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If your dependencies are correctly installed, there is a fair chance this has something to do with your graphics driver. From the output it seems like the urdf is parsed correctly but the program crashes when it starts to make use of OpenGL. Are you by any chance running a VM?

Some more information can be found in these related topics:

MoveIt setup assistant crashes when loading a urdf

a problem with launching the moveit setup assistant

problems with moveit exit code-11

Good luck!

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