I am trying to read a URDF file, but I get this error: ValueError: Missing required attribute effort when parsing an object of type JointLimit.

The contents of the urdf file are below:

<?xml version="1.0" ?> <robot name="partnet_3a910cc1f575b08339d3717288022c20"> <link name="base"/> <link name="link_0"> <visual name="drawer_front-23"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-50.obj"/> </geometry> </visual> <visual name="drawer_front-24"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-48.obj"/> </geometry> </visual> <visual name="drawer_side-25"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-52.obj"/> </geometry> </visual> <visual name="drawer_side-26"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-49.obj"/> </geometry> </visual> <visual name="drawer_back-27"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-53.obj"/> </geometry> </visual> <visual name="drawer_bottom-28"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-51.obj"/> </geometry> </visual> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-50.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-48.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-52.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-49.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-53.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-51.obj"/> </geometry> </collision> </link> <joint name="joint_0" type="prismatic"> <origin xyz="0 0 0"/> <axis xyz="0 0 1"/> <child link="link_0"/> <parent link="link_3"/> <limit lower="0" upper="0.5"/> </joint> <link name="link_1"> <visual name="drawer_front-16"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-67.obj"/> </geometry> </visual> <visual name="drawer_front-17"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-66.obj"/> </geometry> </visual> <visual name="drawer_side-18"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-62.obj"/> </geometry> </visual> <visual name="drawer_side-19"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-65.obj"/> </geometry> </visual> <visual name="drawer_back-20"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-64.obj"/> </geometry> </visual> <visual name="drawer_bottom-21"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-63.obj"/> </geometry> </visual> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-67.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-66.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-62.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-65.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-64.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-63.obj"/> </geometry> </collision> </link> <joint name="joint_1" type="prismatic"> <origin xyz="0 0 0"/> <axis xyz="0 0 1"/> <child link="link_1"/> <parent link="link_3"/> <limit lower="0" upper="0.5"/> </joint> <link name="link_2"> <visual name="drawer_side-9"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-59.obj"/> </geometry> </visual> <visual name="drawer_side-10"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-56.obj"/> </geometry> </visual> <visual name="drawer_back-11"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-60.obj"/> </geometry> </visual> <visual name="drawer_bottom-12"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-58.obj"/> </geometry> </visual> <visual name="drawer_front-13"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-57.obj"/> </geometry> </visual> <visual name="drawer_front-14"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-55.obj"/> </geometry> </visual> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-59.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-56.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-60.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-58.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-57.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-55.obj"/> </geometry> </collision> </link> <joint name="joint_2" type="prismatic"> <origin xyz="0 0 0"/> <axis xyz="0 0 1"/> <child link="link_2"/> <parent link="link_3"/> <limit lower="0" upper="0.5"/> </joint> <link name="link_3"> <visual name="shelf-43"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-22.obj"/> </geometry> </visual> <visual name="shelf-43"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-16.obj"/> </geometry> </visual> <visual name="shelf-43"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-18.obj"/> </geometry> </visual> <visual name="shelf-43"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-20.obj"/> </geometry> </visual> <visual name="shelf-43"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-21.obj"/> </geometry> </visual> <visual name="shelf-43"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-23.obj"/> </geometry> </visual> <visual name="shelf-43"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-17.obj"/> </geometry> </visual> <visual name="shelf-43"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-19.obj"/> </geometry> </visual> <visual name="countertop-44"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-42.obj"/> </geometry> </visual> <visual name="base_side_panel-38"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-38.obj"/> </geometry> </visual> <visual name="base_side_panel-39"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-32.obj"/> </geometry> </visual> <visual name="base_side_panel-40"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-36.obj"/> </geometry> </visual> <visual name="base_side_panel-41"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-5.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-51"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-13.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-52"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-12.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-53"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-15.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-54"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-14.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-55"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-39.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-56"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-45.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-57"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-40.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-58"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-6.obj"/> </geometry> </visual> <visual name="vertical_side_panel-59"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-41.obj"/> </geometry> </visual> <visual name="vertical_side_panel-60"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-43.obj"/> </geometry> </visual> <visual name="back_panel-61"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-37.obj"/> </geometry> </visual> <visual name="vertical_side_panel-62"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-44.obj"/> </geometry> </visual> <visual name="vertical_side_panel-63"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-28.obj"/> </geometry> </visual> <visual name="vertical_side_panel-64"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-24.obj"/> </geometry> </visual> <visual name="vertical_divider_panel-65"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-9.obj"/> </geometry> </visual> <visual name="vertical_divider_panel-66"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-10.obj"/> </geometry> </visual> <visual name="bottom_panel-67"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-1.obj"/> </geometry> </visual> <visual name="bottom_panel-67"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-46.obj"/> </geometry> </visual> <visual name="bottom_panel-67"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-3.obj"/> </geometry> </visual> <visual name="vertical_divider_panel-68"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-34.obj"/> </geometry> </visual> <visual name="vertical_divider_panel-69"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-4.obj"/> </geometry> </visual> <visual name="vertical_divider_panel-69"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-29.obj"/> </geometry> </visual> <visual name="vertical_divider_panel-69"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-27.obj"/> </geometry> </visual> <visual name="vertical_divider_panel-70"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-8.obj"/> </geometry> </visual> <visual name="vertical_divider_panel-70"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-33.obj"/> </geometry> </visual> <visual name="vertical_divider_panel-70"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-2.obj"/> </geometry> </visual> <visual name="vertical_divider_panel-71"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-26.obj"/> </geometry> </visual> <visual name="back_panel-72"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-31.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-73"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-7.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-74"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-30.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-75"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-35.obj"/> </geometry> </visual> <visual name="frame_horizontal_bar-76"> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-25.obj"/> </geometry> </visual> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-22.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-16.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-18.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-20.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-21.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-23.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-17.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-19.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-42.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-38.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-32.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-36.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-5.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-13.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-12.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-15.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-14.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-39.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-45.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-40.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-6.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-41.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-43.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-37.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-44.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-28.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-24.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-9.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-10.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-1.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-46.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-3.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-34.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-4.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-29.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-27.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-8.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-33.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-2.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-26.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-31.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-7.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-30.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-35.obj"/> </geometry> </collision> <collision> <origin xyz="0 0 0"/> <geometry> <mesh filename="textured_objs/original-25.obj"/> </geometry> </collision> </link> <joint name="joint_3" type="fixed"> <origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/> <child link="link_3"/> <parent link="base"/> </joint> </robot>

Can you folks, @mmatl @JanusMaple, point out a solution to this issue? Thanks.