}";
+      _numGeneratedNames++;
+      return name;
+    }
   }
 
   private void GenerateConfigurationMjcf(XmlElement mjcf) {