URDF fixed lookup of elements as children of root and not at any level#12

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Commits on Nov 5, 2015

URDF fixed lookup of elements as children of root and not at any level. Solves bug with joint inside transmission
eruffaldi
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URDF export to structure of joints and links that can be evaluated using structA. Workaround while waiting for full support in the Robotics Toolbox
eruffaldi
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cleaned joint resolution, added path resolution between nodes
eruffaldi
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