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Just ran into this error myself. Will see if implementing <inertial> <origin xyz="0 0 0" rpy="0 0 0"/> <mass value="1"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial>

into the block fixes the error.