diff --git a/src/urdf/Urdf.js b/src/urdf/Urdf.js
index 3d8d23f1..7c8bfa5d 100644
--- a/src/urdf/Urdf.js
+++ b/src/urdf/Urdf.js
@@ -25,6 +25,7 @@ ROS3D.Urdf = function(options) {
   var loader = options.loader || ROS3D.COLLADA_LOADER_2;
 
   THREE.Object3D.call(this);
+  this.name = options.name || '';
 
   // load all models
   var links = urdfModel.links;
diff --git a/src/urdf/UrdfClient.js b/src/urdf/UrdfClient.js
index 381f98b2..ec1f1ad8 100644
--- a/src/urdf/UrdfClient.js
+++ b/src/urdf/UrdfClient.js
@@ -33,6 +33,7 @@ ROS3D.UrdfClient = function(options) {
   this.rootObject = options.rootObject || new THREE.Object3D();
   var tfPrefix = options.tfPrefix || '';
   var loader = options.loader || ROS3D.COLLADA_LOADER_2;
+  var name = options.name || '';
 
   // get the URDF value from ROS
   var getParam = new ROSLIB.Param({
@@ -51,7 +52,8 @@ ROS3D.UrdfClient = function(options) {
       path : that.path,
       tfClient : that.tfClient,
       tfPrefix : tfPrefix,
-      loader : loader
+      loader : loader,
+      name : name
     }));
   });
 };