Error "convert main.wrl to main.dae " When changing the model for Nextage robot

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Hello everybody. I need change robot model for Nextage Robot. I have tried to follow the instructions on this page: http://wiki.ros.org/rtmros_nextage/Tu...

But When I went to steps [2.2.2 Create COLLADA model] and executed the second command:

$ rosrun openhrp3 export-collada -i main.wrl -o main.dae

the following error occurred:

Node is inconvertible and removed from the scene graph
Node is inconvertible and removed from the scene graph
Warning: Mass is zero. <Model>HiroNX <Link>CHEST_JOINT0
Warning: Mass is zero. <Model>HiroNX <Link>WAIST
Collada Info: init COLLADA writer version: 1.5.0, namespace: http://www.collada.org/2008/03/COLLADASchema
Collada Warning: shape index is not SP_MESH type, could result in inaccuracies
I/O error : Permission denied
I/O error : Permission denied
error : xmlNewTextWriterFilename : cannot open uri
COLLADA error: daeLIBXMLPlugin::write(file:/opt/ros/indigo/share/nextage_description/models/main.dae) Error creating the xml writer
terminate called after throwing an instance of 'OpenHRP::ModelLoader::ModelLoaderException'
中止 (コアダンプ)

Did anybody know about this problem, please help me to solve it!

UPDATE (moved from answer section by @130s):

Thank you very much for your kindly help.

1. Yes .You were right. I couldn't typed directly in the file main.wrl of the folder :/opt/ros/indigo/share/nextage_description/models$ vim main.wrl

Therefore, I copied the file main.wrl to the folder :home/zun/NEXTAGE_tool by the command :

$ sudo cp /opt/ros/indigo/share/nextage_description/models/main.wrl  NEXTAGE_tool/

and revised it as following:

                                                    Transform {
                                                        translation -0.065 0 0
                                                        children [
                                                          Inline { url "ChuckHand.wrl" }
                                                          #Inline { url "toolll.wrl" }
                                                        ]
                                                      }

Then copied reversely by the command:

 $ sudo cp /NEXTAGE_tool/main.wrl opt/ros/indigo/share/nextage_description/models/

Then I executed the step 2.2.2 and the error occurred:

  zun@zun-ThinkPad-X1-Carbon:~$ rospack find nextage_description 
/opt/ros/indigo/share/nextage_description

  zun@zun-ThinkPad-X1-Carbon:~$ roscd nextage_description/

  zun@zun-ThinkPad-X1-Carbon:/opt/ros/indigo/share/nextage_description$ rosversion nextage_description
0.7.10

  zun@zun-ThinkPad-X1-Carbon:/opt/ros/indigo/share/nextage_description$ cd models

  zun@zun-ThinkPad-X1-Carbon:/opt/ros/indigo/share/nextage_description/models$  rosrun openhrp3 export-collada -i main.wrl -o main.dae

  [rosrun] You have chosen a non-unique executable, please pick one of the following:

 1) /opt/ros/indigo/lib/openhrp3/export-collada   
 2) /opt/ros/indigo/share/openhrp3/export-collada
#? 1
Humanoid node
Joint node WAIST
  Segment node WAIST
  Joint node CHEST_JOINT0
    Segment node CHEST_JOINT0_Link
    Joint node HEAD_JOINT0
      Segment node HEAD_JOINT0_Link
      Joint node HEAD_JOINT1
        Segment node HEAD_JOINT1_Link
        VisionSensorCAMERA_HEAD_R
        VisionSensorCAMERA_HEAD_L
    Joint node RARM_JOINT0
      Segment node RARM_JOINT0_Link
      Joint node RARM_JOINT1
        Segment node RARM_JOINT1_Link
        Joint node RARM_JOINT2
          Segment node RARM_JOINT2_Link
          Joint node RARM_JOINT3
            Segment node RARM_JOINT3_Link
            Joint node RARM_JOINT4
              Segment node RARM_JOINT4_Link
              Joint node RARM_JOINT5
                Segment node RARM_JOINT5_Link
    Joint node LARM_JOINT0
      Segment node LARM_JOINT0_Link
      Joint node LARM_JOINT1
        Segment node LARM_JOINT1_Link
        Joint node LARM_JOINT2
          Segment node LARM_JOINT2_Link
          Joint node LARM_JOINT3
            Segment node LARM_JOINT3_Link
            Joint node LARM_JOINT4
              Segment node LARM_JOINT4_Link
              Joint node LARM_JOINT5
                Segment node LARM_JOINT5_Link

Node is inconvertible and removed from the scene graph
Node is inconvertible and removed from the scene graph
Warning: Mass is zero. <Model>HiroNX <Link>CHEST_JOINT0 ...