Error using velocity limit after importing URDF (lula)

I am using isaac sim to make a robotic arm and I would like to use lula. I have a complete URDF. After I imported Isaac sim, he also worked very well.

I want to use lula, but when I use lula_test_widget or an extension, the same error will be reported. The speed limit for “M0 Joint” is 0, but I checked my URDF and the speed limit is given a very large value.

<joint name="joint1" type="revolute">
		<origin xyz="-0.0118691 0.030112 -0.0250047" rpy="3.14159 1.5708 0" />
		<parent link="shoulder_1" />
		<child link="base_1" />
		<axis xyz="0 1 0"/>
		<limit effort="1" velocity="20" lower="0" upper="6.28319"/>
		<joint_properties friction="0.0"/>
	</joint>
	<joint name="joint2" type="revolute">
		<origin xyz="-3.55271e-15 0.0004373 -0.146277" rpy="-1.5708 0.877711 5.8629e-15" />
		<parent link="arm_1" />
		<child link="shoulder_1" />
		<axis xyz="0 0 1"/>
		<limit effort="1" velocity="20" lower="-1.5708" upper="2.0944"/>
		<joint_properties friction="0.0"/>
	</joint>
	<joint name="joint3" type="revolute">
		<origin xyz="-0.153811 0.00723332 0.092738" rpy="-3.14159 -0.0714328 3.14159" />
		<parent link="elbow_1" />
		<child link="arm_1" />
		<axis xyz="0 -1 0"/>
		<limit effort="1" velocity="20" lower="-2.35619" upper="2.35619"/>
		<joint_properties friction="0.0"/>
	</joint>

But it still reports an error

2024-04-11 03:00:18 [Error] [asyncio] Task exception was never retrieved
2024-04-11 03:00:18 [Error] [asyncio] future: <Task finished name=‘Task-86361’ coro=<LoadButton._on_clicked_fn_wrapper.._on_click_async() done, defined at d:/soft/nia/4/isaac_sim-2023.1.1/exts/omni.isaac.ui/omni/isaac/ui/element_wrappers/core_connectors/ui_core_connectors.py:177> exception=RuntimeError(“\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m\x1b[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.\n\x1b[0m”)>
2024-04-11 03:00:18 [Error] [asyncio] Traceback (most recent call last):
2024-04-11 03:00:18 [Error] [asyncio] File “d:/soft/nia/4/isaac_sim-2023.1.1/exts/omni.isaac.ui/omni/isaac/ui/element_wrappers/core_connectors/ui_core_connectors.py”, line 202, in _on_click_async
2024-04-11 03:00:18 [Error] [asyncio] self.setup_post_load_fn()
2024-04-11 03:00:18 [Error] [asyncio] File “d:/soft/nia/4/isaac_sim-2023.1.1/exts/RRT_Example/RRT_Example_python/ui_builder.py”, line 171, in _setup_scenario
2024-04-11 03:00:18 [Error] [asyncio] self._scenario.setup()
2024-04-11 03:00:18 [Error] [asyncio] File “d:/soft/nia/4/isaac_sim-2023.1.1/exts/RRT_Example/RRT_Example_python/scenario.py”, line 64, in setup
2024-04-11 03:00:18 [Error] [asyncio] self._rrt = RRT(
2024-04-11 03:00:18 [Error] [asyncio] File “d:/soft/nia/4/isaac_sim-2023.1.1/exts/omni.isaac.motion_generation/omni/isaac/motion_generation/lula/path_planners.py”, line 35, in init
2024-04-11 03:00:18 [Error] [asyncio] robot_description = lula.load_robot(robot_description_path, urdf_path)
2024-04-11 03:00:18 [Error] [asyncio] RuntimeError: e[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0me[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0me[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0me[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0me[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0me[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0me[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0me[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0me[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0me[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0me[31m[Lula] Invalid joint addition to ‘KinematicStructure::Builder’. Joint ‘M0’ specifies velocity limit as [0]. Velocity limit must be positive.
2024-04-11 03:00:18 [Error] [asyncio] e[0m
r50.zip (14.2 MB)