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Running check_urdf (or rename your urdf to something.xml and open it with firefox) you'll see that there is an error with the < limit tag in the R_hip link:

rosrun urdf check_urdf answers-46376.urdf 
[ERROR] [1350837640.291120602]: Joint 'R_hip' is of type REVOLUTE but it does not specify limits
[ERROR] [1350837640.291120602]: joint xml is not initialized correctly
ERROR: Model Parsing the xml failed

fixing the malformed XML in the "R_hip" link by removing the space before limit:

     <limit upper="6.28" lower="-6.28" effort="1000" velocity="1000.00"/>

appears to fix the problem.

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