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

---

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 44.12%. Comparing base (73c386f) to head (8b3f895).

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             @@
##            jazzy    #3288      +/-   ##
==========================================
+ Coverage   44.12%   44.12%   +0.01%     
==========================================
  Files         700      700              
  Lines       61662    61667       +5     
  Branches     7471     7473       +2     
==========================================
+ Hits        27202    27207       +5     
- Misses      34292    34293       +1     
+ Partials      168      167       -1     

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