From 707bac9c3d19eb5b00d04f58e6a97e872ef6c22e Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Mon, 22 Oct 2018 16:01:58 -0700
Subject: [PATCH] fix sphere sdf parsing

---
 .../Importers/ImportURDFDemo/UrdfParser.cpp   | 21 +++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 3dd782bf7..162d37f4c 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -346,14 +346,27 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* l
 	if (type_name == "sphere")
 	{
 		geom.m_type = URDF_GEOM_SPHERE;
-		if (!shape->Attribute("radius"))
+		if (m_parseSDF)
 		{
-			logger->reportError("Sphere shape must have a radius attribute");
-			return false;
+			XMLElement* size = shape->FirstChildElement("radius");
+			if (0 == size)
+			{
+				logger->reportError("sphere requires a radius child element");
+				return false;
+			}
+			geom.m_sphereRadius = urdfLexicalCast<double>(size->GetText());
 		}
 		else
 		{
-			geom.m_sphereRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
+			if (!shape->Attribute("radius"))
+			{
+				logger->reportError("Sphere shape must have a radius attribute");
+				return false;
+			}
+			else
+			{
+				geom.m_sphereRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
+			}
 		}
 	}
 	else if (type_name == "box")