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It seems that my initial intuition was correct. I have to set the weird name shown in the Gazebo screen (${name}_lowerleg_fixed_joint_lump__${name}_foot_collision_1) for collision.

I must have mispelled it when I tried earlier.

The way I got to the solution was to generate the SDF file and replicate the name for both <collision> tags (link and sensor)

Unfortunately, this solution is not back-compatible with Gazebo 2.