Thanks for the report Guillaume:

This bug tracker is specific for the urdfdom package delivered from Ubuntu. You 
problem comes probably from ROS packages. I would recommend to report the bug 
in one of both:
 
 * Upstream: https://github.com/ros/urdfdom/issues
 * ROS answers: http://answers.ros.org/

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https://bugs.launchpad.net/bugs/1487180

Title:
  urdfparser_py fails on valid new transmission element

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