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I already install the image to the milk-v, but don't know how to get the next step

hello.i use this tool to convert my urdf to mjcf in order to use in mink,but i encounter some problem:when i define a virtual link in the urdf such as"end_effector" but it disappear in the converted xml file? is there any solution to fix it?or mujoco support other way to do that?

ces/zbot/robot_fixed.urdf')>, material: <gs.materials.Rigid>.
[Genesis] [12:28:50] [INFO] Building scene <5412285>...
[Genesis] [12:28:56] [INFO] Compiling simulation kernels...
[Genesis] [12:29:03] [INFO] Building visualizer...
libGL error: MESA-LOADER: failed to open iris: /usr/lib/dri/iris_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: iris
libGL error: MESA-LOADER: failed to open swrast: /usr/lib/dri/swrast_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: swrast
Exception in thread Thread-2 (_init_and_start_app):
Traceback (most recent call last):
File "/home/zzh/miniconda3/envs/genesis/lib/python3.11/threading.py", line 1045, in _bootstrap_inner
self.run()
File "/home/zzh/miniconda3/envs/genesis/lib/python3.11/threading.py", line 982, in run
self._target(_self._args, self._kwargs)
File "/home/zzh/miniconda3/envs/genesis/lib/python3.11/site-packages/genesis/ext/pyrender/viewer.py", line 1138, in _init_and_start_app
super(Viewer, self).init(
File "/home/zzh/miniconda3/envs/genesis/lib/python3.11/site-packages/pyglet/window/xlib/init.py", line 167, in init
super().init(_args, kwargs)
File "/home/zzh/miniconda3/envs/genesis/lib/python3.11/site-packages/pyglet/window/init.py", line 533, in init
context = config.create_context(gl.current_context)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/zzh/miniconda3/envs/genesis/lib/python3.11/site-packages/pyglet/gl/xlib.py", line 117, in create_context
return XlibContext(self, share)
^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/zzh/miniconda3/envs/genesis/lib/python3.11/site-packages/pyglet/gl/xlib.py", line 152, in init
raise gl.ContextException(msg)
pyglet.gl.ContextException: Could not create GL context

problem: