clean for tests

Signed-off-by: Jose Mayoral <jocamaba1989@gmail.com>

Author: jcmayoral

dartsim/src/FreeGroupFeatures.cc

@@ -44,7 +44,7 @@ Identity FreeGroupFeatures::FindFreeGroupForModel(
     if (skeleton->getRootJoint(i)->getType()
         != dart::dynamics::FreeJoint::getStaticType() &&
         skeleton->getRootJoint(i)->getType()
-        != "KinematicJoint" )//gz::dynamics::KinematicJoint::getStaticType())
+        != gz::dynamics::KinematicJoint::getStaticType())
     {
       return this->GenerateInvalidId();
     }
@@ -89,7 +89,7 @@ Identity FreeGroupFeatures::FindFreeGroupForLink(
     if (bn->getParentJoint()->getType()
         == dart::dynamics::FreeJoint::getStaticType() ||
         bn->getParentJoint()->getType()
-        == "KinematicTag" ) //gz::dynamics::KinematicJoint::getStaticType())
+        == gz::dynamics::KinematicJoint::getStaticType())
     {
       break;
     }

dartsim/src/SDFFeatures.cc

@@ -672,7 +672,7 @@ Identity SDFFeatures::ConstructSdfLink(
   const Eigen::Vector3d localCom =
       math::eigen3::convert(sdfInertia.Pose().Pos());
 
-  const bool isKinematic = true; //TODO temporal fix for kinematic tag //_sdfLink.Kinematic();
+  const bool isKinematic = false; //TODO temporal fix for kinematic tag //_sdfLink.Kinematic();
 
   bodyProperties.mInertia.setLocalCOM(localCom);