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urdf_parser_py throw exception when I process this model #182

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chikuta opened this issue Dec 14, 2020 · 0 comments

chikuta commented Dec 14, 2020

When I process robotiq_2f_140 model by urdf_parser_py, urdf_parser_py throw exception as follows.

Unknown tag "material" in /robot[@name='MY_ROBOT_NAME']/link[@name='l_right_inner_finger_pad']/collision[1]

I think that this exception comes from material in collision tag.
According to ros-wiki, collision tag doesn't allow to use material tag.

robotiq/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro

Lines 141 to 149 in 66961ec

    
           <collision> 
        
             <origin xyz="0 0 0" rpy="0 0 0" /> 
        
             <geometry> 
        
                <box size="0.03 0.07 0.0075"/> 
        
             </geometry> 
        
             <material name=""> 
        
               <color rgba="0.9 0.0 0.0 1" /> 
        
             </material> 
        
           </collision>

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