I get an error when trying to use the display.launch file

[SetpointCapybara]

I am using Ubuntu 20.04 and ROS Noetic.
I get the following error:
john@john-Precision-7670:~/Desktop/hsrurdf_ws$ roslaunch /home/john/Desktop/hsrurdf_ws/src/hsr_description/launch/display.launch
... logging to /home/john/.ros/log/0a405cdc-8bd7-11ef-be63-615acf79691d/roslaunch-john-Precision-7670-18779.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

RLException: Invalid tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/john/Desktop/hsrurdf_ws/src/hsr_description/robots/hsrb4s.urdf.xacro', 'use_obj_for_visual:=false']].

Param xml is
The traceback for the exception was written to the log file

I tried removing the .py at xacro.py. Things improved a bit, but I still get the following errors:
john@john-Precision-7670:~/Desktop/hsrurdf_ws$ roslaunch /home/john/Desktop/hsrurdf_ws/src/hsr_description/launch/display.launch
... logging to /home/john/.ros/log/86dfb008-8bd7-11ef-be63-615acf79691d/roslaunch-john-Precision-7670-19076.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

redefining global symbol: pi
when processing file: /home/john/Desktop/hsrurdf_ws/src/hsr_description/urdf/common.xacro
included from: /home/john/Desktop/hsrurdf_ws/src/hsr_description/robots/hsrb4s.urdf.xacro
name 'joint' is not defined
when evaluating expression 'joint'
when processing file: /home/john/Desktop/hsrurdf_ws/src/hsr_description/urdf/common.xacro
included from: /home/john/Desktop/hsrurdf_ws/src/hsr_description/robots/hsrb4s.urdf.xacro
RLException: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '/home/john/Desktop/hsrurdf_ws/src/hsr_description/robots/hsrb4s.urdf.xacro', 'use_obj_for_visual:=false']] returned with code [2].

Param xml is
The traceback for the exception was written to the log file