PhysX error: Illegal BroadPhaseUpdateData

Hello,
I am fairly new to using Isaac Sim and I don’t quite understand where the error comes from. I was checking posts on the forum but I couldn’t find a solution for my problem. I am currently working on a research project on my university and I need to use Isaac Sim, ZED Stereo camera and THK Seed Noid robot to perform floor space segmentation. I was trying to import the robot’s URDF file on Isaac SIM by following this tutorial Import URDF — Omniverse IsaacSim latest documentation . However I did some changes to the python file and it looks like this:

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from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.core.utils.extensions import get_extension_path_from_name
from omni.importer.urdf import _urdf
import omni.kit.commands
import omni.usd

Note: checkout the required tutorials at What Is Isaac Sim? — Omniverse IsaacSim latest documentation

class HelloWorld(BaseSample):
def init(self) → None:
super().init()
return

def setup_scene(self):

    world = self.get_world()
    world.scene.add_default_ground_plane()
    #Acquire the urdf interface
    urdf_interface = _urdf.acquire_urdf_interface()
    #Set the settings in the import configuration
    import_config = _urdf.ImportConfig()
    import_config.merge_fixed_joints = False
    import_config.convex_decomp = True
    import_config.fix_base = True
    import_config.make_default_prim = True
    import_config.self_collision = False
    import_config.create_physics_scene = True
    import_config.import_inertia_tensor = True
    import_config.default_drive_strength = 1047.19751
    import_config.default_position_drive_damping = 52.35988
    import_config.default_drive_type = _urdf.UrdfJointTargetType.JOINT_DRIVE_POSITION
    import_config.distance_scale = 1
    import_config.density = 0.0
    # Get the urdf file path
    urdf_path = "/home/nakamuralab/Desktop/seed_r7_ros_pkg-master/seed_r7_description/typeg/noid.urdf"
    # Finally import the robot
    result, prim_path = omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path,
                                                  import_config=import_config,)
    
    if not result:
        print(f"Failed to import URDF file: {urdf_path}")
    else:
        print(f"URDF file imported successfully: {prim_path}")

    return

async def setup_post_load(self):
    return

async def setup_pre_reset(self):
    return

async def setup_post_reset(self):
    return

def world_cleanup(self):
    return

if __name__ == "__main__":
    sample = HelloWorld()
    sample.run()

The URDF file of the robot is open source in this GitHub repo: seed_r7_ros_pkg/seed_r7_description/typeg/noid.urdf at master · seed-solutions/seed_r7_ros_pkg · GitHub

The error on Isaac SIM part is this:
2024-07-09 08:26:25 [73,576ms] [Error] [omni.physx.plugin] PhysX error: Illegal BroadPhaseUpdateData
, FILE /buildAgent/work/eb2f45c4acc808a0/physx/source/lowlevelaabb/src/BpBroadPhaseABP.cpp, LINE 4024
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/base_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/wheel_base_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/front_camera_base_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/rear_camera_base_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/wheels_base_laser_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/wheels_front_left_mecanum.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/wheels_front_right_mecanum.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/wheels_rear_left_mecanum.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/wheels_rear_right_mecanum.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/wheels_top_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/front_camera_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/rear_camera_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/lifter_base_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/front_camera_depth_optical_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/front_camera_right_ir_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/rear_camera_depth_optical_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/rear_camera_right_ir_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/leg_shank_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/leg_shank_link_dummy.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/leg_knee_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/leg_thigh_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/leg_thigh_link_dummy.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/leg_base_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/lifter_top_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/waist_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/hip_sphere_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/hip_center.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/body_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/chest_camera_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_shoulder_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/neck_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_shoulder_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/chest_camera_depth_optical_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/chest_camera_right_ir_frame.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_shoulder_center.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/head_base_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_shoulder_center.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_upperarm_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/head_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_upperarm_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_elbow_virtual_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_elbow_virtual_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_elbow_virtual_link_dummy.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_elbow_virtual_link_dummy.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_elbow_middle_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_elbow_middle_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_elbow_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_elbow_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_forearm_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_forearm_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_wrist_center.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_wrist_center.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_wrist_r_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_wrist_r_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_hand_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_hand_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_eef_grasp_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_eef_pick_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_indexbase_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_thumb_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_eef_grasp_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_eef_pick_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_indexbase_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_thumb_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_indexmid_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_thumb_tip_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_indexmid_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_thumb_tip_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_indexend_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_indexend_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/l_index_tip_link.
2024-07-09 08:26:25 [73,561ms] [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /SEED_Noid_Mover_typeG/r_index_tip_link.

I would appreciate an expert advice for my problem. Thank you in advance.