From 1bd4682c9372ceb0f1aa6884a39ee33309e07018 Mon Sep 17 00:00:00 2001
From: Yang Gao <44829241+ygao9795@users.noreply.github.com>
Date: Tue, 8 Apr 2025 09:53:04 +0800
Subject: [PATCH] fixed xmlDoc type error

---
 src/urdf/UrdfModel.js | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/urdf/UrdfModel.js b/src/urdf/UrdfModel.js
index 3c432d8c6..c87bc948e 100644
--- a/src/urdf/UrdfModel.js
+++ b/src/urdf/UrdfModel.js
@@ -32,7 +32,12 @@ export default class UrdfModel {
     if (string) {
       // Parse the string
       var parser = new DOMParser();
-      xmlDoc = parser.parseFromString(string, MIME_TYPE.XML_TEXT).documentElement;
+      var parsedDoc = parser.parseFromString(string, MIME_TYPE.XML_TEXT);
+      if (parsedDoc && parsedDoc.documentElement) {
+        xmlDoc = parsedDoc.documentElement;
+      } else {
+        throw new Error('Failed to parse URDF string');
+      }
     }
     if (!xmlDoc) {
       throw new Error('No URDF document parsed!');