From 24ca1329f51bc39ea9bd6f2a4deba033f4a400d6 Mon Sep 17 00:00:00 2001
From: brian soe <6686625+briansoe66@users.noreply.github.com>
Date: Fri, 17 Jan 2025 13:51:02 -0800
Subject: [PATCH] write visual and collision name to xml

Signed-off-by: brian soe <6686625+briansoe66@users.noreply.github.com>
---
 urdf_parser/src/link.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/urdf_parser/src/link.cpp b/urdf_parser/src/link.cpp
index ab83b5d3..23ca186f 100644
--- a/urdf_parser/src/link.cpp
+++ b/urdf_parser/src/link.cpp
@@ -616,6 +616,9 @@ bool exportVisual(Visual &vis, tinyxml2::XMLElement *xml)
   // </visual>
   tinyxml2::XMLElement * visual_xml = xml->GetDocument()->NewElement("visual");
 
+  if (!vis.name.empty())
+    visual_xml->setAttribute("name", vis.name.c_str());
+
   exportPose(vis.origin, visual_xml);
 
   exportGeometry(vis.geometry, visual_xml);
@@ -639,6 +642,9 @@ bool exportCollision(Collision &col, tinyxml2::XMLElement* xml)
   // </collision>
   tinyxml2::XMLElement * collision_xml = xml->GetDocument()->NewElement("collision");
 
+  if (!col.name.empty())
+    collision_xml->setAttribute("name", col.name.c_str());
+
   exportPose(col.origin, collision_xml);
 
   exportGeometry(col.geometry, collision_xml);