Bug in ddDrakeModel::findLinkID

[mauricefallon]

I think ddDrakeModel::findLinkID (or further down) has a bug.

The foot frames on Val are 'RightFoot' and 'LeftFoot'. Recently NASA changed the F/T sensors to be:

<link name="RightFootSixAxis_Frame">
<inertial>
<mass value="1e-07"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="3.33333e-22" ixy="0.0" ixz="0.0" iyy="3.33333e-22" iyz="0.0" izz="5e-22"/>
</inertial>
</link>
<joint name="RightFootSixAxis_Offset" type="fixed">
<origin rpy="3.14 0.0 -1.047" xyz="0.0215594 0.0 -0.0585488"/>
<axis xyz="0 0 1"/>
<parent link="RightFoot"/>
<child link="RightFootSixAxis_Frame"/>
</joint>
<gazebo reference="RightFootSixAxis_Offset">
<sensor name="RightFootSixAxis" type="force_torque">
<frame>child</frame>
</sensor>
</gazebo>

This now causes ddDrakeModel::findLinkID('LeftFoot') to fail where before it was fine. I think the start of the F/T frames are clashing. Perhaps a string comparison issue?

[patmarion]

I haven't had a chance to look at this yet. It could be an issue related to drake's urdf rigid body renaming of links or fixed joints.