Mass of Actuator for URDF

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In my robotic arm, the links and the actuators have comparable mass. The actuators are hobby servos and the links are servo brackets. Most tutorials on creating urdf for robotic arms have only considered the link and its inertia. Do I have to import a stl file for the actuator and calculate its inertia on meshlab, and include them as fixed joints in the urdf file? The dynamics and physical parameters are important as I want to simulate the robot on gazebo.