Adjust parser

Author: ft-lab

tests/data/error_different_place.urdf tests/data/warning_different_place.urdftests/data/error_different_place.urdf renamed to tests/data/warning_different_place.urdf

@@ -1,7 +1,9 @@
-<robot name="different_places">
+<robot name="warning_different_place">
   <link name="BaseLink">
     <visual>
-      <material name="green" />
+      <material name="green">
+        <color rgba="0.0 1.0 0.0 1"/>
+      </material>
     </visual>
     <!-- This is a deliberate mistake.  -->
     <!-- The geometry is not a child of the visual. -->

tests/test_parser.py

@@ -2,6 +2,9 @@
 # SPDX-License-Identifier: Apache-2.0
 import pathlib
 
+import usdex.core
+from pxr import Tf
+
 from tests.util.ConverterTestCase import ConverterTestCase
 from urdf_usd_converter._impl.urdf_parser.parser import URDFParser
 
@@ -60,16 +63,6 @@ def test_load_error_incorrect_vec4(self):
         with self.assertRaisesRegex(RuntimeError, r".*rgba: Invalid value: 0.0 1.0 \(line: 5\).*"):
             parser.parse()
 
-    def test_load_error_different_place(self):
-        # Load the specified URDF file.
-        model_path = pathlib.Path("tests/data/error_different_place.urdf")
-        parser = URDFParser(model_path)
-
-        with self.assertRaisesRegex(
-            RuntimeError, r".*geometry: Invalid element type. This uses a reserved tag, but in the wrong place \(line: 8\).*"
-        ):
-            parser.parse()
-
     def test_load_error_no_material_name(self):
         # Load the specified URDF file.
         model_path = pathlib.Path("tests/data/error_no_material_name.urdf")
@@ -222,6 +215,18 @@ def test_load_error_joint_axis_0(self):
         with self.assertRaisesRegex(RuntimeError, r".*axis: Axis xyz cannot be \(0, 0, 0\) \(line: 25\).*"):
             parser.parse()
 
+    def test_load_warning_different_place(self):
+        # Load the specified URDF file.
+        model_path = pathlib.Path("tests/data/warning_different_place.urdf")
+        parser = URDFParser(model_path)
+
+        with usdex.test.ScopedDiagnosticChecker(
+            self,
+            [(Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*geometry: Invalid element type. This uses a reserved tag, but in the wrong place.*")],
+            level=usdex.core.DiagnosticsLevel.eWarning,
+        ):
+            parser.parse()
+
     def test_has_no_material(self):
         # Load the specified URDF file.
         model_path = pathlib.Path("tests/data/simple_box_no_material.urdf")

urdf_usd_converter/_impl/mesh.py

@@ -45,7 +45,11 @@ def convert_meshes(data: ConversionData):
 
         if name != safe_name:
             usdex.core.setDisplayName(mesh_prim, name)
-        convert_mesh(mesh_prim, filename, data)
+
+        try:
+            convert_mesh(mesh_prim, filename, data)
+        except Exception as e:
+            Tf.Warn(f"Failed to convert mesh: {filename}: {e}")
 
     usdex.core.saveStage(data.libraries[Tokens.Geometry], comment=f"Mesh Library for {data.urdf_parser.get_robot_name()}. {data.comment}")
 

urdf_usd_converter/_impl/urdf_parser/parser.py

@@ -4,6 +4,8 @@
 import xml.etree.ElementTree as ET
 from pathlib import Path
 
+from pxr import Tf
+
 from .elements import (
     ElementAxis,
     ElementBase,
@@ -223,7 +225,8 @@ def _parse_xml_elements(self, node: ET.Element, prev_element: ElementBase = None
 
         # Error if using reserved tags but structure is different.
         if not element:
-            raise ValueError(self._get_error_message("Invalid element type. This uses a reserved tag, but in the wrong place", node))
+            Tf.Warn(self._get_error_message("Invalid element type. This uses a reserved tag, but in the wrong place", node))
+            element = ElementUndefined()
 
         element.tag = node.tag
         element.path = current_path
@@ -458,13 +461,13 @@ def _get_element_line_number(self, element: ET.Element) -> int:
     def _get_defined_material_names(self) -> list[str]:
         """
         Get the defined material names.
-
         Returns:
             A list of defined material names.
         """
         # Create a list of defined material names.
         # This includes both global materials and materials specified within the visual.
         defined_material_names = [material.name for material in self.root_element.materials]
+
         for link in self.root_element.links:
             for visual in link.visuals:
                 material = visual.material