Support including the names of other attached objects in touch_link (backport #3276)

[mergify]

Description

Fixes #3275. See that RFE for motivation and discussion of pros/cons and alternative approaches.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

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This is an automatic backport of pull request #3276 done by [Mergify](https://mergify.com).

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 0% with 5 lines in your changes missing coverage. Please review.

Project coverage is 51.40%. Comparing base (343b897) to head (d0239da).
Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
...e/collision_detection_fcl/src/collision_common.cpp	0.00%	5 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #3287      +/-   ##
==========================================
- Coverage   51.41%   51.40%   -0.01%     
==========================================
  Files         382      382              
  Lines       31894    31899       +5     
==========================================
- Hits        16395    16393       -2     
- Misses      15499    15506       +7     

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