How to use the pytransform3d.urdf.UrdfException function in pytransform3d

def parse(self, sphere):
        if not sphere.has_attr("radius"):
            raise UrdfException("Sphere has no radius.")
        self.radius = float(sphere["radius"])

def parse(self, cylinder):
        if not cylinder.has_attr("radius"):
            raise UrdfException("Cylinder has no radius.")
        self.radius = float(cylinder["radius"])
        if not cylinder.has_attr("length"):
            raise UrdfException("Cylinder has no length.")
        self.length = float(cylinder["length"])

def _parse_joint(self, joint, links):
        """Create joint object."""
        j = Joint()

        if not joint.has_attr("name"):
            raise UrdfException("Joint name is missing.")
        j.joint_name = joint["name"]

        if not joint.has_attr("type"):
            raise UrdfException("Joint type is missing in joint '%s'."
                                % j.joint_name)

        parent = joint.find("parent")
        if parent is None:
            raise UrdfException("No parent specified in joint '%s'"
                                % j.joint_name)
        if not parent.has_attr("link"):
            raise UrdfException("No parent link name given in joint '%s'."
                                % j.joint_name)
        j.parent = parent["link"]
        if j.parent not in links:
            raise UrdfException("Parent link '%s' of joint '%s' is not "

j.joint_name = joint["name"]

        if not joint.has_attr("type"):
            raise UrdfException("Joint type is missing in joint '%s'."
                                % j.joint_name)

        parent = joint.find("parent")
        if parent is None:
            raise UrdfException("No parent specified in joint '%s'"
                                % j.joint_name)
        if not parent.has_attr("link"):
            raise UrdfException("No parent link name given in joint '%s'."
                                % j.joint_name)
        j.parent = parent["link"]
        if j.parent not in links:
            raise UrdfException("Parent link '%s' of joint '%s' is not "
                                "defined." % (j.parent, j.joint_name))

        child = joint.find("child")
        if child is None:
            raise UrdfException("No child specified in joint '%s'"
                                % j.joint_name)
        if not child.has_attr("link"):
            raise UrdfException("No child link name given in joint '%s'."
                                % j.joint_name)
        j.child = child["link"]
        if j.child not in links:
            raise UrdfException("Child link '%s' of joint '%s' is not "
                                "defined." % (j.child, j.joint_name))

        j.joint_type = joint["type"]

def _parse_geometry(self, child, name):
        """Parse geometric primitives (box, cylinder, sphere).

        Meshes are not supported!
        """
        geometry = child.find("geometry")
        if geometry is None:
            raise UrdfException("Missing geometry tag in link '%s'" % name)
        result = []
        # meshes are not supported
        for shape_type in ["box", "cylinder", "sphere"]:
            shapes = geometry.findAll(shape_type)
            Cls = shape_classes[shape_type]
            for shape in shapes:
                shape_object = Cls(name)
                shape_object.parse(shape)
                result.append(shape_object)
        return result

def parse(self, cylinder):
        if not cylinder.has_attr("radius"):
            raise UrdfException("Cylinder has no radius.")
        self.radius = float(cylinder["radius"])
        if not cylinder.has_attr("length"):
            raise UrdfException("Cylinder has no length.")
        self.length = float(cylinder["length"])

def load_urdf(self, urdf_xml):
        """Load URDF file into transformation manager.

        Parameters
        ----------
        urdf_xml : string
            Robot definition in URDF
        """
        urdf = BeautifulSoup(urdf_xml, "xml")

        # URDF XML schema:
        # https://github.com/ros/urdfdom/blob/master/xsd/urdf.xsd

        robot = urdf.find("robot")
        if robot is None:
            raise UrdfException("Robot tag is missing.")

        if not robot.has_attr("name"):
            raise UrdfException("Attribute 'name' is missing in robot tag.")

        robot_name = robot["name"]

        links = [self._parse_link(link)
                 for link in robot.findAll("link", recursive=False)]
        joints = [self._parse_joint(joint, links)
                  for joint in robot.findAll("joint", recursive=False)]

        self.add_transform(links[0], robot_name, np.eye(4))
        for joint in joints:
            if joint.joint_type == "revolute":
                self.add_joint(
                    joint.joint_name, joint.child, joint.parent,

Parameters
        ----------
        urdf_xml : string
            Robot definition in URDF
        """
        urdf = BeautifulSoup(urdf_xml, "xml")

        # URDF XML schema:
        # https://github.com/ros/urdfdom/blob/master/xsd/urdf.xsd

        robot = urdf.find("robot")
        if robot is None:
            raise UrdfException("Robot tag is missing.")

        if not robot.has_attr("name"):
            raise UrdfException("Attribute 'name' is missing in robot tag.")

        robot_name = robot["name"]

        links = [self._parse_link(link)
                 for link in robot.findAll("link", recursive=False)]
        joints = [self._parse_joint(joint, links)
                  for joint in robot.findAll("joint", recursive=False)]

        self.add_transform(links[0], robot_name, np.eye(4))
        for joint in joints:
            if joint.joint_type == "revolute":
                self.add_joint(
                    joint.joint_name, joint.child, joint.parent,
                    joint.child2parent, joint.joint_axis, joint.limits)
            else:
                self.add_transform(

raise UrdfException("No parent specified in joint '%s'"
                                % j.joint_name)
        if not parent.has_attr("link"):
            raise UrdfException("No parent link name given in joint '%s'."
                                % j.joint_name)
        j.parent = parent["link"]
        if j.parent not in links:
            raise UrdfException("Parent link '%s' of joint '%s' is not "
                                "defined." % (j.parent, j.joint_name))

        child = joint.find("child")
        if child is None:
            raise UrdfException("No child specified in joint '%s'"
                                % j.joint_name)
        if not child.has_attr("link"):
            raise UrdfException("No child link name given in joint '%s'."
                                % j.joint_name)
        j.child = child["link"]
        if j.child not in links:
            raise UrdfException("Child link '%s' of joint '%s' is not "
                                "defined." % (j.child, j.joint_name))

        j.joint_type = joint["type"]

        if j.joint_type in ["planar", "floating", "continuous", "prismatic"]:
            raise UrdfException("Unsupported joint type '%s'" % j.joint_type)
        elif j.joint_type not in ["revolute", "fixed"]:
            raise UrdfException("Joint type '%s' is not allowed in a URDF "
                                "document." % j.joint_type)

        j.child2parent = self._parse_origin(joint)