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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.

https://github.com/ros-industrial/robotiq/blob/66961ec6b6c9c493f13410d16ce32cea1648babf/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro#L141-L149

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