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Running your urdf through an XML formatter returned the following error:

Unable to parse any XML input. Error on line 33: Element type "axis" must be followed by either attribute specifications, ">" or "/>".

And indeed, if we look at your axis elements we see:

<axis = "1 0 0"/>

This is not valid XML, and thus not valid URDF. It's missing the xyz attribute and should be:

<axis xyz="1 0 0"/>

See also the Elements section of the urdf/XML/joint page on the ROS wiki. xyz is a required attribute for axis elements.