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...moving my comment here as I ran out of room :)

If the links are connected via fixed joints, you should be able to assign inertia to any one of the fixed-joint-connected links and set the rest of the links inertia to some very small numbers (1e-6). As of diamondback, inertia of fix-joint-connected links are lumped into their parent. In general, 0 inertia will not work as the urdf2gazebo parser will ignore the link and break the kinematic chain.

On the other hand, non-fixed-joint-connected links with inertia close to 0 might make your dynamics unstable.