diff --git a/src/csg/impl/csg_types.hpp b/src/csg/impl/csg_types.hpp
index 448ad8d05b117b1cf5d7613be0074a6f0522e87b..eff2deb728c1d87fa5bc01394dbb96811330c667 100644
--- a/src/csg/impl/csg_types.hpp
+++ b/src/csg/impl/csg_types.hpp
@@ -10,30 +10,36 @@
 namespace csg {
 
 struct Circle {
+  std::optional<std::string> name;
   double radius;
 };
 
 struct Square {
+  std::optional<std::string> name;
   std::tuple<double, double> size;
   bool center;
 };
 
 struct Sphere {
+  std::optional<std::string> name;
   double radius;
 };
 
 struct Cube {
+  std::optional<std::string> name;
   std::tuple<double, double, double> size;
   bool center;
 };
 
 struct Cylinder {
+  std::optional<std::string> name;
   double radius;
   double height;
   bool center;
 };
 
 struct Cone {
+  std::optional<std::string> name;
   double radius1;
   double radius2;
   double height;
diff --git a/src/csg/impl/parser.cpp b/src/csg/impl/parser.cpp
index 34b6477ba0d57e9b4d6a75f023bbd8d1601d5359..7bfb0528a642855abb873e7c5efff596f02e8932 100644
--- a/src/csg/impl/parser.cpp
+++ b/src/csg/impl/parser.cpp
@@ -14,6 +14,7 @@ using namespace tao::pegtl;
 namespace {
 
 using Attr = std::variant<double, bool, std::vector<double>, std::string>;
+using AttrMap = std::map<std::string, Attr>;
 
 struct parser_state {
   std::vector<std::vector<csg::Type3D>> current_3d_objs;
@@ -24,8 +25,8 @@ struct parser_state {
   std::vector<double> current_vec;
   std::vector<std::vector<double>> current_matrix;
   std::vector<std::vector<std::vector<double>>> current_matrices;
-  std::map<std::string, Attr> curr_attr;
-  std::vector<std::map<std::string, Attr>> curr_attrs;
+  AttrMap curr_attr;
+  std::vector<AttrMap> curr_attrs;
 };
 
 enum Dimension { D2, D3 };
@@ -443,12 +444,22 @@ template <> struct action<extrude_rot> {
   }
 };
 
+std::optional<std::string> get_name(AttrMap curr_attr) {
+  if (curr_attr.count("$name")) {
+    auto quoted_name = std::get<std::string>(curr_attr["$name"]);
+    auto name = quoted_name.substr(1, quoted_name.length() - 2);
+    return name;
+  }
+  return std::nullopt;
+}
+
 template <> struct action<cube> {
   template <typename Input>
   static void apply(const Input &in, parser_state &st) {
     csg::Cube cub;
     auto &curr_attr = st.curr_attrs.back();
     auto size = std::get<std::vector<double>>(curr_attr["size"]);
+    cub.name = get_name(curr_attr);
     cub.size = {size[0], size[1], size[2]};
     cub.center = std::get<bool>(curr_attr["center"]);
 
@@ -468,6 +479,7 @@ template <> struct action<cylinder> {
                   << std::endl;
       }
       csg::Cylinder cyl;
+      cyl.name = get_name(curr_attr);
       cyl.center = std::get<bool>(curr_attr["center"]);
       cyl.height = std::get<double>(curr_attr["h"]);
       cyl.radius = std::get<double>(curr_attr["r"]);
@@ -477,6 +489,7 @@ template <> struct action<cylinder> {
     } else {
       // conic "cylinder"
       csg::Cone cone;
+      cone.name = get_name(curr_attr);
       cone.center = std::get<bool>(curr_attr["center"]);
       cone.height = std::get<double>(curr_attr["h"]);
       cone.radius1 = std::get<double>(curr_attr["r1"]);
@@ -492,6 +505,7 @@ template <> struct action<sphere> {
   static void apply(const Input &in, parser_state &st) {
     csg::Sphere sph;
     auto &curr_attr = st.curr_attrs.back();
+    sph.name = get_name(curr_attr);
     sph.radius = std::get<double>(curr_attr["r"]);
 
     st.current_3d_objs.back().push_back(sph);
@@ -504,6 +518,7 @@ template <> struct action<circle> {
   static void apply(const Input &in, parser_state &st) {
     csg::Circle cir;
     auto &curr_attr = st.curr_attrs.back();
+    cir.name = get_name(curr_attr);
     cir.radius = std::get<double>(curr_attr["r"]);
 
     st.current_2d_objs.back().push_back(cir);
@@ -517,6 +532,7 @@ template <> struct action<square> {
     csg::Square sq;
     auto &curr_attr = st.curr_attrs.back();
     auto size = std::get<std::vector<double>>(curr_attr["size"]);
+    sq.name = get_name(curr_attr);
     sq.size = {size[0], size[1]};
     sq.center = std::get<bool>(curr_attr["center"]);
 
diff --git a/src/csg/tests/parser/primitives.t.cpp b/src/csg/tests/parser/primitives.t.cpp
index 03493ba7192b3b30ebebd56bd8e039a19ea2c654..ca2175cd07cb8ae83f6f22a5f0d6dedf538bc427 100644
--- a/src/csg/tests/parser/primitives.t.cpp
+++ b/src/csg/tests/parser/primitives.t.cpp
@@ -7,19 +7,31 @@
 
 TEST_CASE("cylinder", "[csg]") {
   auto st = *csg::parse_csg(R"(
+cylinder($name="my_cyl", h = 2, r = 10, center=true);
+)");
+  auto cyl = std::get<csg::Cylinder>(st.top.objs.at(0));
+  CHECK(cyl.name == "my_cyl");
+  CHECK(cyl.radius == 10);
+  CHECK(cyl.height == 2);
+}
+
+TEST_CASE("nameless cylinder", "[csg]") {
+  auto st = *csg::parse_csg(R"(
 cylinder(h = 2, r = 10, center=true);
 )");
   auto cyl = std::get<csg::Cylinder>(st.top.objs.at(0));
+  CHECK_FALSE(cyl.name.has_value());
   CHECK(cyl.radius == 10);
   CHECK(cyl.height == 2);
 }
 
 TEST_CASE("cube", "[csg]") {
   auto st = *csg::parse_csg(R"(
-cube(size = [1,2,3], center=true);
+cube(size = [1,2,3], center=true, $name="my_cube");
 )");
   auto cub = std::get<csg::Cube>(st.top.objs.at(0));
   auto [XX, YY, ZZ] = cub.size;
+  CHECK(cub.name == "my_cube");
   CHECK(XX == 1);
   CHECK(YY == 2);
   CHECK(ZZ == 3);
@@ -27,9 +39,10 @@ cube(size = [1,2,3], center=true);
 
 TEST_CASE("sphere", "[csg]") {
   auto st = *csg::parse_csg(R"(
-sphere(r = 10);
+sphere(r = 10, $name="my_sphere");
 )");
   auto sph = std::get<csg::Sphere>(st.top.objs.at(0));
+  CHECK(sph.name == "my_sphere");
   CHECK(sph.radius == 10);
 }