It is fairly obvious that your paths (InputRoot.XMLNSC.emps.emp.id, etc ) do not exist under InputRoot.XMLNSC. You could easily check this using the debugger or (better) a Trace node.
To fix the problem, correct those paths.
You should also be declaring and using a REFERENCE variable, to make your ESQL more readable:
-- This is not the correct path, otherwise your code would be working already!
DECLARE refEmp REFERENCE to InputRoot.XMLNSC.emps.emp;
INSERT
INTO Database.dbo.CUSTOMERS(ID,NAME,AGE)
VALUES (refEmp.id,refEmp.name,refEmp.age)
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