Combining URDFs does not create unique link names.

[robin-gdwl]

This is related to https://github.com/bulletphysics/bullet3/issues/4524, however, since this error has likely different causes and effects I am creating a new issue.

I am using Pybullet. When using the urdfEditor to combine two urdf files the link names are simply copied to the new urdf. As most of the files I want to combine have similar link names this creates errors when loading the urdf back into pybullet. Especially the base_link has usually has the same name. It would be beneficial if there was a check to rename links, for example by prepending the robot name from the urdf file to each link.

Warning: Link name is not unique, link names in the same model have to be unique
Warning: b3Error[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,121]:

Warning: base_link

I believe this would be a common issue as base_link is a common, recurring name for link 0 from my experience.

Let me know if I am missing something. If this would be a worthwhile feature, I will try to implement it and open a pull request.