Hi!
I want to add inertial attribute into URDF( mycobot_ros2/mycobot_description/urdf/mycobot/mycobot_urdf.urdf at humble · elephantrobotics/mycobot_ros2 · GitHub ).
For example, the following sentence.
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.075"/>
<mass value="5"/>
<inertia ixx="0.00517" iyy="0.00517" izz="0.00625" ixy="0.0" ixz="0.0" iyx="0.0"/>
</inertial>
However, Unity cannot import it due to the following error.
ArgumentNullException: Value cannot be null.
Parameter name: attribute
System.Xml.Linq.XAttribute.op_Explicit (System.Xml.Linq.XAttribute attribute) (at <3594a36adc6a4cbe9d1a4736bdd89383>:0)
Unity.Robotics.UrdfImporter.Link+Inertial+Inertia…ctor (System.Xml.Linq.XElement node) (at Library/PackageCache/com.unity.robotics.urdf-importer@90f353e435/Runtime/RosSharpDefinitions/Link.cs:129)
Unity.Robotics.UrdfImporter.Link+Inertial…ctor (System.Xml.Linq.XElement node) (at Library/PackageCache/com.unity.robotics.urdf-importer@90f353e435/Runtime/RosSharpDefinitions/Link.cs:89)
Unity.Robotics.UrdfImporter.Link…ctor (System.Xml.Linq.XElement node) (at Library/PackageCache/com.unity.robotics.urdf-importer@90f353e435/Runtime/RosSharpDefinitions/Link.cs:33)
Unity.Robotics.UrdfImporter.Robot.ReadLinks (System.Xml.Linq.XElement node) (at Library/PackageCache/com.unity.robotics.urdf-importer@90f353e435/Runtime/RosSharpDefinitions/Robot.cs:93)
Unity.Robotics.UrdfImporter.Robot…ctor (System.String filename) (at Library/PackageCache/com.unity.robotics.urdf-importer@90f353e435/Runtime/RosSharpDefinitions/Robot.cs:48)
Unity.Robotics.UrdfImporter.UrdfRobotExtensions.ImportPipelineInit (System.String filename, Unity.Robotics.UrdfImporter.ImportSettings settings, System.Boolean loadStatus, System.Boolean forceRuntimeMode) (at Library/PackageCache/com.unity.robotics.urdf-importer@90f353e435/Runtime/Extensions/UrdfRobotExtensions.cs:79)
Unity.Robotics.UrdfImporter.UrdfRobotExtensions+d__8.MoveNext () (at Library/PackageCache/com.unity.robotics.urdf-importer@90f353e435/Runtime/Extensions/UrdfRobotExtensions.cs:178)
Unity.EditorCoroutines.Editor.EditorCoroutine+YieldProcessor.MoveNext (System.Collections.IEnumerator enumerator) (at Library/PackageCache/com.unity.editorcoroutines@1.0.0/Editor/EditorCoroutine.cs:80)
Unity.EditorCoroutines.Editor.EditorCoroutine.ProcessIEnumeratorRecursive (System.Collections.IEnumerator enumerator) (at Library/PackageCache/com.unity.editorcoroutines@1.0.0/Editor/EditorCoroutine.cs:134)
Unity.EditorCoroutines.Editor.EditorCoroutine.MoveNext () (at Library/PackageCache/com.unity.editorcoroutines@1.0.0/Editor/EditorCoroutine.cs:115)
UnityEditor.EditorApplication.Internal_CallUpdateFunctions () (at /home/bokken/buildslave/unity/build/Editor/Mono/EditorApplication.cs:356)
How to import urdf include inertial attribute with URDF Importer?
Thank you for your help!