fixing the incorrect limb name loading

Author: madhephaestus

src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java

@@ -284,12 +284,12 @@ private String getTag(Element e, String tagname) {
 			for (int i = 0; i < nodListofLinks.getLength(); i++) {
 				Node linkNode = nodListofLinks.item(i);
 				String nameParent = linkNode.getParentNode().getNodeName();
-				boolean isMobileBase = nameParent.contains("mobilebase");
+				boolean isMobileBase = !nameParent.contains("link");
 				if (linkNode.getNodeType() == Node.ELEMENT_NODE && 
 						linkNode.getNodeName().contentEquals(tagname)
 						&& isMobileBase) {
 					String value = linkNode.getChildNodes().item(0).getNodeValue();
-					System.out.println("Loading tag "+tagname+" from "+nameParent+" value "+value);
+					//System.out.println("Loading tag "+tagname+" from "+nameParent+" value "+value);
 					return value;
 				}
 			}

test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java

@@ -20,6 +20,7 @@ public void test() throws FileNotFoundException {
 			MobileBase pArm = new MobileBase(new FileInputStream(f));
 			System.out.println("Mass = "+pArm.getMassKg());
 			assertEquals(99, pArm.getMassKg(),0.1);
+			assertEquals(pArm.getLegs().get(0).getScriptingName(),"Carl_One");
 		}
 	}