I frequently napped at work before FIRE. Tech company, open office plan. Didn't bother trying to hide it. Would find a couch or other comfy spot in one of the open meeting areas, curl up, and take a 30 minute nap.
This was especially true when my kids were very young and we were up at all hours of the night, but even before kids would nap in the afternoon if I felt tired.
Amazing how much my concentration, focus, mood, and overall motivation would improve after a quick cat nap. Research clearly shows you're better off taking a quick snooze rather than fighting through it. I (and others) advocated for nap rooms, but HR would never go for it... I think they were concerned these would turn into sexytime rooms rather than the stigma of people sleeping at work, because they eventually installed "nap pods" - terribly uncomfortable for someone my height and too restrictive, so I continued to crash on various couches/ottomans.