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<link name="usbl">
    <visual>
        <origin rpy="0 0 0" xyz="0 0.127 0.0508"/>
    </visual>
</link>

There is no geometry child of the visual element. This would seem to be a malformed urdf. That is most likely why you are getting that error Could not parse visual element for Link [usbl].

<link name="usbl">
    <visual>
        <origin rpy="0 0 0" xyz="0 0.127 0.0508"/>
    </visual>
</link>

There is no geometry child of the visual element. This would seem to be a malformed urdf. That is most likely why you are getting that error Could not parse visual element for Link [usbl].