# Revision history [back]

There are a few issues with your URDF file which is why I'm writing an answer instead of a comment.

Line 8:

<parent name = "base_joint" / joint>


should it be

<parent name = "base_joint" />


Line 15:

<origin rpy = "0 0 0" xyz = "0 0 0.075" material name = "body">


should it be

<origin rpy = "0 0 0" xyz = "0 0 0.075"/>
<material name = "body">


I'm not sure how you didn't get any error with these errors in your URDF file because they make it an invalid XML file. Try fixing these errors and see what happens.

There are a few issues with your URDF file which is why I'm writing an answer instead of a comment.

Line 8:

<parent name = "base_joint" / joint>


should it be

<parent name = "base_joint" />


Line 15:

<origin rpy = "0 0 0" xyz = "0 0 0.075" material name = "body">


should it be

<origin rpy = "0 0 0" xyz = "0 0 0.075"/>
<material name = "body">


I'm not sure how you didn't get any error with these errors in your URDF file because they make it an invalid XML file. Try fixing these errors and see what happens.happens. Note that I only ran your file through an XML beautifier to make it easier to read and these errors showed up.