MoveIt Setup Assistant, virtual joint crashes

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Hi, I installed Moveit and its dependencies on ROS Noetic, and I am trying to follow this tutorial:

https://ros-planning.github.io/moveit...

I have both tried with panda_arm_hand.urdf.xacro and other .urdf or .xacro or .dae: no problem in generating collision matrix, but when I try to add the virtual joint the Setup Assistant window is closed with this error:

[ERROR] [1600333582.658529467]: Could not find the 'robot' element in the xml file
terminate called after throwing an instance of 'std::runtime_error'
  what():  Unable to update the SRDF Model
================================================================================REQUIRED process [moveit_setup_assistant-2] has died!
process has died [pid 3186, exit code -6, cmd /home/usr/catkin_ws/devel_isolated/moveit_setup_assistant/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/usr/.ros/log/afeb18c8-f8c1-11ea-bcd2-75be2c1310bf/moveit_setup_assistant-2.log].
log file: /home/usr/.ros/log/afeb18c8-f8c1-11ea-bcd2-75be2c1310bf/moveit_setup_assistant-2*.log
Initiating shutdown!
================================================================================

Opening the file, I can definitely see the robot tag. So why does this error happen??