The Lula Test Widget displays an error URDF error message

Omniverse Isaac Sim
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Hi everyone, I’m currently using Isaac Sim to define my robotic arm. I plan to test the Lula algorithm to control the end-effector of the robotic arm. However, I’ve encountered many issues during the process.

URDF Creation: Firstly, I built a robotic arm in Isaac Sim and exported it as a URDF. Then, I imported the URDF back into Isaac Sim and tested it using Isaac Utils → Workflows → ArticulationInspector. It worked normally without any errors, and it generated a USD file (path: \urdf3\urdf3\arm_z).
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Description.yaml Creation: While importing the URDF and creating the yaml, I encountered a problem. The Lula Robot Description Editor was unusable (many people in the forums have encountered this issue as well). Therefore, I gave up on it. Instead, I used my originally built USD robotic arm to create the Description.yaml, which was successful.
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Subsequently, I conducted a test. In the Lula Test Widget extension, I imported the YAML and URDF, but it started to report an error related to the URDF. However, my URDF was exported directly from Isaac Sim without any modifications. I carefully compared it and didn’t find any errors. I hope to get some help and guidance. Is there a bug in the 2023.1.1 version?
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20240410-142157
20240410-1421571390×128 125 KB

This is my URDF and yaml related files：
urdf3.zip (57.3 KB)

Here is my original USD file, which was used to build a robotic arm and export URDF
arm_z.zip (9.7 KB)

By the way, I tried the USD generated with URDF, and I also tried to import URDF in a new stage, and I modified Yaml to match URDF. Attempts were also made to add restrictions to the axis of the original USD. None of them are working.

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Hello @fsb0147,

I’ve worked on a similar project with a custom-made robot, and I’m familiar with these types of errors. If this issue is closed, that’s great. If not, were you able to resolve it or do you need any help?