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The error looks like there is something wrong with the <param> tag that sets the /robot_description parameter in your launch file. My guess is that you should just remove the .py extension from this chunk of your launch file: command="$(find xacro)/xacro.py. I'm not on Noetic right now, or I'd check, but IIRC I think there was a push to deprecate the xacro.py executable. On older versions you'd often see a warning like

xacro.py is deprecated; please use xacro instead

Perhaps they actually removed in Noetic

The error looks like there is something wrong with the <param> tag that sets the /robot_description parameter in your launch file. My guess is that you should just remove the .py extension from this chunk of your launch file: command="$(find xacro)/xacro.py. I'm not on Noetic right now, or I'd check, but IIRC I think For a long time, there was a has been a push to deprecate the xacro.py executable. On older versions you'd often see a warning like

 xacro.py is deprecated; please use xacro instead

I just spun up a Noetic Docker container and verified that they have removed the xacro.py executable. So the correct line in your launch file would be:

Perhaps they actually removed in Noetic

<param name="robot_description" command="$(find xacro)/xacro '$(find mybot_description)/urdf/mybot.xacro'"/>